167 lines
4.9 KiB
C++
167 lines
4.9 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 "../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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#include "../ext/vector_relational.hpp"
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#include "../ext/quaternion_relational.hpp"
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#include "../gtc/constants.hpp"
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#include "../gtc/matrix_transform.hpp"
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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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template<typename T, qualifier Q>
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struct qua
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{
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// -- Implementation detail --
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typedef qua<T, Q> type;
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typedef T value_type;
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// -- Data --
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# if GLM_LANG & GLM_LANG_CXXMS_FLAG
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union
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{
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struct { T x, y, z, w;};
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typename detail::storage<4, T, detail::is_aligned<Q>::value>::type data;
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};
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# else
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T x, y, z, w;
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# endif
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// -- Component accesses --
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typedef length_t length_type;
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/// Return the count of components of a quaternion
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GLM_FUNC_DECL static GLM_CONSTEXPR length_type length(){return 4;}
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GLM_FUNC_DECL GLM_CONSTEXPR T & operator[](length_type i);
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GLM_FUNC_DECL GLM_CONSTEXPR T const& operator[](length_type i) const;
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// -- Implicit basic constructors --
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GLM_FUNC_DECL GLM_CONSTEXPR qua() GLM_DEFAULT;
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GLM_FUNC_DECL GLM_CONSTEXPR qua(qua<T, Q> const& q) GLM_DEFAULT;
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template<qualifier P>
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GLM_FUNC_DECL GLM_CONSTEXPR qua(qua<T, P> const& q);
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// -- Explicit basic constructors --
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GLM_FUNC_DECL GLM_CONSTEXPR qua(T s, vec<3, T, Q> const& v);
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GLM_FUNC_DECL GLM_CONSTEXPR qua(T w, T x, T y, T z);
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// -- Conversion constructors --
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template<typename U, qualifier P>
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GLM_FUNC_DECL GLM_CONSTEXPR GLM_EXPLICIT qua(qua<U, P> const& q);
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/// Explicit conversion operators
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# if GLM_HAS_EXPLICIT_CONVERSION_OPERATORS
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GLM_FUNC_DECL explicit operator mat<3, 3, T, Q>();
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GLM_FUNC_DECL explicit operator mat<4, 4, T, Q>();
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# endif
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/// Create a quaternion from two normalized axis
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///
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/// @param u A first normalized axis
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/// @param v A second normalized axis
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/// @see gtc_quaternion
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/// @see http://lolengine.net/blog/2013/09/18/beautiful-maths-quaternion-from-vectors
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GLM_FUNC_DECL qua(vec<3, T, Q> const& u, vec<3, T, Q> const& v);
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/// Build a quaternion from euler angles (pitch, yaw, roll), in radians.
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GLM_FUNC_DECL GLM_EXPLICIT qua(vec<3, T, Q> const& eulerAngles);
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GLM_FUNC_DECL GLM_EXPLICIT qua(mat<3, 3, T, Q> const& q);
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GLM_FUNC_DECL GLM_EXPLICIT qua(mat<4, 4, T, Q> const& q);
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// -- Unary arithmetic operators --
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GLM_FUNC_DECL qua<T, Q>& operator=(qua<T, Q> const& q) GLM_DEFAULT;
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template<typename U>
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GLM_FUNC_DECL qua<T, Q>& operator=(qua<U, Q> const& q);
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template<typename U>
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GLM_FUNC_DECL qua<T, Q>& operator+=(qua<U, Q> const& q);
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template<typename U>
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GLM_FUNC_DECL qua<T, Q>& operator-=(qua<U, Q> const& q);
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template<typename U>
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GLM_FUNC_DECL qua<T, Q>& operator*=(qua<U, Q> const& q);
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template<typename U>
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GLM_FUNC_DECL qua<T, Q>& operator*=(U s);
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template<typename U>
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GLM_FUNC_DECL qua<T, Q>& operator/=(U s);
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};
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// -- Unary bit operators --
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template<typename T, qualifier Q>
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GLM_FUNC_DECL qua<T, Q> operator+(qua<T, Q> const& q);
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template<typename T, qualifier Q>
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GLM_FUNC_DECL qua<T, Q> operator-(qua<T, Q> const& q);
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// -- Binary operators --
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template<typename T, qualifier Q>
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GLM_FUNC_DECL qua<T, Q> operator+(qua<T, Q> const& q, qua<T, Q> const& p);
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template<typename T, qualifier Q>
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GLM_FUNC_DECL qua<T, Q> operator-(qua<T, Q> const& q, qua<T, Q> const& p);
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template<typename T, qualifier Q>
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GLM_FUNC_DECL qua<T, Q> operator*(qua<T, Q> const& q, qua<T, Q> const& p);
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template<typename T, qualifier Q>
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GLM_FUNC_DECL vec<3, T, Q> operator*(qua<T, Q> const& q, vec<3, T, Q> const& v);
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template<typename T, qualifier Q>
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GLM_FUNC_DECL vec<3, T, Q> operator*(vec<3, T, Q> const& v, qua<T, Q> const& q);
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template<typename T, qualifier Q>
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GLM_FUNC_DECL vec<4, T, Q> operator*(qua<T, Q> const& q, vec<4, T, Q> const& v);
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template<typename T, qualifier Q>
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GLM_FUNC_DECL vec<4, T, Q> operator*(vec<4, T, Q> const& v, qua<T, Q> const& q);
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template<typename T, qualifier Q>
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GLM_FUNC_DECL qua<T, Q> operator*(qua<T, Q> const& q, T const& s);
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template<typename T, qualifier Q>
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GLM_FUNC_DECL qua<T, Q> operator*(T const& s, qua<T, Q> const& q);
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template<typename T, qualifier Q>
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GLM_FUNC_DECL qua<T, Q> operator/(qua<T, Q> const& q, T const& s);
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// -- Boolean operators --
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template<typename T, qualifier Q>
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GLM_FUNC_DECL GLM_CONSTEXPR bool operator==(qua<T, Q> const& q1, qua<T, Q> const& q2);
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template<typename T, qualifier Q>
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GLM_FUNC_DECL GLM_CONSTEXPR bool operator!=(qua<T, Q> const& q1, qua<T, Q> const& q2);
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/// @}
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} //namespace glm
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#include "type_quat.inl"
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