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Diffstat (limited to '3rdparty/include/glm/gtx/dual_quaternion.hpp')
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1 files changed, 321 insertions, 0 deletions
diff --git a/3rdparty/include/glm/gtx/dual_quaternion.hpp b/3rdparty/include/glm/gtx/dual_quaternion.hpp new file mode 100644 index 0000000..3cb1474 --- /dev/null +++ b/3rdparty/include/glm/gtx/dual_quaternion.hpp @@ -0,0 +1,321 @@ +/////////////////////////////////////////////////////////////////////////////////// +/// 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 gtx_dual_quaternion +/// @file glm/gtx/dual_quaternion.hpp +/// @date 2013-02-10 / 2013-02-20 +/// @author Maksim Vorobiev (msomeone@gmail.com) +/// +/// @see core (dependence) +/// @see gtc_half_float (dependence) +/// @see gtc_constants (dependence) +/// @see gtc_quaternion (dependence) +/// +/// @defgroup gtx_dual_quaternion GLM_GTX_dual_quaternion +/// @ingroup gtx +/// +/// @brief Defines a templated dual-quaternion type and several dual-quaternion operations. +/// +/// <glm/gtx/dual_quaternion.hpp> need to be included to use these functionalities. +/////////////////////////////////////////////////////////////////////////////////// + +#pragma once + +// Dependency: +#include "../glm.hpp" +#include "../gtc/constants.hpp" +#include "../gtc/quaternion.hpp" + +#if(defined(GLM_MESSAGES) && !defined(GLM_EXT_INCLUDED)) +# pragma message("GLM: GLM_GTX_dual_quaternion extension included") +#endif + +namespace glm +{ + /// @addtogroup gtx_dual_quaternion + /// @{ + + template <typename T, precision P> + struct tdualquat + { + typedef T value_type; + typedef glm::tquat<T, P> part_type; + + public: + glm::tquat<T, P> real, dual; + + ////////////////////////////////////// + // Component accesses + +# ifdef GLM_FORCE_SIZE_FUNC + typedef size_t size_type; + /// Return the count of components of a dual quaternion + GLM_FUNC_DECL GLM_CONSTEXPR size_type size() const; + + GLM_FUNC_DECL part_type & operator[](size_type i); + GLM_FUNC_DECL part_type const & operator[](size_type i) const; +# else + typedef length_t length_type; + /// Return the count of components of a dual quaternion + GLM_FUNC_DECL GLM_CONSTEXPR length_type length() const; + + GLM_FUNC_DECL part_type & operator[](length_type i); + GLM_FUNC_DECL part_type const & operator[](length_type i) const; +# endif//GLM_FORCE_SIZE_FUNC + + ////////////////////////////////////// + // Implicit basic constructors + + GLM_FUNC_DECL tdualquat(); + GLM_FUNC_DECL tdualquat(tdualquat<T, P> const & d); + template <precision Q> + GLM_FUNC_DECL tdualquat(tdualquat<T, Q> const & d); + + ////////////////////////////////////// + // Explicit basic constructors + + GLM_FUNC_DECL explicit tdualquat(ctor); + GLM_FUNC_DECL explicit tdualquat(tquat<T, P> const & real); + GLM_FUNC_DECL tdualquat(tquat<T, P> const & orientation, tvec3<T, P> const & translation); + GLM_FUNC_DECL tdualquat(tquat<T, P> const & real, tquat<T, P> const & dual); + + ////////////////////////////////////////////////////////////// + // tdualquat conversions + +# ifdef GLM_FORCE_EXPLICIT_CTOR + template <typename U, precision Q> + GLM_FUNC_DECL explicit tdualquat(tdualquat<U, Q> const & q); +# else + template <typename U, precision Q> + GLM_FUNC_DECL tdualquat(tdualquat<U, Q> const & q); +# endif + + GLM_FUNC_DECL explicit tdualquat(tmat2x4<T, P> const & holder_mat); + GLM_FUNC_DECL explicit tdualquat(tmat3x4<T, P> const & aug_mat); + + // Operators + GLM_FUNC_DECL tdualquat<T, P> & operator=(tdualquat<T, P> const & m); + + template <typename U> + GLM_FUNC_DECL tdualquat<T, P> & operator=(tdualquat<U, P> const & m); + template <typename U> + GLM_FUNC_DECL tdualquat<T, P> & operator*=(U s); + template <typename U> + GLM_FUNC_DECL tdualquat<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 tdualquat<T, P> operator+ ( + tdualquat<T, P> const & q, + tdualquat<T, P> const & p); + + template <typename T, precision P> + GLM_FUNC_DECL tdualquat<T, P> operator* ( + tdualquat<T, P> const & q, + tdualquat<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 tdualquat<T, P> operator* ( + tdualquat<T, P> const & q, + T const & s); + + template <typename T, precision P> + GLM_FUNC_DECL tdualquat<T, P> operator* ( + T const & s, + tdualquat<T, P> const & q); + + template <typename T, precision P> + GLM_FUNC_DECL tdualquat<T, P> operator/ ( + tdualquat<T, P> const & q, + T const & s); + + /// Returns the normalized quaternion. + /// + /// @see gtx_dual_quaternion + template <typename T, precision P> + GLM_FUNC_DECL tdualquat<T, P> normalize( + tdualquat<T, P> const & q); + + /// Returns the linear interpolation of two dual quaternion. + /// + /// @see gtc_dual_quaternion + template <typename T, precision P> + GLM_FUNC_DECL tdualquat<T, P> lerp( + tdualquat<T, P> const & x, + tdualquat<T, P> const & y, + T const & a); + + /// Returns the q inverse. + /// + /// @see gtx_dual_quaternion + template <typename T, precision P> + GLM_FUNC_DECL tdualquat<T, P> inverse( + tdualquat<T, P> const & q); + + /// Converts a quaternion to a 2 * 4 matrix. + /// + /// @see gtx_dual_quaternion + template <typename T, precision P> + GLM_FUNC_DECL tmat2x4<T, P> mat2x4_cast( + tdualquat<T, P> const & x); + + /// Converts a quaternion to a 3 * 4 matrix. + /// + /// @see gtx_dual_quaternion + template <typename T, precision P> + GLM_FUNC_DECL tmat3x4<T, P> mat3x4_cast( + tdualquat<T, P> const & x); + + /// Converts a 2 * 4 matrix (matrix which holds real and dual parts) to a quaternion. + /// + /// @see gtx_dual_quaternion + template <typename T, precision P> + GLM_FUNC_DECL tdualquat<T, P> dualquat_cast( + tmat2x4<T, P> const & x); + + /// Converts a 3 * 4 matrix (augmented matrix rotation + translation) to a quaternion. + /// + /// @see gtx_dual_quaternion + template <typename T, precision P> + GLM_FUNC_DECL tdualquat<T, P> dualquat_cast( + tmat3x4<T, P> const & x); + + + /// Dual-quaternion of low single-precision floating-point numbers. + /// + /// @see gtx_dual_quaternion + typedef tdualquat<float, lowp> lowp_dualquat; + + /// Dual-quaternion of medium single-precision floating-point numbers. + /// + /// @see gtx_dual_quaternion + typedef tdualquat<float, mediump> mediump_dualquat; + + /// Dual-quaternion of high single-precision floating-point numbers. + /// + /// @see gtx_dual_quaternion + typedef tdualquat<float, highp> highp_dualquat; + + + /// Dual-quaternion of low single-precision floating-point numbers. + /// + /// @see gtx_dual_quaternion + typedef tdualquat<float, lowp> lowp_fdualquat; + + /// Dual-quaternion of medium single-precision floating-point numbers. + /// + /// @see gtx_dual_quaternion + typedef tdualquat<float, mediump> mediump_fdualquat; + + /// Dual-quaternion of high single-precision floating-point numbers. + /// + /// @see gtx_dual_quaternion + typedef tdualquat<float, highp> highp_fdualquat; + + + /// Dual-quaternion of low double-precision floating-point numbers. + /// + /// @see gtx_dual_quaternion + typedef tdualquat<double, lowp> lowp_ddualquat; + + /// Dual-quaternion of medium double-precision floating-point numbers. + /// + /// @see gtx_dual_quaternion + typedef tdualquat<double, mediump> mediump_ddualquat; + + /// Dual-quaternion of high double-precision floating-point numbers. + /// + /// @see gtx_dual_quaternion + typedef tdualquat<double, highp> highp_ddualquat; + + +#if(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT)) + /// Dual-quaternion of floating-point numbers. + /// + /// @see gtx_dual_quaternion + typedef highp_fdualquat dualquat; + + /// Dual-quaternion of single-precision floating-point numbers. + /// + /// @see gtx_dual_quaternion + typedef highp_fdualquat fdualquat; +#elif(defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT)) + typedef highp_fdualquat dualquat; + typedef highp_fdualquat fdualquat; +#elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT)) + typedef mediump_fdualquat dualquat; + typedef mediump_fdualquat fdualquat; +#elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && defined(GLM_PRECISION_LOWP_FLOAT)) + typedef lowp_fdualquat dualquat; + typedef lowp_fdualquat fdualquat; +#else +# error "GLM error: multiple default precision requested for single-precision floating-point types" +#endif + + +#if(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE)) + /// Dual-quaternion of default double-precision floating-point numbers. + /// + /// @see gtx_dual_quaternion + typedef highp_ddualquat ddualquat; +#elif(defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE)) + typedef highp_ddualquat ddualquat; +#elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE)) + typedef mediump_ddualquat ddualquat; +#elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && defined(GLM_PRECISION_LOWP_DOUBLE)) + typedef lowp_ddualquat ddualquat; +#else +# error "GLM error: Multiple default precision requested for double-precision floating-point types" +#endif + + /// @} +} //namespace glm + +#include "dual_quaternion.inl" |