diff options
Diffstat (limited to '3rdparty/include/glm/gtx/quaternion.hpp')
| -rw-r--r-- | 3rdparty/include/glm/gtx/quaternion.hpp | 214 |
1 files changed, 214 insertions, 0 deletions
diff --git a/3rdparty/include/glm/gtx/quaternion.hpp b/3rdparty/include/glm/gtx/quaternion.hpp new file mode 100644 index 0000000..34d940a --- /dev/null +++ b/3rdparty/include/glm/gtx/quaternion.hpp @@ -0,0 +1,214 @@ +/////////////////////////////////////////////////////////////////////////////////// +/// 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_quaternion +/// @file glm/gtx/quaternion.hpp +/// @date 2005-12-21 / 2011-06-07 +/// @author Christophe Riccio +/// +/// @see core (dependence) +/// @see gtx_extented_min_max (dependence) +/// +/// @defgroup gtx_quaternion GLM_GTX_quaternion +/// @ingroup gtx +/// +/// @brief Extented quaternion types and functions +/// +/// <glm/gtx/quaternion.hpp> need to be included to use these functionalities. +/////////////////////////////////////////////////////////////////////////////////// + +#pragma once + +// Dependency: +#include "../glm.hpp" +#include "../gtc/constants.hpp" +#include "../gtc/quaternion.hpp" +#include "../gtx/norm.hpp" + +#if(defined(GLM_MESSAGES) && !defined(GLM_EXT_INCLUDED)) +# pragma message("GLM: GLM_GTX_quaternion extension included") +#endif + +namespace glm +{ + /// @addtogroup gtx_quaternion + /// @{ + + //! Compute a cross product between a quaternion and a vector. + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL tvec3<T, P> cross( + tquat<T, P> const & q, + tvec3<T, P> const & v); + + //! Compute a cross product between a vector and a quaternion. + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL tvec3<T, P> cross( + tvec3<T, P> const & v, + tquat<T, P> const & q); + + //! Compute a point on a path according squad equation. + //! q1 and q2 are control points; s1 and s2 are intermediate control points. + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL tquat<T, P> squad( + tquat<T, P> const & q1, + tquat<T, P> const & q2, + tquat<T, P> const & s1, + tquat<T, P> const & s2, + T const & h); + + //! Returns an intermediate control point for squad interpolation. + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL tquat<T, P> intermediate( + tquat<T, P> const & prev, + tquat<T, P> const & curr, + tquat<T, P> const & next); + + //! Returns a exp of a quaternion. + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL tquat<T, P> exp( + tquat<T, P> const & q); + + //! Returns a log of a quaternion. + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL tquat<T, P> log( + tquat<T, P> const & q); + + /// Returns x raised to the y power. + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL tquat<T, P> pow( + tquat<T, P> const & x, + T const & y); + + //! Returns quarternion square root. + /// + /// @see gtx_quaternion + //template<typename T, precision P> + //tquat<T, P> sqrt( + // tquat<T, P> const & q); + + //! Rotates a 3 components vector by a quaternion. + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL tvec3<T, P> rotate( + tquat<T, P> const & q, + tvec3<T, P> const & v); + + /// Rotates a 4 components vector by a quaternion. + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL tvec4<T, P> rotate( + tquat<T, P> const & q, + tvec4<T, P> const & v); + + /// Extract the real component of a quaternion. + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL T extractRealComponent( + tquat<T, P> const & q); + + /// Converts a quaternion to a 3 * 3 matrix. + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL tmat3x3<T, P> toMat3( + tquat<T, P> const & x){return mat3_cast(x);} + + /// Converts a quaternion to a 4 * 4 matrix. + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL tmat4x4<T, P> toMat4( + tquat<T, P> const & x){return mat4_cast(x);} + + /// Converts a 3 * 3 matrix to a quaternion. + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL tquat<T, P> toQuat( + tmat3x3<T, P> const & x){return quat_cast(x);} + + /// Converts a 4 * 4 matrix to a quaternion. + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL tquat<T, P> toQuat( + tmat4x4<T, P> const & x){return quat_cast(x);} + + /// Quaternion interpolation using the rotation short path. + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL tquat<T, P> shortMix( + tquat<T, P> const & x, + tquat<T, P> const & y, + T const & a); + + /// Quaternion normalized linear interpolation. + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL tquat<T, P> fastMix( + tquat<T, P> const & x, + tquat<T, P> const & y, + T const & a); + + /// Compute the rotation between two vectors. + /// param orig vector, needs to be normalized + /// param dest vector, needs to be normalized + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL tquat<T, P> rotation( + tvec3<T, P> const & orig, + tvec3<T, P> const & dest); + + /// Returns the squared length of x. + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL T length2(tquat<T, P> const & q); + + /// @} +}//namespace glm + +#include "quaternion.inl" |