gtc/quaternion.hpp
Go to the documentation of this file.
#pragma once
// Dependency:
#include "../mat3x3.hpp"
#include "../mat4x4.hpp"
#include "../vec3.hpp"
#include "../vec4.hpp"
#include "../gtc/constants.hpp"
#if GLM_MESSAGES == GLM_MESSAGES_ENABLED && !defined(GLM_EXT_INCLUDED)
# pragma message("GLM: GLM_GTC_quaternion extension included")
#endif
namespace glm
{
template <typename T, precision P = defaultp>
struct tquat
{
// -- Implementation detail --
typedef tquat<T, P> type;
typedef T value_type;
// -- Data --
# if GLM_HAS_ALIGNED_TYPE
# if GLM_COMPILER & GLM_COMPILER_GCC
# pragma GCC diagnostic push
# pragma GCC diagnostic ignored "-Wpedantic"
# endif
# if GLM_COMPILER & GLM_COMPILER_CLANG
# pragma clang diagnostic push
# pragma clang diagnostic ignored "-Wgnu-anonymous-struct"
# pragma clang diagnostic ignored "-Wnested-anon-types"
# endif
union
{
struct { T x, y, z, w;};
typename detail::storage<T, sizeof(T) * 4, detail::is_aligned<P>::value>::type data;
};
# if GLM_COMPILER & GLM_COMPILER_CLANG
# pragma clang diagnostic pop
# endif
# if GLM_COMPILER & GLM_COMPILER_GCC
# pragma GCC diagnostic pop
# endif
# else
T x, y, z, w;
# endif
// -- Component accesses --
typedef length_t length_type;
GLM_FUNC_DECL static length_type length(){return 4;}
GLM_FUNC_DECL T & operator[](length_type i);
GLM_FUNC_DECL T const & operator[](length_type i) const;
// -- Implicit basic constructors --
GLM_FUNC_DECL GLM_CONSTEXPR tquat() GLM_DEFAULT_CTOR;
GLM_FUNC_DECL GLM_CONSTEXPR tquat(tquat<T, P> const & q) GLM_DEFAULT;
template <precision Q>
GLM_FUNC_DECL GLM_CONSTEXPR tquat(tquat<T, Q> const & q);
// -- Explicit basic constructors --
GLM_FUNC_DECL GLM_CONSTEXPR_CTOR explicit tquat(ctor);
GLM_FUNC_DECL GLM_CONSTEXPR tquat(T const & s, tvec3<T, P> const & v);
GLM_FUNC_DECL GLM_CONSTEXPR tquat(T const & w, T const & x, T const & y, T const & z);
// -- Conversion constructors --
template <typename U, precision Q>
GLM_FUNC_DECL GLM_CONSTEXPR GLM_EXPLICIT tquat(tquat<U, Q> const & q);
# if GLM_HAS_EXPLICIT_CONVERSION_OPERATORS
GLM_FUNC_DECL explicit operator tmat3x3<T, P>();
GLM_FUNC_DECL explicit operator tmat4x4<T, P>();
# endif
GLM_FUNC_DECL tquat(tvec3<T, P> const & u, tvec3<T, P> const & v);
GLM_FUNC_DECL GLM_EXPLICIT tquat(tvec3<T, P> const & eulerAngles);
GLM_FUNC_DECL GLM_EXPLICIT tquat(tmat3x3<T, P> const & m);
GLM_FUNC_DECL GLM_EXPLICIT tquat(tmat4x4<T, P> const & m);
// -- Unary arithmetic operators --
GLM_FUNC_DECL tquat<T, P> & operator=(tquat<T, P> const & m) GLM_DEFAULT;
template <typename U>
GLM_FUNC_DECL tquat<T, P> & operator=(tquat<U, P> const & m);
template <typename U>
GLM_FUNC_DECL tquat<T, P> & operator+=(tquat<U, P> const & q);
template <typename U>
GLM_FUNC_DECL tquat<T, P> & operator-=(tquat<U, P> const & q);
template <typename U>
GLM_FUNC_DECL tquat<T, P> & operator*=(tquat<U, P> const & q);
template <typename U>
GLM_FUNC_DECL tquat<T, P> & operator*=(U s);
template <typename U>
GLM_FUNC_DECL tquat<T, P> & operator/=(U s);
};
// -- Unary bit operators --
template <typename T, precision P>
GLM_FUNC_DECL tquat<T, P> operator+(tquat<T, P> const & q);
template <typename T, precision P>
GLM_FUNC_DECL tquat<T, P> operator-(tquat<T, P> const & q);
// -- Binary operators --
template <typename T, precision P>
GLM_FUNC_DECL tquat<T, P> operator+(tquat<T, P> const & q, tquat<T, P> const & p);
template <typename T, precision P>
GLM_FUNC_DECL tquat<T, P> operator*(tquat<T, P> const & q, tquat<T, P> const & p);
template <typename T, precision P>
GLM_FUNC_DECL tvec3<T, P> operator*(tquat<T, P> const & q, tvec3<T, P> const & v);
template <typename T, precision P>
GLM_FUNC_DECL tvec3<T, P> operator*(tvec3<T, P> const & v, tquat<T, P> const & q);
template <typename T, precision P>
GLM_FUNC_DECL tvec4<T, P> operator*(tquat<T, P> const & q, tvec4<T, P> const & v);
template <typename T, precision P>
GLM_FUNC_DECL tvec4<T, P> operator*(tvec4<T, P> const & v, tquat<T, P> const & q);
template <typename T, precision P>
GLM_FUNC_DECL tquat<T, P> operator*(tquat<T, P> const & q, T const & s);
template <typename T, precision P>
GLM_FUNC_DECL tquat<T, P> operator*(T const & s, tquat<T, P> const & q);
template <typename T, precision P>
GLM_FUNC_DECL tquat<T, P> operator/(tquat<T, P> const & q, T const & s);
// -- Boolean operators --
template <typename T, precision P>
GLM_FUNC_DECL bool operator==(tquat<T, P> const & q1, tquat<T, P> const & q2);
template <typename T, precision P>
GLM_FUNC_DECL bool operator!=(tquat<T, P> const & q1, tquat<T, P> const & q2);
template <typename T, precision P>
GLM_FUNC_DECL T length(tquat<T, P> const & q);
template <typename T, precision P>
GLM_FUNC_DECL tquat<T, P> normalize(tquat<T, P> const & q);
template <typename T, precision P, template <typename, precision> class quatType>
GLM_FUNC_DECL T dot(quatType<T, P> const & x, quatType<T, P> const & y);
template <typename T, precision P>
GLM_FUNC_DECL tquat<T, P> mix(tquat<T, P> const & x, tquat<T, P> const & y, T a);
template <typename T, precision P>
GLM_FUNC_DECL tquat<T, P> lerp(tquat<T, P> const & x, tquat<T, P> const & y, T a);
template <typename T, precision P>
GLM_FUNC_DECL tquat<T, P> slerp(tquat<T, P> const & x, tquat<T, P> const & y, T a);
template <typename T, precision P>
GLM_FUNC_DECL tquat<T, P> conjugate(tquat<T, P> const & q);
template <typename T, precision P>
GLM_FUNC_DECL tquat<T, P> inverse(tquat<T, P> const & q);
template <typename T, precision P>
GLM_FUNC_DECL tquat<T, P> rotate(tquat<T, P> const & q, T const & angle, tvec3<T, P> const & axis);
template <typename T, precision P>
GLM_FUNC_DECL tvec3<T, P> eulerAngles(tquat<T, P> const & x);
template <typename T, precision P>
GLM_FUNC_DECL T roll(tquat<T, P> const & x);
template <typename T, precision P>
GLM_FUNC_DECL T pitch(tquat<T, P> const & x);
template <typename T, precision P>
GLM_FUNC_DECL T yaw(tquat<T, P> const & x);
template <typename T, precision P>
GLM_FUNC_DECL tmat3x3<T, P> mat3_cast(tquat<T, P> const & x);
template <typename T, precision P>
GLM_FUNC_DECL tmat4x4<T, P> mat4_cast(tquat<T, P> const & x);
template <typename T, precision P>
GLM_FUNC_DECL tquat<T, P> quat_cast(tmat3x3<T, P> const & x);
template <typename T, precision P>
GLM_FUNC_DECL tquat<T, P> quat_cast(tmat4x4<T, P> const & x);
template <typename T, precision P>
GLM_FUNC_DECL T angle(tquat<T, P> const & x);
template <typename T, precision P>
GLM_FUNC_DECL tvec3<T, P> axis(tquat<T, P> const & x);
template <typename T, precision P>
GLM_FUNC_DECL tquat<T, P> angleAxis(T const & angle, tvec3<T, P> const & axis);
template <typename T, precision P>
GLM_FUNC_DECL tvec4<bool, P> lessThan(tquat<T, P> const & x, tquat<T, P> const & y);
template <typename T, precision P>
GLM_FUNC_DECL tvec4<bool, P> lessThanEqual(tquat<T, P> const & x, tquat<T, P> const & y);
template <typename T, precision P>
GLM_FUNC_DECL tvec4<bool, P> greaterThan(tquat<T, P> const & x, tquat<T, P> const & y);
template <typename T, precision P>
GLM_FUNC_DECL tvec4<bool, P> greaterThanEqual(tquat<T, P> const & x, tquat<T, P> const & y);
template <typename T, precision P>
GLM_FUNC_DECL tvec4<bool, P> equal(tquat<T, P> const & x, tquat<T, P> const & y);
template <typename T, precision P>
GLM_FUNC_DECL tvec4<bool, P> notEqual(tquat<T, P> const & x, tquat<T, P> const & y);
template <typename T, precision P>
GLM_FUNC_DECL tvec4<bool, P> isnan(tquat<T, P> const & x);
template <typename T, precision P>
GLM_FUNC_DECL tvec4<bool, P> isinf(tquat<T, P> const & x);
} //namespace glm
#include "quaternion.inl"
glm::roll
GLM_FUNC_DECL T roll(tquat< T, P > const &x)
Returns roll value of euler angles expressed in radians.
glm::pitch
GLM_FUNC_DECL T pitch(tquat< T, P > const &x)
Returns pitch value of euler angles expressed in radians.
glm::equal
GLM_FUNC_DECL tvec4< bool, P > equal(tquat< T, P > const &x, tquat< T, P > const &y)
Returns the component-wise comparison of result x == y.
glm::rotate
GLM_FUNC_DECL tquat< T, P > rotate(tquat< T, P > const &q, T const &angle, tvec3< T, P > const &axis)
Rotates a quaternion from a vector of 3 components axis and an angle.
glm::greaterThanEqual
GLM_FUNC_DECL tvec4< bool, P > greaterThanEqual(tquat< T, P > const &x, tquat< T, P > const &y)
Returns the component-wise comparison of result x >= y.
glm::quat_cast
GLM_FUNC_DECL tquat< T, P > quat_cast(tmat4x4< T, P > const &x)
Converts a 4 * 4 matrix to a quaternion.
glm::isnan
GLM_FUNC_DECL tvec4< bool, P > isnan(tquat< T, P > const &x)
Returns true if x holds a NaN (not a number) representation in the underlying implementation's set of...
glm::conjugate
GLM_FUNC_DECL tquat< T, P > conjugate(tquat< T, P > const &q)
Returns the q conjugate.
glm::greaterThan
GLM_FUNC_DECL tvec4< bool, P > greaterThan(tquat< T, P > const &x, tquat< T, P > const &y)
Returns the component-wise comparison of result x > y.
glm::lerp
GLM_FUNC_DECL tquat< T, P > lerp(tquat< T, P > const &x, tquat< T, P > const &y, T a)
Linear interpolation of two quaternions.
glm::mat4_cast
GLM_FUNC_DECL tmat4x4< T, P > mat4_cast(tquat< T, P > const &x)
Converts a quaternion to a 4 * 4 matrix.
glm::normalize
GLM_FUNC_DECL tquat< T, P > normalize(tquat< T, P > const &q)
Returns the normalized quaternion.
glm::length
GLM_FUNC_DECL T length(tquat< T, P > const &q)
Returns the length of the quaternion.
glm::axis
GLM_FUNC_DECL tvec3< T, P > axis(tquat< T, P > const &x)
Returns the q rotation axis.
glm::dot
GLM_FUNC_DECL T dot(quatType< T, P > const &x, quatType< T, P > const &y)
Returns dot product of q1 and q2, i.e., q1[0] * q2[0] + q1[1] * q2[1] + ...
glm
Definition: _noise.hpp:11
glm::lessThanEqual
GLM_FUNC_DECL tvec4< bool, P > lessThanEqual(tquat< T, P > const &x, tquat< T, P > const &y)
Returns the component-wise comparison of result x <= y.
glm::eulerAngles
GLM_FUNC_DECL tvec3< T, P > eulerAngles(tquat< T, P > const &x)
Returns euler angles, pitch as x, yaw as y, roll as z.
glm::angle
GLM_FUNC_DECL T angle(tquat< T, P > const &x)
Returns the quaternion rotation angle.
glm::slerp
GLM_FUNC_DECL tquat< T, P > slerp(tquat< T, P > const &x, tquat< T, P > const &y, T a)
Spherical linear interpolation of two quaternions.
glm::notEqual
GLM_FUNC_DECL tvec4< bool, P > notEqual(tquat< T, P > const &x, tquat< T, P > const &y)
Returns the component-wise comparison of result x != y.
glm::mat3_cast
GLM_FUNC_DECL tmat3x3< T, P > mat3_cast(tquat< T, P > const &x)
Converts a quaternion to a 3 * 3 matrix.
glm::angleAxis
GLM_FUNC_DECL tquat< T, P > angleAxis(T const &angle, tvec3< T, P > const &axis)
Build a quaternion from an angle and a normalized axis.
glm::lessThan
GLM_FUNC_DECL tvec4< bool, P > lessThan(tquat< T, P > const &x, tquat< T, P > const &y)
Returns the component-wise comparison result of x < y.
glm::isinf
GLM_FUNC_DECL tvec4< bool, P > isinf(tquat< T, P > const &x)
Returns true if x holds a positive infinity or negative infinity representation in the underlying imp...
glm::mix
GLM_FUNC_DECL tquat< T, P > mix(tquat< T, P > const &x, tquat< T, P > const &y, T a)
Spherical linear interpolation of two quaternions.
glm::inverse
GLM_FUNC_DECL tquat< T, P > inverse(tquat< T, P > const &q)
Returns the q inverse.
glm::yaw
GLM_FUNC_DECL T yaw(tquat< T, P > const &x)
Returns yaw value of euler angles expressed in radians.