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VulkanExample / dep / include / glm / detail / type_quat.hpp
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1/// @ref core
2/// @file glm/detail/type_quat.hpp
3
4#pragma once
5
6// Dependency:
7#include "../detail/type_mat3x3.hpp"
8#include "../detail/type_mat4x4.hpp"
9#include "../detail/type_vec3.hpp"
10#include "../detail/type_vec4.hpp"
11#include "../ext/vector_relational.hpp"
12#include "../ext/quaternion_relational.hpp"
13#include "../gtc/constants.hpp"
14#include "../gtc/matrix_transform.hpp"
15
16namespace glm
17{
18# if GLM_SILENT_WARNINGS == GLM_ENABLE
19# if GLM_COMPILER & GLM_COMPILER_GCC
20# pragma GCC diagnostic push
21# pragma GCC diagnostic ignored "-Wpedantic"
22# elif GLM_COMPILER & GLM_COMPILER_CLANG
23# pragma clang diagnostic push
24# pragma clang diagnostic ignored "-Wgnu-anonymous-struct"
25# pragma clang diagnostic ignored "-Wnested-anon-types"
26# elif GLM_COMPILER & GLM_COMPILER_VC
27# pragma warning(push)
28# pragma warning(disable: 4201) // nonstandard extension used : nameless struct/union
29# endif
30# endif
31
32 template<typename T, qualifier Q>
33 struct qua
34 {
35 // -- Implementation detail --
36
37 typedef qua<T, Q> type;
38 typedef T value_type;
39
40 // -- Data --
41
42# if GLM_LANG & GLM_LANG_CXXMS_FLAG
43 union
44 {
45# ifdef GLM_FORCE_QUAT_DATA_WXYZ
46 struct { T w, x, y, z; };
47# else
48 struct { T x, y, z, w; };
49# endif
50
51 typename detail::storage<4, T, detail::is_aligned<Q>::value>::type data;
52 };
53# else
54# ifdef GLM_FORCE_QUAT_DATA_WXYZ
55 T w, x, y, z;
56# else
57 T x, y, z, w;
58# endif
59# endif
60
61 // -- Component accesses --
62
63 typedef length_t length_type;
64
65 /// Return the count of components of a quaternion
66 GLM_FUNC_DECL static constexpr length_type length(){return 4;}
67
68 GLM_FUNC_DECL GLM_CONSTEXPR T & operator[](length_type i);
69 GLM_FUNC_DECL GLM_CONSTEXPR T const& operator[](length_type i) const;
70
71 // -- Implicit basic constructors --
72
73 GLM_DEFAULTED_DEFAULT_CTOR_DECL GLM_CONSTEXPR qua() GLM_DEFAULT_CTOR;
74 GLM_CTOR_DECL qua(qua<T, Q> const& q) = default;
75 template<qualifier P>
76 GLM_CTOR_DECL qua(qua<T, P> const& q);
77
78 // -- Explicit basic constructors --
79
80 GLM_CTOR_DECL qua(T s, vec<3, T, Q> const& v);
81
82# ifdef GLM_FORCE_QUAT_DATA_XYZW
83 GLM_CTOR_DECL qua(T x, T y, T z, T w);
84# else
85 GLM_CTOR_DECL qua(T w, T x, T y, T z);
86# endif
87
88 GLM_FUNC_DECL static GLM_CONSTEXPR qua<T, Q> wxyz(T w, T x, T y, T z);
89
90 // -- Conversion constructors --
91
92 template<typename U, qualifier P>
93 GLM_CTOR_DECL GLM_EXPLICIT qua(qua<U, P> const& q);
94
95 GLM_FUNC_DECL explicit operator mat<3, 3, T, Q>() const;
96 GLM_FUNC_DECL explicit operator mat<4, 4, T, Q>() const;
97
98 /// Create a quaternion from two normalized axis
99 ///
100 /// @param u A first normalized axis
101 /// @param v A second normalized axis
102 /// @see gtc_quaternion
103 /// @see http://lolengine.net/blog/2013/09/18/beautiful-maths-quaternion-from-vectors
104 GLM_FUNC_DISCARD_DECL qua(vec<3, T, Q> const& u, vec<3, T, Q> const& v);
105
106 /// Build a quaternion from euler angles (pitch, yaw, roll), in radians.
107 GLM_CTOR_DECL GLM_EXPLICIT qua(vec<3, T, Q> const& eulerAngles);
108 GLM_CTOR_DECL GLM_EXPLICIT qua(mat<3, 3, T, Q> const& q);
109 GLM_CTOR_DECL GLM_EXPLICIT qua(mat<4, 4, T, Q> const& q);
110
111 // -- Unary arithmetic operators --
112
113 GLM_FUNC_DISCARD_DECL GLM_CONSTEXPR qua<T, Q>& operator=(qua<T, Q> const& q) = default;
114
115 template<typename U>
116 GLM_FUNC_DISCARD_DECL GLM_CONSTEXPR qua<T, Q>& operator=(qua<U, Q> const& q);
117 template<typename U>
118 GLM_FUNC_DISCARD_DECL GLM_CONSTEXPR qua<T, Q>& operator+=(qua<U, Q> const& q);
119 template<typename U>
120 GLM_FUNC_DISCARD_DECL GLM_CONSTEXPR qua<T, Q>& operator-=(qua<U, Q> const& q);
121 template<typename U>
122 GLM_FUNC_DISCARD_DECL GLM_CONSTEXPR qua<T, Q>& operator*=(qua<U, Q> const& q);
123 template<typename U>
124 GLM_FUNC_DISCARD_DECL GLM_CONSTEXPR qua<T, Q>& operator*=(U s);
125 template<typename U>
126 GLM_FUNC_DISCARD_DECL GLM_CONSTEXPR qua<T, Q>& operator/=(U s);
127 };
128
129# if GLM_SILENT_WARNINGS == GLM_ENABLE
130# if GLM_COMPILER & GLM_COMPILER_CLANG
131# pragma clang diagnostic pop
132# elif GLM_COMPILER & GLM_COMPILER_GCC
133# pragma GCC diagnostic pop
134# elif GLM_COMPILER & GLM_COMPILER_VC
135# pragma warning(pop)
136# endif
137# endif
138
139 // -- Unary bit operators --
140
141 template<typename T, qualifier Q>
142 GLM_FUNC_DECL GLM_CONSTEXPR qua<T, Q> operator+(qua<T, Q> const& q);
143
144 template<typename T, qualifier Q>
145 GLM_FUNC_DECL GLM_CONSTEXPR qua<T, Q> operator-(qua<T, Q> const& q);
146
147 // -- Binary operators --
148
149 template<typename T, qualifier Q>
150 GLM_FUNC_DECL GLM_CONSTEXPR qua<T, Q> operator+(qua<T, Q> const& q, qua<T, Q> const& p);
151
152 template<typename T, qualifier Q>
153 GLM_FUNC_DECL GLM_CONSTEXPR qua<T, Q> operator-(qua<T, Q> const& q, qua<T, Q> const& p);
154
155 template<typename T, qualifier Q>
156 GLM_FUNC_DECL GLM_CONSTEXPR qua<T, Q> operator*(qua<T, Q> const& q, qua<T, Q> const& p);
157
158 template<typename T, qualifier Q>
159 GLM_FUNC_DECL GLM_CONSTEXPR vec<3, T, Q> operator*(qua<T, Q> const& q, vec<3, T, Q> const& v);
160
161 template<typename T, qualifier Q>
162 GLM_FUNC_DECL GLM_CONSTEXPR vec<3, T, Q> operator*(vec<3, T, Q> const& v, qua<T, Q> const& q);
163
164 template<typename T, qualifier Q>
165 GLM_FUNC_DECL GLM_CONSTEXPR vec<4, T, Q> operator*(qua<T, Q> const& q, vec<4, T, Q> const& v);
166
167 template<typename T, qualifier Q>
168 GLM_FUNC_DECL GLM_CONSTEXPR vec<4, T, Q> operator*(vec<4, T, Q> const& v, qua<T, Q> const& q);
169
170 template<typename T, qualifier Q>
171 GLM_FUNC_DECL GLM_CONSTEXPR qua<T, Q> operator*(qua<T, Q> const& q, T const& s);
172
173 template<typename T, qualifier Q>
174 GLM_FUNC_DECL GLM_CONSTEXPR qua<T, Q> operator*(T const& s, qua<T, Q> const& q);
175
176 template<typename T, qualifier Q>
177 GLM_FUNC_DECL GLM_CONSTEXPR qua<T, Q> operator/(qua<T, Q> const& q, T const& s);
178
179 // -- Boolean operators --
180
181 template<typename T, qualifier Q>
182 GLM_FUNC_DECL GLM_CONSTEXPR bool operator==(qua<T, Q> const& q1, qua<T, Q> const& q2);
183
184 template<typename T, qualifier Q>
185 GLM_FUNC_DECL GLM_CONSTEXPR bool operator!=(qua<T, Q> const& q1, qua<T, Q> const& q2);
186} //namespace glm
187
188#ifndef GLM_EXTERNAL_TEMPLATE
189#include "type_quat.inl"
190#endif//GLM_EXTERNAL_TEMPLATE