gtc/quaternion.hpp
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1 
40 #pragma once
41 
42 // Dependency:
43 #include "../mat3x3.hpp"
44 #include "../mat4x4.hpp"
45 #include "../vec3.hpp"
46 #include "../vec4.hpp"
47 #include "../gtc/constants.hpp"
48 
49 #if(defined(GLM_MESSAGES) && !defined(GLM_EXT_INCLUDED))
50 # pragma message("GLM: GLM_GTC_quaternion extension included")
51 #endif
52 
53 namespace glm{
54 namespace detail
55 {
56  template <typename T, precision P>
57  struct tquat
58  {
59  enum ctor{null};
60 
61  typedef T value_type;
62  typedef tvec4<bool, P> bool_type;
63 
64  public:
65  T x, y, z, w;
66 
67  GLM_FUNC_DECL GLM_CONSTEXPR length_t length() const;
68 
69  // Constructors
70  GLM_FUNC_DECL tquat();
71  template <typename U, precision Q>
72  GLM_FUNC_DECL explicit tquat(
73  tquat<U, Q> const & q);
74  GLM_FUNC_DECL tquat(
75  T const & s,
76  tvec3<T, P> const & v);
77  GLM_FUNC_DECL tquat(
78  T const & w,
79  T const & x,
80  T const & y,
81  T const & z);
82 
83  // Convertions
84 
91  GLM_FUNC_DECL explicit tquat(
92  detail::tvec3<T, P> const & u,
93  detail::tvec3<T, P> const & v);
95  GLM_FUNC_DECL explicit tquat(
96  tvec3<T, P> const & eulerAngles);
97  GLM_FUNC_DECL explicit tquat(
98  tmat3x3<T, P> const & m);
99  GLM_FUNC_DECL explicit tquat(
100  tmat4x4<T, P> const & m);
101 
102  // Accesses
103  GLM_FUNC_DECL T & operator[](length_t i);
104  GLM_FUNC_DECL T const & operator[](length_t i) const;
105 
106  // Operators
107  GLM_FUNC_DECL tquat<T, P> & operator+=(tquat<T, P> const & q);
108  GLM_FUNC_DECL tquat<T, P> & operator*=(tquat<T, P> const & q);
109  GLM_FUNC_DECL tquat<T, P> & operator*=(T const & s);
110  GLM_FUNC_DECL tquat<T, P> & operator/=(T const & s);
111  };
112 
113  template <typename T, precision P>
114  GLM_FUNC_DECL detail::tquat<T, P> operator- (
115  detail::tquat<T, P> const & q);
116 
117  template <typename T, precision P>
118  GLM_FUNC_DECL detail::tquat<T, P> operator+ (
119  detail::tquat<T, P> const & q,
120  detail::tquat<T, P> const & p);
121 
122  template <typename T, precision P>
123  GLM_FUNC_DECL detail::tquat<T, P> operator* (
124  detail::tquat<T, P> const & q,
125  detail::tquat<T, P> const & p);
126 
127  template <typename T, precision P>
128  GLM_FUNC_DECL detail::tvec3<T, P> operator* (
129  detail::tquat<T, P> const & q,
130  detail::tvec3<T, P> const & v);
131 
132  template <typename T, precision P>
133  GLM_FUNC_DECL detail::tvec3<T, P> operator* (
134  detail::tvec3<T, P> const & v,
135  detail::tquat<T, P> const & q);
136 
137  template <typename T, precision P>
138  GLM_FUNC_DECL detail::tvec4<T, P> operator* (
139  detail::tquat<T, P> const & q,
140  detail::tvec4<T, P> const & v);
141 
142  template <typename T, precision P>
143  GLM_FUNC_DECL detail::tvec4<T, P> operator* (
144  detail::tvec4<T, P> const & v,
145  detail::tquat<T, P> const & q);
146 
147  template <typename T, precision P>
148  GLM_FUNC_DECL detail::tquat<T, P> operator* (
149  detail::tquat<T, P> const & q,
150  T const & s);
151 
152  template <typename T, precision P>
153  GLM_FUNC_DECL detail::tquat<T, P> operator* (
154  T const & s,
155  detail::tquat<T, P> const & q);
156 
157  template <typename T, precision P>
158  GLM_FUNC_DECL detail::tquat<T, P> operator/ (
159  detail::tquat<T, P> const & q,
160  T const & s);
161 
162 } //namespace detail
163 
166 
170  template <typename T, precision P>
171  GLM_FUNC_DECL T length(
172  detail::tquat<T, P> const & q);
173 
177  template <typename T, precision P>
178  GLM_FUNC_DECL detail::tquat<T, P> normalize(
179  detail::tquat<T, P> const & q);
180 
184  template <typename T, precision P, template <typename, precision> class quatType>
185  GLM_FUNC_DECL T dot(
186  quatType<T, P> const & x,
187  quatType<T, P> const & y);
188 
199  template <typename T, precision P>
200  GLM_FUNC_DECL detail::tquat<T, P> mix(
201  detail::tquat<T, P> const & x,
202  detail::tquat<T, P> const & y,
203  T const & a);
204 
213  template <typename T, precision P>
214  GLM_FUNC_DECL detail::tquat<T, P> lerp(
215  detail::tquat<T, P> const & x,
216  detail::tquat<T, P> const & y,
217  T const & a);
218 
227  template <typename T, precision P>
228  GLM_FUNC_DECL detail::tquat<T, P> slerp(
229  detail::tquat<T, P> const & x,
230  detail::tquat<T, P> const & y,
231  T const & a);
232 
236  template <typename T, precision P>
237  GLM_FUNC_DECL detail::tquat<T, P> conjugate(
238  detail::tquat<T, P> const & q);
239 
243  template <typename T, precision P>
244  GLM_FUNC_DECL detail::tquat<T, P> inverse(
245  detail::tquat<T, P> const & q);
246 
254  template <typename T, precision P>
255  GLM_FUNC_DECL detail::tquat<T, P> rotate(
256  detail::tquat<T, P> const & q,
257  T const & angle,
258  detail::tvec3<T, P> const & axis);
259 
264  template <typename T, precision P>
265  GLM_FUNC_DECL detail::tvec3<T, P> eulerAngles(
266  detail::tquat<T, P> const & x);
267 
271  template <typename T, precision P>
272  GLM_FUNC_DECL T roll(detail::tquat<T, P> const & x);
273 
277  template <typename T, precision P>
278  GLM_FUNC_DECL T pitch(detail::tquat<T, P> const & x);
279 
283  template <typename T, precision P>
284  GLM_FUNC_DECL T yaw(detail::tquat<T, P> const & x);
285 
289  template <typename T, precision P>
290  GLM_FUNC_DECL detail::tmat3x3<T, P> mat3_cast(
291  detail::tquat<T, P> const & x);
292 
296  template <typename T, precision P>
297  GLM_FUNC_DECL detail::tmat4x4<T, P> mat4_cast(
298  detail::tquat<T, P> const & x);
299 
303  template <typename T, precision P>
304  GLM_FUNC_DECL detail::tquat<T, P> quat_cast(
305  detail::tmat3x3<T, P> const & x);
306 
310  template <typename T, precision P>
311  GLM_FUNC_DECL detail::tquat<T, P> quat_cast(
312  detail::tmat4x4<T, P> const & x);
313 
317  template <typename T, precision P>
318  GLM_FUNC_DECL T angle(detail::tquat<T, P> const & x);
319 
323  template <typename T, precision P>
324  GLM_FUNC_DECL detail::tvec3<T, P> axis(
325  detail::tquat<T, P> const & x);
326 
333  template <typename T, precision P>
334  GLM_FUNC_DECL detail::tquat<T, P> angleAxis(
335  T const & angle,
336  detail::tvec3<T, P> const & axis);
337 
343  template <typename T, precision P>
344  GLM_FUNC_DECL detail::tvec4<bool, P> lessThan(
345  detail::tquat<T, P> const & x,
346  detail::tquat<T, P> const & y);
347 
353  template <typename T, precision P>
354  GLM_FUNC_DECL detail::tvec4<bool, P> lessThanEqual(
355  detail::tquat<T, P> const & x,
356  detail::tquat<T, P> const & y);
357 
363  template <typename T, precision P>
364  GLM_FUNC_DECL detail::tvec4<bool, P> greaterThan(
365  detail::tquat<T, P> const & x,
366  detail::tquat<T, P> const & y);
367 
373  template <typename T, precision P>
374  GLM_FUNC_DECL detail::tvec4<bool, P> greaterThanEqual(
375  detail::tquat<T, P> const & x,
376  detail::tquat<T, P> const & y);
377 
383  template <typename T, precision P>
384  GLM_FUNC_DECL detail::tvec4<bool, P> equal(
385  detail::tquat<T, P> const & x,
386  detail::tquat<T, P> const & y);
387 
393  template <typename T, precision P>
394  GLM_FUNC_DECL detail::tvec4<bool, P> notEqual(
395  detail::tquat<T, P> const & x,
396  detail::tquat<T, P> const & y);
397 
399 } //namespace glm
400 
401 #include "quaternion.inl"
glm::detail::tquat::y
T y
Definition: gtc/quaternion.hpp:65
glm::length
GLM_FUNC_DECL genType::value_type length(genType const &x)
glm::yaw
GLM_FUNC_DECL T yaw(detail::tquat< T, P > const &x)
glm::detail::tquat::operator/=
GLM_FUNC_DECL tquat< T, P > & operator/=(T const &s)
glm::detail::tmat3x3
Definition: type_mat.hpp:43
glm::detail::tquat::bool_type
tvec4< bool, P > bool_type
Definition: gtc/quaternion.hpp:62
glm::angleAxis
GLM_FUNC_DECL detail::tquat< T, P > angleAxis(T const &angle, detail::tvec3< T, P > const &axis)
glm::axis
GLM_FUNC_DECL detail::tvec3< T, P > axis(detail::tquat< T, P > const &x)
glm::detail::tquat::length
GLM_FUNC_DECL GLM_CONSTEXPR length_t length() const
glm::rotate
GLM_FUNC_DECL detail::tmat4x4< T, P > rotate(detail::tmat4x4< T, P > const &m, T const &angle, detail::tvec3< T, P > const &axis)
detail
glm::detail::tquat::operator+=
GLM_FUNC_DECL tquat< T, P > & operator+=(tquat< T, P > const &q)
glm::normalize
GLM_FUNC_DECL genType normalize(genType const &x)
glm::quat_cast
GLM_FUNC_DECL detail::tquat< T, P > quat_cast(detail::tmat3x3< T, P > const &x)
glm::detail::tquat
Definition: fwd.hpp:41
glm::detail::tquat::z
T z
Definition: gtc/quaternion.hpp:65
glm::detail::tvec3
Definition: type_mat.hpp:37
glm::detail::tmat4x4
Definition: type_mat.hpp:47
glm::lessThanEqual
GLM_FUNC_DECL vecType< T, P >::bool_type lessThanEqual(vecType< T, P > const &x, vecType< T, P > const &y)
glm::dot
GLM_FUNC_DECL T dot(vecType< T, P > const &x, vecType< T, P > const &y)
glm::detail::operator+
GLM_FUNC_DECL tmat2x2< T, P > operator+(tmat2x2< T, P > const &m, T const &s)
glm::detail::operator/
GLM_FUNC_DECL tmat2x2< T, P > operator/(tmat2x2< T, P > const &m, T const &s)
glm::greaterThanEqual
GLM_FUNC_DECL vecType< T, P >::bool_type greaterThanEqual(vecType< T, P > const &x, vecType< T, P > const &y)
glm::detail::tquat::w
T w
Definition: gtc/quaternion.hpp:65
glm::detail::tquat::value_type
T value_type
Definition: gtc/quaternion.hpp:61
glm::detail::operator*
GLM_FUNC_DECL tmat2x2< T, P > operator*(tmat2x2< T, P > const &m, T const &s)
glm::lerp
GLM_FUNC_DECL detail::tquat< T, P > lerp(detail::tquat< T, P > const &x, detail::tquat< T, P > const &y, T const &a)
glm::detail::tvec4
Definition: type_mat.hpp:38
glm::mat4_cast
GLM_FUNC_DECL detail::tmat4x4< T, P > mat4_cast(detail::tquat< T, P > const &x)
glm
Definition: _literals.hpp:31
glm::mix
GLM_FUNC_DECL vecType< T, P > mix(vecType< T, P > const &x, vecType< T, P > const &y, vecType< U, P > const &a)
Eigen::Triplet< double >
glm::angle
GLM_FUNC_DECL T angle(detail::tquat< T, P > const &x)
glm::eulerAngles
GLM_FUNC_DECL detail::tvec3< T, P > eulerAngles(detail::tquat< T, P > const &x)
glm::detail::operator-
GLM_FUNC_DECL tmat2x2< T, P > operator-(tmat2x2< T, P > const &m, T const &s)
glm::slerp
GLM_FUNC_DECL detail::tquat< T, P > slerp(detail::tquat< T, P > const &x, detail::tquat< T, P > const &y, T const &a)
glm::pitch
GLM_FUNC_DECL T pitch(detail::tquat< T, P > const &x)
glm::lessThan
GLM_FUNC_DECL detail::tvec4< bool, P > lessThan(detail::tquat< T, P > const &x, detail::tquat< T, P > const &y)
glm::equal
GLM_FUNC_DECL detail::tvec4< bool, P > equal(detail::tquat< T, P > const &x, detail::tquat< T, P > const &y)
glm::mat3_cast
GLM_FUNC_DECL detail::tmat3x3< T, P > mat3_cast(detail::tquat< T, P > const &x)
glm::length_t
int length_t
Definition: setup.hpp:755
GLM_FUNC_DECL
#define GLM_FUNC_DECL
Definition: setup.hpp:728
glm::greaterThan
GLM_FUNC_DECL vecType< T, P >::bool_type greaterThan(vecType< T, P > const &x, vecType< T, P > const &y)
glm::conjugate
GLM_FUNC_DECL detail::tquat< T, P > conjugate(detail::tquat< T, P > const &q)
glm::detail::tquat::tquat
GLM_FUNC_DECL tquat()
glm::detail::tquat::operator[]
GLM_FUNC_DECL T & operator[](length_t i)
glm::inverse
GLM_FUNC_DECL matType< T, P > inverse(matType< T, P > const &m)
glm::notEqual
GLM_FUNC_DECL vecType< T, P >::bool_type notEqual(vecType< T, P > const &x, vecType< T, P > const &y)
glm::roll
GLM_FUNC_DECL T roll(detail::tquat< T, P > const &x)
glm::detail::tquat< Eigen::Triplet, P >::ctor
ctor
Definition: gtc/quaternion.hpp:59
glm::detail::tquat::x
T x
Definition: gtc/quaternion.hpp:65
glm::detail::tquat::operator*=
GLM_FUNC_DECL tquat< T, P > & operator*=(tquat< T, P > const &q)
GLM_CONSTEXPR
#define GLM_CONSTEXPR
Definition: setup.hpp:801

rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:15