quaternion.hpp
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00040 #pragma once
00041 
00042 // Dependency:
00043 #include "../mat3x3.hpp"
00044 #include "../mat4x4.hpp"
00045 #include "../vec3.hpp"
00046 #include "../vec4.hpp"
00047 #include "../gtc/constants.hpp"
00048 
00049 #if(defined(GLM_MESSAGES) && !defined(GLM_EXT_INCLUDED))
00050 #       pragma message("GLM: GLM_GTC_quaternion extension included")
00051 #endif
00052 
00053 namespace glm{
00054 namespace detail
00055 {
00056         template <typename T, precision P>
00057         struct tquat
00058         {
00059                 enum ctor{null};
00060 
00061                 typedef T value_type;
00062                 typedef tvec4<bool, P> bool_type;
00063 
00064         public:
00065                 T x, y, z, w;
00066 
00067                 GLM_FUNC_DECL GLM_CONSTEXPR length_t length() const;
00068 
00069                 // Constructors
00070                 GLM_FUNC_DECL tquat();
00071                 template <typename U, precision Q>
00072                 GLM_FUNC_DECL explicit tquat(
00073                         tquat<U, Q> const & q);
00074                 GLM_FUNC_DECL tquat(
00075                         T const & s,
00076                         tvec3<T, P> const & v);
00077                 GLM_FUNC_DECL tquat(
00078                         T const & w,
00079                         T const & x,
00080                         T const & y,
00081                         T const & z);
00082 
00083                 // Convertions
00084 
00091                 GLM_FUNC_DECL explicit tquat(
00092                         detail::tvec3<T, P> const & u,
00093                         detail::tvec3<T, P> const & v);
00095                 GLM_FUNC_DECL explicit tquat(
00096                         tvec3<T, P> const & eulerAngles);
00097                 GLM_FUNC_DECL explicit tquat(
00098                         tmat3x3<T, P> const & m);
00099                 GLM_FUNC_DECL explicit tquat(
00100                         tmat4x4<T, P> const & m);
00101 
00102                 // Accesses
00103                 GLM_FUNC_DECL T & operator[](length_t i);
00104                 GLM_FUNC_DECL T const & operator[](length_t i) const;
00105 
00106                 // Operators
00107                 GLM_FUNC_DECL tquat<T, P> & operator+=(tquat<T, P> const & q);
00108                 GLM_FUNC_DECL tquat<T, P> & operator*=(tquat<T, P> const & q);
00109                 GLM_FUNC_DECL tquat<T, P> & operator*=(T const & s);
00110                 GLM_FUNC_DECL tquat<T, P> & operator/=(T const & s);
00111         };
00112 
00113         template <typename T, precision P>
00114         GLM_FUNC_DECL detail::tquat<T, P> operator- (
00115                 detail::tquat<T, P> const & q);
00116 
00117         template <typename T, precision P>
00118         GLM_FUNC_DECL detail::tquat<T, P> operator+ (
00119                 detail::tquat<T, P> const & q,
00120                 detail::tquat<T, P> const & p);
00121 
00122         template <typename T, precision P>
00123         GLM_FUNC_DECL detail::tquat<T, P> operator* (
00124                 detail::tquat<T, P> const & q,
00125                 detail::tquat<T, P> const & p);
00126 
00127         template <typename T, precision P>
00128         GLM_FUNC_DECL detail::tvec3<T, P> operator* (
00129                 detail::tquat<T, P> const & q,
00130                 detail::tvec3<T, P> const & v);
00131 
00132         template <typename T, precision P>
00133         GLM_FUNC_DECL detail::tvec3<T, P> operator* (
00134                 detail::tvec3<T, P> const & v,
00135                 detail::tquat<T, P> const & q);
00136 
00137         template <typename T, precision P>
00138         GLM_FUNC_DECL detail::tvec4<T, P> operator* (
00139                 detail::tquat<T, P> const & q, 
00140                 detail::tvec4<T, P> const & v);
00141 
00142         template <typename T, precision P>
00143         GLM_FUNC_DECL detail::tvec4<T, P> operator* (
00144                 detail::tvec4<T, P> const & v,
00145                 detail::tquat<T, P> const & q);
00146 
00147         template <typename T, precision P>
00148         GLM_FUNC_DECL detail::tquat<T, P> operator* (
00149                 detail::tquat<T, P> const & q,
00150                 T const & s);
00151 
00152         template <typename T, precision P>
00153         GLM_FUNC_DECL detail::tquat<T, P> operator* (
00154                 T const & s,
00155                 detail::tquat<T, P> const & q);
00156 
00157         template <typename T, precision P>
00158         GLM_FUNC_DECL detail::tquat<T, P> operator/ (
00159                 detail::tquat<T, P> const & q,
00160                 T const & s);
00161 
00162 } //namespace detail
00163 
00166 
00170         template <typename T, precision P>
00171         GLM_FUNC_DECL T length(
00172                 detail::tquat<T, P> const & q);
00173 
00177         template <typename T, precision P>
00178         GLM_FUNC_DECL detail::tquat<T, P> normalize(
00179                 detail::tquat<T, P> const & q);
00180                 
00184         template <typename T, precision P, template <typename, precision> class quatType>
00185         GLM_FUNC_DECL T dot(
00186                 quatType<T, P> const & x,
00187                 quatType<T, P> const & y);
00188 
00199         template <typename T, precision P>
00200         GLM_FUNC_DECL detail::tquat<T, P> mix(
00201                 detail::tquat<T, P> const & x,
00202                 detail::tquat<T, P> const & y,
00203                 T const & a);
00204 
00213         template <typename T, precision P>
00214         GLM_FUNC_DECL detail::tquat<T, P> lerp(
00215                 detail::tquat<T, P> const & x,
00216                 detail::tquat<T, P> const & y,
00217                 T const & a);
00218 
00227         template <typename T, precision P>
00228         GLM_FUNC_DECL detail::tquat<T, P> slerp(
00229                 detail::tquat<T, P> const & x,
00230                 detail::tquat<T, P> const & y,
00231                 T const & a);
00232 
00236         template <typename T, precision P>
00237         GLM_FUNC_DECL detail::tquat<T, P> conjugate(
00238                 detail::tquat<T, P> const & q);
00239 
00243         template <typename T, precision P>
00244         GLM_FUNC_DECL detail::tquat<T, P> inverse(
00245                 detail::tquat<T, P> const & q);
00246 
00254         template <typename T, precision P>
00255         GLM_FUNC_DECL detail::tquat<T, P> rotate(
00256                 detail::tquat<T, P> const & q,
00257                 T const & angle,
00258                 detail::tvec3<T, P> const & axis);
00259 
00264         template <typename T, precision P>
00265         GLM_FUNC_DECL detail::tvec3<T, P> eulerAngles(
00266                 detail::tquat<T, P> const & x);
00267 
00271         template <typename T, precision P>
00272         GLM_FUNC_DECL T roll(detail::tquat<T, P> const & x);
00273 
00277         template <typename T, precision P>
00278         GLM_FUNC_DECL T pitch(detail::tquat<T, P> const & x);
00279 
00283         template <typename T, precision P>
00284         GLM_FUNC_DECL T yaw(detail::tquat<T, P> const & x);
00285 
00289         template <typename T, precision P>
00290         GLM_FUNC_DECL detail::tmat3x3<T, P> mat3_cast(
00291                 detail::tquat<T, P> const & x);
00292 
00296         template <typename T, precision P>
00297         GLM_FUNC_DECL detail::tmat4x4<T, P> mat4_cast(
00298                 detail::tquat<T, P> const & x);
00299 
00303         template <typename T, precision P>
00304         GLM_FUNC_DECL detail::tquat<T, P> quat_cast(
00305                 detail::tmat3x3<T, P> const & x);
00306 
00310         template <typename T, precision P>
00311         GLM_FUNC_DECL detail::tquat<T, P> quat_cast(
00312                 detail::tmat4x4<T, P> const & x);
00313 
00317         template <typename T, precision P>
00318         GLM_FUNC_DECL T angle(detail::tquat<T, P> const & x);
00319 
00323         template <typename T, precision P>
00324         GLM_FUNC_DECL detail::tvec3<T, P> axis(
00325                 detail::tquat<T, P> const & x);
00326 
00333         template <typename T, precision P>
00334         GLM_FUNC_DECL detail::tquat<T, P> angleAxis(
00335                 T const & angle,
00336                 detail::tvec3<T, P> const & axis);
00337 
00343         template <typename T, precision P>
00344         GLM_FUNC_DECL detail::tvec4<bool, P> lessThan(
00345                 detail::tquat<T, P> const & x, 
00346                 detail::tquat<T, P> const & y);
00347 
00353         template <typename T, precision P>
00354         GLM_FUNC_DECL detail::tvec4<bool, P> lessThanEqual(
00355                 detail::tquat<T, P> const & x, 
00356                 detail::tquat<T, P> const & y);
00357 
00363         template <typename T, precision P>
00364         GLM_FUNC_DECL detail::tvec4<bool, P> greaterThan(
00365                 detail::tquat<T, P> const & x, 
00366                 detail::tquat<T, P> const & y);
00367 
00373         template <typename T, precision P>
00374         GLM_FUNC_DECL detail::tvec4<bool, P> greaterThanEqual(
00375                 detail::tquat<T, P> const & x, 
00376                 detail::tquat<T, P> const & y);
00377 
00383         template <typename T, precision P>
00384         GLM_FUNC_DECL detail::tvec4<bool, P> equal(
00385                 detail::tquat<T, P> const & x, 
00386                 detail::tquat<T, P> const & y);
00387 
00393         template <typename T, precision P>
00394         GLM_FUNC_DECL detail::tvec4<bool, P> notEqual(
00395                 detail::tquat<T, P> const & x, 
00396                 detail::tquat<T, P> const & y);
00397 
00399 } //namespace glm
00400 
00401 #include "quaternion.inl"


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jun 6 2019 21:59:21