261 lines
8.1 KiB
C++
261 lines
8.1 KiB
C++
/// @ref gtc_quaternion
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/// @file glm/gtc/quaternion.hpp
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///
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/// @see core (dependence)
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/// @see gtc_constants (dependence)
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///
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/// @defgroup gtc_quaternion GLM_GTC_quaternion
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/// @ingroup gtc
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///
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/// Include <glm/gtc/quaternion.hpp> to use the features of this extension.
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///
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/// Defines a templated quaternion type and several quaternion operations.
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#pragma once
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// Dependency:
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#include "../gtc/constants.hpp"
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#include "../gtc/matrix_transform.hpp"
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#include "../ext/vector_relational.hpp"
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#include "../ext/quaternion_float.hpp"
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#include "../ext/quaternion_float_precision.hpp"
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#include "../ext/quaternion_double.hpp"
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#include "../ext/quaternion_double_precision.hpp"
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#include "../ext/quaternion_relational.hpp"
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#include "../ext/quaternion_geometric.hpp"
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#include "../detail/type_mat3x3.hpp"
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#include "../detail/type_mat4x4.hpp"
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#include "../detail/type_vec3.hpp"
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#include "../detail/type_vec4.hpp"
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#if GLM_MESSAGES == GLM_ENABLE && !defined(GLM_EXT_INCLUDED)
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# pragma message("GLM: GLM_GTC_quaternion extension included")
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#endif
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namespace glm
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{
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/// @addtogroup gtc_quaternion
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/// @{
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/// Spherical linear interpolation of two quaternions.
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/// The interpolation is oriented and the rotation is performed at constant speed.
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/// For short path spherical linear interpolation, use the slerp function.
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///
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/// @param x A quaternion
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/// @param y A quaternion
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/// @param a Interpolation factor. The interpolation is defined beyond the range [0, 1].
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/// @tparam T Floating-point scalar types.
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///
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/// @see - slerp(qua<T, Q> const& x, qua<T, Q> const& y, T const& a)
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/// @see gtc_quaternion
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template<typename T, qualifier Q>
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GLM_FUNC_DECL qua<T, Q> mix(qua<T, Q> const& x, qua<T, Q> const& y, T a);
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/// Linear interpolation of two quaternions.
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/// The interpolation is oriented.
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///
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/// @param x A quaternion
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/// @param y A quaternion
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/// @param a Interpolation factor. The interpolation is defined in the range [0, 1].
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/// @tparam T Floating-point scalar types.
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///
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/// @see gtc_quaternion
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template<typename T, qualifier Q>
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GLM_FUNC_DECL qua<T, Q> lerp(qua<T, Q> const& x, qua<T, Q> const& y, T a);
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/// Spherical linear interpolation of two quaternions.
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/// The interpolation always take the short path and the rotation is performed at constant speed.
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///
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/// @param x A quaternion
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/// @param y A quaternion
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/// @param a Interpolation factor. The interpolation is defined beyond the range [0, 1].
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/// @tparam T Floating-point scalar types.
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///
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/// @see gtc_quaternion
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template<typename T, qualifier Q>
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GLM_FUNC_DECL qua<T, Q> slerp(qua<T, Q> const& x, qua<T, Q> const& y, T a);
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/// Returns the q conjugate.
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///
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/// @tparam T Floating-point scalar types.
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///
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/// @see gtc_quaternion
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template<typename T, qualifier Q>
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GLM_FUNC_DECL qua<T, Q> conjugate(qua<T, Q> const& q);
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/// Returns the q inverse.
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///
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/// @tparam T Floating-point scalar types.
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///
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/// @see gtc_quaternion
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template<typename T, qualifier Q>
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GLM_FUNC_DECL qua<T, Q> inverse(qua<T, Q> const& q);
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/// Rotates a quaternion from a vector of 3 components axis and an angle.
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///
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/// @param q Source orientation
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/// @param angle Angle expressed in radians.
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/// @param axis Axis of the rotation
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/// @tparam T Floating-point scalar types.
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///
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/// @see gtc_quaternion
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template<typename T, qualifier Q>
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GLM_FUNC_DECL qua<T, Q> rotate(qua<T, Q> const& q, T const& angle, vec<3, T, Q> const& axis);
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/// Returns euler angles, pitch as x, yaw as y, roll as z.
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/// The result is expressed in radians.
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///
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/// @tparam T Floating-point scalar types.
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///
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/// @see gtc_quaternion
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template<typename T, qualifier Q>
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GLM_FUNC_DECL vec<3, T, Q> eulerAngles(qua<T, Q> const& x);
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/// Returns roll value of euler angles expressed in radians.
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///
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/// @tparam T Floating-point scalar types.
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///
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/// @see gtc_quaternion
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template<typename T, qualifier Q>
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GLM_FUNC_DECL T roll(qua<T, Q> const& x);
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/// Returns pitch value of euler angles expressed in radians.
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///
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/// @tparam T Floating-point scalar types.
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///
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/// @see gtc_quaternion
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template<typename T, qualifier Q>
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GLM_FUNC_DECL T pitch(qua<T, Q> const& x);
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/// Returns yaw value of euler angles expressed in radians.
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///
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/// @tparam T Floating-point scalar types.
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///
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/// @see gtc_quaternion
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template<typename T, qualifier Q>
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GLM_FUNC_DECL T yaw(qua<T, Q> const& x);
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/// Converts a quaternion to a 3 * 3 matrix.
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///
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/// @tparam T Floating-point scalar types.
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///
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/// @see gtc_quaternion
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template<typename T, qualifier Q>
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GLM_FUNC_DECL mat<3, 3, T, Q> mat3_cast(qua<T, Q> const& x);
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/// Converts a quaternion to a 4 * 4 matrix.
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///
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/// @tparam T Floating-point scalar types.
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///
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/// @see gtc_quaternion
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template<typename T, qualifier Q>
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GLM_FUNC_DECL mat<4, 4, T, Q> mat4_cast(qua<T, Q> const& x);
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/// Converts a pure rotation 3 * 3 matrix to a quaternion.
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///
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/// @tparam T Floating-point scalar types.
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///
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/// @see gtc_quaternion
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template<typename T, qualifier Q>
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GLM_FUNC_DECL qua<T, Q> quat_cast(mat<3, 3, T, Q> const& x);
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/// Converts a pure rotation 4 * 4 matrix to a quaternion.
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///
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/// @tparam T Floating-point scalar types.
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///
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/// @see gtc_quaternion
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template<typename T, qualifier Q>
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GLM_FUNC_DECL qua<T, Q> quat_cast(mat<4, 4, T, Q> const& x);
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/// Returns the quaternion rotation angle.
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///
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/// @tparam T Floating-point scalar types.
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///
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/// @see gtc_quaternion
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template<typename T, qualifier Q>
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GLM_FUNC_DECL T angle(qua<T, Q> const& x);
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/// Returns the q rotation axis.
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///
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/// @tparam T Floating-point scalar types.
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///
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/// @see gtc_quaternion
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template<typename T, qualifier Q>
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GLM_FUNC_DECL vec<3, T, Q> axis(qua<T, Q> const& x);
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/// Build a quaternion from an angle and a normalized axis.
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///
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/// @param angle Angle expressed in radians.
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/// @param axis Axis of the quaternion, must be normalized.
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/// @tparam T Floating-point scalar types.
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///
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/// @see gtc_quaternion
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template<typename T, qualifier Q>
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GLM_FUNC_DECL qua<T, Q> angleAxis(T const& angle, vec<3, T, Q> const& axis);
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/// Returns true if x holds a NaN (not a number)
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/// representation in the underlying implementation's set of
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/// floating point representations. Returns false otherwise,
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/// including for implementations with no NaN
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/// representations.
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///
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/// /!\ When using compiler fast math, this function may fail.
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///
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/// @tparam T Floating-point scalar types.
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///
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/// @see gtc_quaternion
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template<typename T, qualifier Q>
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GLM_FUNC_DECL vec<4, bool, Q> isnan(qua<T, Q> const& x);
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/// Returns true if x holds a positive infinity or negative
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/// infinity representation in the underlying implementation's
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/// set of floating point representations. Returns false
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/// otherwise, including for implementations with no infinity
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/// representations.
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///
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/// @tparam T Floating-point scalar types.
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///
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/// @see gtc_quaternion
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template<typename T, qualifier Q>
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GLM_FUNC_DECL vec<4, bool, Q> isinf(qua<T, Q> const& x);
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/// Returns the component-wise comparison result of x < y.
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///
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/// @tparam T Floating-point scalar types
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/// @tparam Q Value from qualifier enum
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///
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/// @see ext_quaternion_relational
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template<typename T, qualifier Q>
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GLM_FUNC_DECL vec<4, bool, Q> lessThan(qua<T, Q> const& x, qua<T, Q> const& y);
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/// Returns the component-wise comparison of result x <= y.
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///
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/// @tparam T Floating-point scalar types
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/// @tparam Q Value from qualifier enum
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///
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/// @see ext_quaternion_relational
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template<typename T, qualifier Q>
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GLM_FUNC_DECL vec<4, bool, Q> lessThanEqual(qua<T, Q> const& x, qua<T, Q> const& y);
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/// Returns the component-wise comparison of result x > y.
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///
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/// @tparam T Floating-point scalar types
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/// @tparam Q Value from qualifier enum
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///
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/// @see ext_quaternion_relational
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template<typename T, qualifier Q>
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GLM_FUNC_DECL vec<4, bool, Q> greaterThan(qua<T, Q> const& x, qua<T, Q> const& y);
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/// Returns the component-wise comparison of result x >= y.
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///
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/// @tparam T Floating-point scalar types
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/// @tparam Q Value from qualifier enum
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///
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/// @see ext_quaternion_relational
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template<typename T, qualifier Q>
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GLM_FUNC_DECL vec<4, bool, Q> greaterThanEqual(qua<T, Q> const& x, qua<T, Q> const& y);
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/// @}
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} //namespace glm
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#include "quaternion.inl"
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