| 1 | /// @ref ext_quaternion_common |
| 2 | /// @file glm/ext/quaternion_common.hpp |
| 3 | /// |
| 4 | /// @defgroup ext_quaternion_common GLM_EXT_quaternion_common |
| 5 | /// @ingroup ext |
| 6 | /// |
| 7 | /// Provides common functions for quaternion types |
| 8 | /// |
| 9 | /// Include <glm/ext/quaternion_common.hpp> to use the features of this extension. |
| 10 | /// |
| 11 | /// @see ext_scalar_common |
| 12 | /// @see ext_vector_common |
| 13 | /// @see ext_quaternion_float |
| 14 | /// @see ext_quaternion_double |
| 15 | /// @see ext_quaternion_exponential |
| 16 | /// @see ext_quaternion_geometric |
| 17 | /// @see ext_quaternion_relational |
| 18 | /// @see ext_quaternion_trigonometric |
| 19 | /// @see ext_quaternion_transform |
| 20 | |
| 21 | #pragma once |
| 22 | |
| 23 | // Dependency: |
| 24 | #include "../ext/scalar_constants.hpp" |
| 25 | #include "../ext/quaternion_geometric.hpp" |
| 26 | #include "../common.hpp" |
| 27 | #include "../trigonometric.hpp" |
| 28 | #include "../exponential.hpp" |
| 29 | #include <limits> |
| 30 | |
| 31 | #if GLM_MESSAGES == GLM_ENABLE && !defined(GLM_EXT_INCLUDED) |
| 32 | # pragma message("GLM: GLM_EXT_quaternion_common extension included") |
| 33 | #endif |
| 34 | |
| 35 | namespace glm |
| 36 | { |
| 37 | /// @addtogroup ext_quaternion_common |
| 38 | /// @{ |
| 39 | |
| 40 | /// Spherical linear interpolation of two quaternions. |
| 41 | /// The interpolation is oriented and the rotation is performed at constant speed. |
| 42 | /// For short path spherical linear interpolation, use the slerp function. |
| 43 | /// |
| 44 | /// @param x A quaternion |
| 45 | /// @param y A quaternion |
| 46 | /// @param a Interpolation factor. The interpolation is defined beyond the range [0, 1]. |
| 47 | /// |
| 48 | /// @tparam T A floating-point scalar type |
| 49 | /// @tparam Q A value from qualifier enum |
| 50 | /// |
| 51 | /// @see - slerp(qua<T, Q> const& x, qua<T, Q> const& y, T const& a) |
| 52 | template<typename T, qualifier Q> |
| 53 | GLM_FUNC_DECL qua<T, Q> mix(qua<T, Q> const& x, qua<T, Q> const& y, T a); |
| 54 | |
| 55 | /// Linear interpolation of two quaternions. |
| 56 | /// The interpolation is oriented. |
| 57 | /// |
| 58 | /// @param x A quaternion |
| 59 | /// @param y A quaternion |
| 60 | /// @param a Interpolation factor. The interpolation is defined in the range [0, 1]. |
| 61 | /// |
| 62 | /// @tparam T A floating-point scalar type |
| 63 | /// @tparam Q A value from qualifier enum |
| 64 | template<typename T, qualifier Q> |
| 65 | GLM_FUNC_DECL GLM_CONSTEXPR qua<T, Q> lerp(qua<T, Q> const& x, qua<T, Q> const& y, T a); |
| 66 | |
| 67 | /// Spherical linear interpolation of two quaternions. |
| 68 | /// The interpolation always take the short path and the rotation is performed at constant speed. |
| 69 | /// |
| 70 | /// @param x A quaternion |
| 71 | /// @param y A quaternion |
| 72 | /// @param a Interpolation factor. The interpolation is defined beyond the range [0, 1]. |
| 73 | /// |
| 74 | /// @tparam T A floating-point scalar type |
| 75 | /// @tparam Q A value from qualifier enum |
| 76 | template<typename T, qualifier Q> |
| 77 | GLM_FUNC_DECL qua<T, Q> slerp(qua<T, Q> const& x, qua<T, Q> const& y, T a); |
| 78 | |
| 79 | /// Spherical linear interpolation of two quaternions with multiple spins over rotation axis. |
| 80 | /// The interpolation always take the short path when the spin count is positive and long path |
| 81 | /// when count is negative. Rotation is performed at constant speed. |
| 82 | /// |
| 83 | /// @param x A quaternion |
| 84 | /// @param y A quaternion |
| 85 | /// @param a Interpolation factor. The interpolation is defined beyond the range [0, 1]. |
| 86 | /// @param k Additional spin count. If Value is negative interpolation will be on "long" path. |
| 87 | /// |
| 88 | /// @tparam T A floating-point scalar type |
| 89 | /// @tparam S An integer scalar type |
| 90 | /// @tparam Q A value from qualifier enum |
| 91 | template<typename T, typename S, qualifier Q> |
| 92 | GLM_FUNC_DECL qua<T, Q> slerp(qua<T, Q> const& x, qua<T, Q> const& y, T a, S k); |
| 93 | |
| 94 | /// Returns the q conjugate. |
| 95 | /// |
| 96 | /// @tparam T A floating-point scalar type |
| 97 | /// @tparam Q A value from qualifier enum |
| 98 | template<typename T, qualifier Q> |
| 99 | GLM_FUNC_DECL GLM_CONSTEXPR qua<T, Q> conjugate(qua<T, Q> const& q); |
| 100 | |
| 101 | /// Returns the q inverse. |
| 102 | /// |
| 103 | /// @tparam T A floating-point scalar type |
| 104 | /// @tparam Q A value from qualifier enum |
| 105 | template<typename T, qualifier Q> |
| 106 | GLM_FUNC_DECL GLM_CONSTEXPR qua<T, Q> inverse(qua<T, Q> const& q); |
| 107 | |
| 108 | /// Returns true if x holds a NaN (not a number) |
| 109 | /// representation in the underlying implementation's set of |
| 110 | /// floating point representations. Returns false otherwise, |
| 111 | /// including for implementations with no NaN |
| 112 | /// representations. |
| 113 | /// |
| 114 | /// /!\ When using compiler fast math, this function may fail. |
| 115 | /// |
| 116 | /// @tparam T A floating-point scalar type |
| 117 | /// @tparam Q A value from qualifier enum |
| 118 | template<typename T, qualifier Q> |
| 119 | GLM_FUNC_DECL vec<4, bool, Q> isnan(qua<T, Q> const& x); |
| 120 | |
| 121 | /// Returns true if x holds a positive infinity or negative |
| 122 | /// infinity representation in the underlying implementation's |
| 123 | /// set of floating point representations. Returns false |
| 124 | /// otherwise, including for implementations with no infinity |
| 125 | /// representations. |
| 126 | /// |
| 127 | /// @tparam T A floating-point scalar type |
| 128 | /// @tparam Q A value from qualifier enum |
| 129 | template<typename T, qualifier Q> |
| 130 | GLM_FUNC_DECL vec<4, bool, Q> isinf(qua<T, Q> const& x); |
| 131 | |
| 132 | /// @} |
| 133 | } //namespace glm |
| 134 | |
| 135 | #include "quaternion_common.inl" |