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ShaderPlayground / deps / glm / glm / gtx / dual_quaternion.hpp
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1/// @ref gtx_dual_quaternion
2/// @file glm/gtx/dual_quaternion.hpp
3/// @author Maksim Vorobiev (msomeone@gmail.com)
4///
5/// @see core (dependence)
6/// @see gtc_constants (dependence)
7/// @see gtc_quaternion (dependence)
8///
9/// @defgroup gtx_dual_quaternion GLM_GTX_dual_quaternion
10/// @ingroup gtx
11///
12/// Include <glm/gtx/dual_quaternion.hpp> to use the features of this extension.
13///
14/// Defines a templated dual-quaternion type and several dual-quaternion operations.
15
16#pragma once
17
18// Dependency:
19#include "../glm.hpp"
20#include "../gtc/constants.hpp"
21#include "../gtc/quaternion.hpp"
22
23#ifndef GLM_ENABLE_EXPERIMENTAL
24# error "GLM: GLM_GTX_dual_quaternion is an experimental extension and may change in the future. Use #define GLM_ENABLE_EXPERIMENTAL before including it, if you really want to use it."
25#endif
26
27#if GLM_MESSAGES == GLM_ENABLE && !defined(GLM_EXT_INCLUDED)
28# pragma message("GLM: GLM_GTX_dual_quaternion extension included")
29#endif
30
31namespace glm
32{
33 /// @addtogroup gtx_dual_quaternion
34 /// @{
35
36 template<typename T, qualifier Q = defaultp>
37 struct tdualquat
38 {
39 // -- Implementation detail --
40
41 typedef T value_type;
42 typedef qua<T, Q> part_type;
43
44 // -- Data --
45
46 qua<T, Q> real, dual;
47
48 // -- Component accesses --
49
50 typedef length_t length_type;
51 /// Return the count of components of a dual quaternion
52 GLM_FUNC_DECL static GLM_CONSTEXPR length_type length(){return 2;}
53
54 GLM_FUNC_DECL part_type & operator[](length_type i);
55 GLM_FUNC_DECL part_type const& operator[](length_type i) const;
56
57 // -- Implicit basic constructors --
58
59 GLM_FUNC_DECL GLM_CONSTEXPR tdualquat() GLM_DEFAULT;
60 GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tdualquat<T, Q> const& d) GLM_DEFAULT;
61 template<qualifier P>
62 GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tdualquat<T, P> const& d);
63
64 // -- Explicit basic constructors --
65
66 GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(qua<T, Q> const& real);
67 GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(qua<T, Q> const& orientation, vec<3, T, Q> const& translation);
68 GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(qua<T, Q> const& real, qua<T, Q> const& dual);
69
70 // -- Conversion constructors --
71
72 template<typename U, qualifier P>
73 GLM_FUNC_DECL GLM_CONSTEXPR GLM_EXPLICIT tdualquat(tdualquat<U, P> const& q);
74
75 GLM_FUNC_DECL GLM_EXPLICIT GLM_CONSTEXPR tdualquat(mat<2, 4, T, Q> const& holder_mat);
76 GLM_FUNC_DECL GLM_EXPLICIT GLM_CONSTEXPR tdualquat(mat<3, 4, T, Q> const& aug_mat);
77
78 // -- Unary arithmetic operators --
79
80 GLM_FUNC_DECL tdualquat<T, Q> & operator=(tdualquat<T, Q> const& m) GLM_DEFAULT;
81
82 template<typename U>
83 GLM_FUNC_DECL tdualquat<T, Q> & operator=(tdualquat<U, Q> const& m);
84 template<typename U>
85 GLM_FUNC_DECL tdualquat<T, Q> & operator*=(U s);
86 template<typename U>
87 GLM_FUNC_DECL tdualquat<T, Q> & operator/=(U s);
88 };
89
90 // -- Unary bit operators --
91
92 template<typename T, qualifier Q>
93 GLM_FUNC_DECL tdualquat<T, Q> operator+(tdualquat<T, Q> const& q);
94
95 template<typename T, qualifier Q>
96 GLM_FUNC_DECL tdualquat<T, Q> operator-(tdualquat<T, Q> const& q);
97
98 // -- Binary operators --
99
100 template<typename T, qualifier Q>
101 GLM_FUNC_DECL tdualquat<T, Q> operator+(tdualquat<T, Q> const& q, tdualquat<T, Q> const& p);
102
103 template<typename T, qualifier Q>
104 GLM_FUNC_DECL tdualquat<T, Q> operator*(tdualquat<T, Q> const& q, tdualquat<T, Q> const& p);
105
106 template<typename T, qualifier Q>
107 GLM_FUNC_DECL vec<3, T, Q> operator*(tdualquat<T, Q> const& q, vec<3, T, Q> const& v);
108
109 template<typename T, qualifier Q>
110 GLM_FUNC_DECL vec<3, T, Q> operator*(vec<3, T, Q> const& v, tdualquat<T, Q> const& q);
111
112 template<typename T, qualifier Q>
113 GLM_FUNC_DECL vec<4, T, Q> operator*(tdualquat<T, Q> const& q, vec<4, T, Q> const& v);
114
115 template<typename T, qualifier Q>
116 GLM_FUNC_DECL vec<4, T, Q> operator*(vec<4, T, Q> const& v, tdualquat<T, Q> const& q);
117
118 template<typename T, qualifier Q>
119 GLM_FUNC_DECL tdualquat<T, Q> operator*(tdualquat<T, Q> const& q, T const& s);
120
121 template<typename T, qualifier Q>
122 GLM_FUNC_DECL tdualquat<T, Q> operator*(T const& s, tdualquat<T, Q> const& q);
123
124 template<typename T, qualifier Q>
125 GLM_FUNC_DECL tdualquat<T, Q> operator/(tdualquat<T, Q> const& q, T const& s);
126
127 // -- Boolean operators --
128
129 template<typename T, qualifier Q>
130 GLM_FUNC_DECL bool operator==(tdualquat<T, Q> const& q1, tdualquat<T, Q> const& q2);
131
132 template<typename T, qualifier Q>
133 GLM_FUNC_DECL bool operator!=(tdualquat<T, Q> const& q1, tdualquat<T, Q> const& q2);
134
135 /// Creates an identity dual quaternion.
136 ///
137 /// @see gtx_dual_quaternion
138 template <typename T, qualifier Q>
139 GLM_FUNC_DECL tdualquat<T, Q> dual_quat_identity();
140
141 /// Returns the normalized quaternion.
142 ///
143 /// @see gtx_dual_quaternion
144 template<typename T, qualifier Q>
145 GLM_FUNC_DECL tdualquat<T, Q> normalize(tdualquat<T, Q> const& q);
146
147 /// Returns the linear interpolation of two dual quaternion.
148 ///
149 /// @see gtc_dual_quaternion
150 template<typename T, qualifier Q>
151 GLM_FUNC_DECL tdualquat<T, Q> lerp(tdualquat<T, Q> const& x, tdualquat<T, Q> const& y, T const& a);
152
153 /// Returns the q inverse.
154 ///
155 /// @see gtx_dual_quaternion
156 template<typename T, qualifier Q>
157 GLM_FUNC_DECL tdualquat<T, Q> inverse(tdualquat<T, Q> const& q);
158
159 /// Converts a quaternion to a 2 * 4 matrix.
160 ///
161 /// @see gtx_dual_quaternion
162 template<typename T, qualifier Q>
163 GLM_FUNC_DECL mat<2, 4, T, Q> mat2x4_cast(tdualquat<T, Q> const& x);
164
165 /// Converts a quaternion to a 3 * 4 matrix.
166 ///
167 /// @see gtx_dual_quaternion
168 template<typename T, qualifier Q>
169 GLM_FUNC_DECL mat<3, 4, T, Q> mat3x4_cast(tdualquat<T, Q> const& x);
170
171 /// Converts a 2 * 4 matrix (matrix which holds real and dual parts) to a quaternion.
172 ///
173 /// @see gtx_dual_quaternion
174 template<typename T, qualifier Q>
175 GLM_FUNC_DECL tdualquat<T, Q> dualquat_cast(mat<2, 4, T, Q> const& x);
176
177 /// Converts a 3 * 4 matrix (augmented matrix rotation + translation) to a quaternion.
178 ///
179 /// @see gtx_dual_quaternion
180 template<typename T, qualifier Q>
181 GLM_FUNC_DECL tdualquat<T, Q> dualquat_cast(mat<3, 4, T, Q> const& x);
182
183
184 /// Dual-quaternion of low single-qualifier floating-point numbers.
185 ///
186 /// @see gtx_dual_quaternion
187 typedef tdualquat<float, lowp> lowp_dualquat;
188
189 /// Dual-quaternion of medium single-qualifier floating-point numbers.
190 ///
191 /// @see gtx_dual_quaternion
192 typedef tdualquat<float, mediump> mediump_dualquat;
193
194 /// Dual-quaternion of high single-qualifier floating-point numbers.
195 ///
196 /// @see gtx_dual_quaternion
197 typedef tdualquat<float, highp> highp_dualquat;
198
199
200 /// Dual-quaternion of low single-qualifier floating-point numbers.
201 ///
202 /// @see gtx_dual_quaternion
203 typedef tdualquat<float, lowp> lowp_fdualquat;
204
205 /// Dual-quaternion of medium single-qualifier floating-point numbers.
206 ///
207 /// @see gtx_dual_quaternion
208 typedef tdualquat<float, mediump> mediump_fdualquat;
209
210 /// Dual-quaternion of high single-qualifier floating-point numbers.
211 ///
212 /// @see gtx_dual_quaternion
213 typedef tdualquat<float, highp> highp_fdualquat;
214
215
216 /// Dual-quaternion of low double-qualifier floating-point numbers.
217 ///
218 /// @see gtx_dual_quaternion
219 typedef tdualquat<double, lowp> lowp_ddualquat;
220
221 /// Dual-quaternion of medium double-qualifier floating-point numbers.
222 ///
223 /// @see gtx_dual_quaternion
224 typedef tdualquat<double, mediump> mediump_ddualquat;
225
226 /// Dual-quaternion of high double-qualifier floating-point numbers.
227 ///
228 /// @see gtx_dual_quaternion
229 typedef tdualquat<double, highp> highp_ddualquat;
230
231
232#if(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
233 /// Dual-quaternion of floating-point numbers.
234 ///
235 /// @see gtx_dual_quaternion
236 typedef highp_fdualquat dualquat;
237
238 /// Dual-quaternion of single-qualifier floating-point numbers.
239 ///
240 /// @see gtx_dual_quaternion
241 typedef highp_fdualquat fdualquat;
242#elif(defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
243 typedef highp_fdualquat dualquat;
244 typedef highp_fdualquat fdualquat;
245#elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
246 typedef mediump_fdualquat dualquat;
247 typedef mediump_fdualquat fdualquat;
248#elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && defined(GLM_PRECISION_LOWP_FLOAT))
249 typedef lowp_fdualquat dualquat;
250 typedef lowp_fdualquat fdualquat;
251#else
252# error "GLM error: multiple default precision requested for single-precision floating-point types"
253#endif
254
255
256#if(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
257 /// Dual-quaternion of default double-qualifier floating-point numbers.
258 ///
259 /// @see gtx_dual_quaternion
260 typedef highp_ddualquat ddualquat;
261#elif(defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
262 typedef highp_ddualquat ddualquat;
263#elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
264 typedef mediump_ddualquat ddualquat;
265#elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && defined(GLM_PRECISION_LOWP_DOUBLE))
266 typedef lowp_ddualquat ddualquat;
267#else
268# error "GLM error: Multiple default precision requested for double-precision floating-point types"
269#endif
270
271 /// @}
272} //namespace glm
273
274#include "dual_quaternion.inl"