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///////////////////////////////////////////////////////////////////////////////////
/// 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"
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