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Diffstat (limited to '3rdparty/include/glm/gtc/quaternion.hpp')
| -rw-r--r-- | 3rdparty/include/glm/gtc/quaternion.hpp | 377 |
1 files changed, 377 insertions, 0 deletions
diff --git a/3rdparty/include/glm/gtc/quaternion.hpp b/3rdparty/include/glm/gtc/quaternion.hpp new file mode 100644 index 0000000..0735abf --- /dev/null +++ b/3rdparty/include/glm/gtc/quaternion.hpp @@ -0,0 +1,377 @@ +/////////////////////////////////////////////////////////////////////////////////// +/// OpenGL Mathematics (glm.g-truc.net) +/// +/// Copyright (c) 2005 - 2015 G-Truc Creation (www.g-truc.net) +/// Permission is hereby granted, free of charge, to any person obtaining a copy +/// of this software and associated documentation files (the "Software"), to deal +/// in the Software without restriction, including without limitation the rights +/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +/// copies of the Software, and to permit persons to whom the Software is +/// furnished to do so, subject to the following conditions: +/// +/// The above copyright notice and this permission notice shall be included in +/// all copies or substantial portions of the Software. +/// +/// Restrictions: +/// By making use of the Software for military purposes, you choose to make +/// a Bunny unhappy. +/// +/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +/// THE SOFTWARE. +/// +/// @ref gtc_quaternion +/// @file glm/gtc/quaternion.hpp +/// @date 2009-05-21 / 2012-12-20 +/// @author Christophe Riccio +/// +/// @see core (dependence) +/// @see gtc_half_float (dependence) +/// @see gtc_constants (dependence) +/// +/// @defgroup gtc_quaternion GLM_GTC_quaternion +/// @ingroup gtc +/// +/// @brief Defines a templated quaternion type and several quaternion operations. +/// +/// <glm/gtc/quaternion.hpp> need to be included to use these functionalities. +/////////////////////////////////////////////////////////////////////////////////// + +#pragma once + +// Dependency: +#include "../mat3x3.hpp" +#include "../mat4x4.hpp" +#include "../vec3.hpp" +#include "../vec4.hpp" +#include "../gtc/constants.hpp" + +#if(defined(GLM_MESSAGES) && !defined(GLM_EXT_INCLUDED)) +# pragma message("GLM: GLM_GTC_quaternion extension included") +#endif + +namespace glm +{ + /// @addtogroup gtc_quaternion + /// @{ + + template <typename T, precision P> + struct tquat + { + typedef tquat<T, P> type; + typedef T value_type; + + public: + T x, y, z, w; + + ////////////////////////////////////// + // Component accesses + +# ifdef GLM_FORCE_SIZE_FUNC + typedef size_t size_type; + /// Return the count of components of a quaternion + GLM_FUNC_DECL GLM_CONSTEXPR size_type size() const; + + GLM_FUNC_DECL T & operator[](size_type i); + GLM_FUNC_DECL T const & operator[](size_type i) const; +# else + typedef length_t length_type; + /// Return the count of components of a quaternion + GLM_FUNC_DECL GLM_CONSTEXPR length_type length() const; + + GLM_FUNC_DECL T & operator[](length_type i); + GLM_FUNC_DECL T const & operator[](length_type i) const; +# endif//GLM_FORCE_SIZE_FUNC + + ////////////////////////////////////// + // Implicit basic constructors + + GLM_FUNC_DECL tquat(); + GLM_FUNC_DECL tquat(tquat<T, P> const & q); + template <precision Q> + GLM_FUNC_DECL tquat(tquat<T, Q> const & q); + + ////////////////////////////////////// + // Explicit basic constructors + + GLM_FUNC_DECL explicit tquat(ctor); + GLM_FUNC_DECL explicit tquat(T const & s, tvec3<T, P> const & v); + GLM_FUNC_DECL tquat(T const & w, T const & x, T const & y, T const & z); + + ////////////////////////////////////// + // Convertions + +# ifdef GLM_FORCE_EXPLICIT_CTOR + template <typename U, precision Q> + GLM_FUNC_DECL explicit tquat(tquat<U, Q> const & q); +# else + template <typename U, precision Q> + GLM_FUNC_DECL tquat(tquat<U, Q> const & q); +# endif + + // explicit conversion operators +# if GLM_HAS_EXPLICIT_CONVERSION_OPERATORS + GLM_FUNC_DECL explicit operator tmat3x3<T, P>(); + GLM_FUNC_DECL explicit operator tmat4x4<T, P>(); +# endif + + /// Create a quaternion from two normalized axis + /// + /// @param u A first normalized axis + /// @param v A second normalized axis + /// @see gtc_quaternion + /// @see http://lolengine.net/blog/2013/09/18/beautiful-maths-quaternion-from-vectors + GLM_FUNC_DECL explicit tquat(tvec3<T, P> const & u, tvec3<T, P> const & v); + + /// Build a quaternion from euler angles (pitch, yaw, roll), in radians. + GLM_FUNC_DECL explicit tquat(tvec3<T, P> const & eulerAngles); + GLM_FUNC_DECL explicit tquat(tmat3x3<T, P> const & m); + GLM_FUNC_DECL explicit tquat(tmat4x4<T, P> const & m); + + ////////////////////////////////////// + // Operators + + GLM_FUNC_DECL tquat<T, P> & operator=(tquat<T, P> const & m); + + template <typename U> + GLM_FUNC_DECL tquat<T, P> & operator=(tquat<U, P> const & m); + template <typename U> + GLM_FUNC_DECL tquat<T, P> & operator+=(tquat<U, P> const & q); + template <typename U> + GLM_FUNC_DECL tquat<T, P> & operator*=(tquat<U, P> const & q); + template <typename U> + GLM_FUNC_DECL tquat<T, P> & operator*=(U s); + template <typename U> + GLM_FUNC_DECL tquat<T, P> & operator/=(U s); + }; + + template <typename T, precision P> + GLM_FUNC_DECL tquat<T, P> operator-(tquat<T, P> const & q); + + template <typename T, precision P> + GLM_FUNC_DECL tquat<T, P> operator+(tquat<T, P> const & q, tquat<T, P> const & p); + + template <typename T, precision P> + GLM_FUNC_DECL tquat<T, P> operator*(tquat<T, P> const & q, tquat<T, P> const & p); + + template <typename T, precision P> + GLM_FUNC_DECL tvec3<T, P> operator*(tquat<T, P> const & q, tvec3<T, P> const & v); + + template <typename T, precision P> + GLM_FUNC_DECL tvec3<T, P> operator*(tvec3<T, P> const & v, tquat<T, P> const & q); + + template <typename T, precision P> + GLM_FUNC_DECL tvec4<T, P> operator*(tquat<T, P> const & q, tvec4<T, P> const & v); + + template <typename T, precision P> + GLM_FUNC_DECL tvec4<T, P> operator*(tvec4<T, P> const & v, tquat<T, P> const & q); + + template <typename T, precision P> + GLM_FUNC_DECL tquat<T, P> operator*(tquat<T, P> const & q, T const & s); + + template <typename T, precision P> + GLM_FUNC_DECL tquat<T, P> operator*(T const & s, tquat<T, P> const & q); + + template <typename T, precision P> + GLM_FUNC_DECL tquat<T, P> operator/(tquat<T, P> const & q, T const & s); + + /// Returns the length of the quaternion. + /// + /// @see gtc_quaternion + template <typename T, precision P> + GLM_FUNC_DECL T length(tquat<T, P> const & q); + + /// Returns the normalized quaternion. + /// + /// @see gtc_quaternion + template <typename T, precision P> + GLM_FUNC_DECL tquat<T, P> normalize(tquat<T, P> const & q); + + /// Returns dot product of q1 and q2, i.e., q1[0] * q2[0] + q1[1] * q2[1] + ... + /// + /// @see gtc_quaternion + template <typename T, precision P, template <typename, precision> class quatType> + GLM_FUNC_DECL T dot(quatType<T, P> const & x, quatType<T, P> const & y); + + /// Spherical linear interpolation of two quaternions. + /// The interpolation is oriented and the rotation is performed at constant speed. + /// For short path spherical linear interpolation, use the slerp function. + /// + /// @param x A quaternion + /// @param y A quaternion + /// @param a Interpolation factor. The interpolation is defined beyond the range [0, 1]. + /// @tparam T Value type used to build the quaternion. Supported: half, float or double. + /// @see gtc_quaternion + /// @see - slerp(tquat<T, P> const & x, tquat<T, P> const & y, T const & a) + template <typename T, precision P> + GLM_FUNC_DECL tquat<T, P> mix(tquat<T, P> const & x, tquat<T, P> const & y, T a); + + /// Linear interpolation of two quaternions. + /// The interpolation is oriented. + /// + /// @param x A quaternion + /// @param y A quaternion + /// @param a Interpolation factor. The interpolation is defined in the range [0, 1]. + /// @tparam T Value type used to build the quaternion. Supported: half, float or double. + /// @see gtc_quaternion + template <typename T, precision P> + GLM_FUNC_DECL tquat<T, P> lerp(tquat<T, P> const & x, tquat<T, P> const & y, T a); + + /// Spherical linear interpolation of two quaternions. + /// The interpolation always take the short path and the rotation is performed at constant speed. + /// + /// @param x A quaternion + /// @param y A quaternion + /// @param a Interpolation factor. The interpolation is defined beyond the range [0, 1]. + /// @tparam T Value type used to build the quaternion. Supported: half, float or double. + /// @see gtc_quaternion + template <typename T, precision P> + GLM_FUNC_DECL tquat<T, P> slerp(tquat<T, P> const & x, tquat<T, P> const & y, T a); + + /// Returns the q conjugate. + /// + /// @see gtc_quaternion + template <typename T, precision P> + GLM_FUNC_DECL tquat<T, P> conjugate(tquat<T, P> const & q); + + /// Returns the q inverse. + /// + /// @see gtc_quaternion + template <typename T, precision P> + GLM_FUNC_DECL tquat<T, P> inverse(tquat<T, P> const & q); + + /// Rotates a quaternion from a vector of 3 components axis and an angle. + /// + /// @param q Source orientation + /// @param angle Angle expressed in radians. + /// @param axis Axis of the rotation + /// + /// @see gtc_quaternion + template <typename T, precision P> + GLM_FUNC_DECL tquat<T, P> rotate(tquat<T, P> const & q, T const & angle, tvec3<T, P> const & axis); + + /// Returns euler angles, yitch as x, yaw as y, roll as z. + /// The result is expressed in radians if GLM_FORCE_RADIANS is defined or degrees otherwise. + /// + /// @see gtc_quaternion + template <typename T, precision P> + GLM_FUNC_DECL tvec3<T, P> eulerAngles(tquat<T, P> const & x); + + /// Returns roll value of euler angles expressed in radians. + /// + /// @see gtx_quaternion + template <typename T, precision P> + GLM_FUNC_DECL T roll(tquat<T, P> const & x); + + /// Returns pitch value of euler angles expressed in radians. + /// + /// @see gtx_quaternion + template <typename T, precision P> + GLM_FUNC_DECL T pitch(tquat<T, P> const & x); + + /// Returns yaw value of euler angles expressed in radians. + /// + /// @see gtx_quaternion + template <typename T, precision P> + GLM_FUNC_DECL T yaw(tquat<T, P> const & x); + + /// Converts a quaternion to a 3 * 3 matrix. + /// + /// @see gtc_quaternion + template <typename T, precision P> + GLM_FUNC_DECL tmat3x3<T, P> mat3_cast(tquat<T, P> const & x); + + /// Converts a quaternion to a 4 * 4 matrix. + /// + /// @see gtc_quaternion + template <typename T, precision P> + GLM_FUNC_DECL tmat4x4<T, P> mat4_cast(tquat<T, P> const & x); + + /// Converts a 3 * 3 matrix to a quaternion. + /// + /// @see gtc_quaternion + template <typename T, precision P> + GLM_FUNC_DECL tquat<T, P> quat_cast(tmat3x3<T, P> const & x); + + /// Converts a 4 * 4 matrix to a quaternion. + /// + /// @see gtc_quaternion + template <typename T, precision P> + GLM_FUNC_DECL tquat<T, P> quat_cast(tmat4x4<T, P> const & x); + + /// Returns the quaternion rotation angle. + /// + /// @see gtc_quaternion + template <typename T, precision P> + GLM_FUNC_DECL T angle(tquat<T, P> const & x); + + /// Returns the q rotation axis. + /// + /// @see gtc_quaternion + template <typename T, precision P> + GLM_FUNC_DECL tvec3<T, P> axis(tquat<T, P> const & x); + + /// Build a quaternion from an angle and a normalized axis. + /// + /// @param angle Angle expressed in radians. + /// @param axis Axis of the quaternion, must be normalized. + /// + /// @see gtc_quaternion + template <typename T, precision P> + GLM_FUNC_DECL tquat<T, P> angleAxis(T const & angle, tvec3<T, P> const & axis); + + /// Returns the component-wise comparison result of x < y. + /// + /// @tparam quatType Floating-point quaternion types. + /// + /// @see gtc_quaternion + template <typename T, precision P> + GLM_FUNC_DECL tvec4<bool, P> lessThan(tquat<T, P> const & x, tquat<T, P> const & y); + + /// Returns the component-wise comparison of result x <= y. + /// + /// @tparam quatType Floating-point quaternion types. + /// + /// @see gtc_quaternion + template <typename T, precision P> + GLM_FUNC_DECL tvec4<bool, P> lessThanEqual(tquat<T, P> const & x, tquat<T, P> const & y); + + /// Returns the component-wise comparison of result x > y. + /// + /// @tparam quatType Floating-point quaternion types. + /// + /// @see gtc_quaternion + template <typename T, precision P> + GLM_FUNC_DECL tvec4<bool, P> greaterThan(tquat<T, P> const & x, tquat<T, P> const & y); + + /// Returns the component-wise comparison of result x >= y. + /// + /// @tparam quatType Floating-point quaternion types. + /// + /// @see gtc_quaternion + template <typename T, precision P> + GLM_FUNC_DECL tvec4<bool, P> greaterThanEqual(tquat<T, P> const & x, tquat<T, P> const & y); + + /// Returns the component-wise comparison of result x == y. + /// + /// @tparam quatType Floating-point quaternion types. + /// + /// @see gtc_quaternion + template <typename T, precision P> + GLM_FUNC_DECL tvec4<bool, P> equal(tquat<T, P> const & x, tquat<T, P> const & y); + + /// Returns the component-wise comparison of result x != y. + /// + /// @tparam quatType Floating-point quaternion types. + /// + /// @see gtc_quaternion + template <typename T, precision P> + GLM_FUNC_DECL tvec4<bool, P> notEqual(tquat<T, P> const & x, tquat<T, P> const & y); + /// @} +} //namespace glm + +#include "quaternion.inl" |