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- /// @ref gtx_quaternion
- /// @file glm/gtx/quaternion.hpp
- ///
- /// @see core (dependence)
- /// @see gtx_extented_min_max (dependence)
- ///
- /// @defgroup gtx_quaternion GLM_GTX_quaternion
- /// @ingroup gtx
- ///
- /// Include <glm/gtx/quaternion.hpp> to use the features of this extension.
- ///
- /// Extented quaternion types and functions
- #pragma once
- // Dependency:
- #include "../glm.hpp"
- #include "../gtc/constants.hpp"
- #include "../gtc/quaternion.hpp"
- #include "../ext/quaternion_exponential.hpp"
- #include "../gtx/norm.hpp"
- #if GLM_MESSAGES == GLM_ENABLE && !defined(GLM_EXT_INCLUDED)
- # ifndef GLM_ENABLE_EXPERIMENTAL
- # pragma message("GLM: GLM_GTX_quaternion is an experimental extension and may change in the future. Use #define GLM_ENABLE_EXPERIMENTAL before including it, if you really want to use it.")
- # else
- # pragma message("GLM: GLM_GTX_quaternion extension included")
- # endif
- #endif
- namespace glm
- {
- /// @addtogroup gtx_quaternion
- /// @{
- /// Create an identity quaternion.
- ///
- /// @see gtx_quaternion
- template<typename T, qualifier Q>
- GLM_FUNC_DECL GLM_CONSTEXPR qua<T, Q> quat_identity();
- /// Compute a cross product between a quaternion and a vector.
- ///
- /// @see gtx_quaternion
- template<typename T, qualifier Q>
- GLM_FUNC_DECL vec<3, T, Q> cross(
- qua<T, Q> const& q,
- vec<3, T, Q> const& v);
- //! Compute a cross product between a vector and a quaternion.
- ///
- /// @see gtx_quaternion
- template<typename T, qualifier Q>
- GLM_FUNC_DECL vec<3, T, Q> cross(
- vec<3, T, Q> const& v,
- qua<T, Q> const& q);
- //! Compute a point on a path according squad equation.
- //! q1 and q2 are control points; s1 and s2 are intermediate control points.
- ///
- /// @see gtx_quaternion
- template<typename T, qualifier Q>
- GLM_FUNC_DECL qua<T, Q> squad(
- qua<T, Q> const& q1,
- qua<T, Q> const& q2,
- qua<T, Q> const& s1,
- qua<T, Q> const& s2,
- T const& h);
- //! Returns an intermediate control point for squad interpolation.
- ///
- /// @see gtx_quaternion
- template<typename T, qualifier Q>
- GLM_FUNC_DECL qua<T, Q> intermediate(
- qua<T, Q> const& prev,
- qua<T, Q> const& curr,
- qua<T, Q> const& next);
- //! Returns quarternion square root.
- ///
- /// @see gtx_quaternion
- //template<typename T, qualifier Q>
- //qua<T, Q> sqrt(
- // qua<T, Q> const& q);
- //! Rotates a 3 components vector by a quaternion.
- ///
- /// @see gtx_quaternion
- template<typename T, qualifier Q>
- GLM_FUNC_DECL vec<3, T, Q> rotate(
- qua<T, Q> const& q,
- vec<3, T, Q> const& v);
- /// Rotates a 4 components vector by a quaternion.
- ///
- /// @see gtx_quaternion
- template<typename T, qualifier Q>
- GLM_FUNC_DECL vec<4, T, Q> rotate(
- qua<T, Q> const& q,
- vec<4, T, Q> const& v);
- /// Extract the real component of a quaternion.
- ///
- /// @see gtx_quaternion
- template<typename T, qualifier Q>
- GLM_FUNC_DECL T extractRealComponent(
- qua<T, Q> const& q);
- /// Converts a quaternion to a 3 * 3 matrix.
- ///
- /// @see gtx_quaternion
- template<typename T, qualifier Q>
- GLM_FUNC_DECL mat<3, 3, T, Q> toMat3(
- qua<T, Q> const& x){return mat3_cast(x);}
- /// Converts a quaternion to a 4 * 4 matrix.
- ///
- /// @see gtx_quaternion
- template<typename T, qualifier Q>
- GLM_FUNC_DECL mat<4, 4, T, Q> toMat4(
- qua<T, Q> const& x){return mat4_cast(x);}
- /// Converts a 3 * 3 matrix to a quaternion.
- ///
- /// @see gtx_quaternion
- template<typename T, qualifier Q>
- GLM_FUNC_DECL qua<T, Q> toQuat(
- mat<3, 3, T, Q> const& x){return quat_cast(x);}
- /// Converts a 4 * 4 matrix to a quaternion.
- ///
- /// @see gtx_quaternion
- template<typename T, qualifier Q>
- GLM_FUNC_DECL qua<T, Q> toQuat(
- mat<4, 4, T, Q> const& x){return quat_cast(x);}
- /// Quaternion interpolation using the rotation short path.
- ///
- /// @see gtx_quaternion
- template<typename T, qualifier Q>
- GLM_FUNC_DECL qua<T, Q> shortMix(
- qua<T, Q> const& x,
- qua<T, Q> const& y,
- T const& a);
- /// Quaternion normalized linear interpolation.
- ///
- /// @see gtx_quaternion
- template<typename T, qualifier Q>
- GLM_FUNC_DECL qua<T, Q> fastMix(
- qua<T, Q> const& x,
- qua<T, Q> const& y,
- T const& a);
- /// Compute the rotation between two vectors.
- /// @param orig vector, needs to be normalized
- /// @param dest vector, needs to be normalized
- ///
- /// @see gtx_quaternion
- template<typename T, qualifier Q>
- GLM_FUNC_DECL qua<T, Q> rotation(
- vec<3, T, Q> const& orig,
- vec<3, T, Q> const& dest);
- /// Returns the squared length of x.
- ///
- /// @see gtx_quaternion
- template<typename T, qualifier Q>
- GLM_FUNC_DECL GLM_CONSTEXPR T length2(qua<T, Q> const& q);
- /// @}
- }//namespace glm
- #include "quaternion.inl"
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