267 lines
9.2 KiB
C++
267 lines
9.2 KiB
C++
/// @ref gtx_dual_quaternion
|
|
/// @file glm/gtx/dual_quaternion.hpp
|
|
/// @author Maksim Vorobiev (msomeone@gmail.com)
|
|
///
|
|
/// @see core (dependence)
|
|
/// @see gtc_half_float (dependence)
|
|
/// @see gtc_constants (dependence)
|
|
/// @see gtc_quaternion (dependence)
|
|
///
|
|
/// @defgroup gtx_dual_quaternion GLM_GTX_dual_quaternion
|
|
/// @ingroup gtx
|
|
///
|
|
/// @brief Defines a templated dual-quaternion type and several dual-quaternion operations.
|
|
///
|
|
/// <glm/gtx/dual_quaternion.hpp> need to be included to use these functionalities.
|
|
|
|
#pragma once
|
|
|
|
// Dependency:
|
|
#include "../glm.hpp"
|
|
#include "../gtc/constants.hpp"
|
|
#include "../gtc/quaternion.hpp"
|
|
|
|
#if GLM_MESSAGES == GLM_MESSAGES_ENABLED && !defined(GLM_EXT_INCLUDED)
|
|
# pragma message("GLM: GLM_GTX_dual_quaternion extension included")
|
|
#endif
|
|
|
|
namespace glm
|
|
{
|
|
/// @addtogroup gtx_dual_quaternion
|
|
/// @{
|
|
|
|
template <typename T, precision P = defaultp>
|
|
struct tdualquat
|
|
{
|
|
// -- Implementation detail --
|
|
|
|
typedef T value_type;
|
|
typedef glm::tquat<T, P> part_type;
|
|
|
|
// -- Data --
|
|
|
|
glm::tquat<T, P> real, dual;
|
|
|
|
// -- Component accesses --
|
|
|
|
typedef length_t length_type;
|
|
/// Return the count of components of a dual quaternion
|
|
GLM_FUNC_DECL static length_type length(){return 2;}
|
|
|
|
GLM_FUNC_DECL part_type & operator[](length_type i);
|
|
GLM_FUNC_DECL part_type const & operator[](length_type i) const;
|
|
|
|
// -- Implicit basic constructors --
|
|
|
|
GLM_FUNC_DECL GLM_CONSTEXPR tdualquat() GLM_DEFAULT_CTOR;
|
|
GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tdualquat<T, P> const & d) GLM_DEFAULT;
|
|
template <precision Q>
|
|
GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tdualquat<T, Q> const & d);
|
|
|
|
// -- Explicit basic constructors --
|
|
|
|
GLM_FUNC_DECL GLM_CONSTEXPR_CTOR explicit tdualquat(ctor);
|
|
GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tquat<T, P> const & real);
|
|
GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tquat<T, P> const & orientation, tvec3<T, P> const & translation);
|
|
GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tquat<T, P> const & real, tquat<T, P> const & dual);
|
|
|
|
// -- Conversion constructors --
|
|
|
|
template <typename U, precision Q>
|
|
GLM_FUNC_DECL GLM_CONSTEXPR GLM_EXPLICIT tdualquat(tdualquat<U, Q> const & q);
|
|
|
|
GLM_FUNC_DECL GLM_EXPLICIT tdualquat(tmat2x4<T, P> const & holder_mat);
|
|
GLM_FUNC_DECL GLM_EXPLICIT tdualquat(tmat3x4<T, P> const & aug_mat);
|
|
|
|
// -- Unary arithmetic operators --
|
|
|
|
GLM_FUNC_DECL tdualquat<T, P> & operator=(tdualquat<T, P> const & m) GLM_DEFAULT;
|
|
|
|
template <typename U>
|
|
GLM_FUNC_DECL tdualquat<T, P> & operator=(tdualquat<U, P> const & m);
|
|
template <typename U>
|
|
GLM_FUNC_DECL tdualquat<T, P> & operator*=(U s);
|
|
template <typename U>
|
|
GLM_FUNC_DECL tdualquat<T, P> & operator/=(U s);
|
|
};
|
|
|
|
// -- Unary bit operators --
|
|
|
|
template <typename T, precision P>
|
|
GLM_FUNC_DECL tdualquat<T, P> operator+(tdualquat<T, P> const & q);
|
|
|
|
template <typename T, precision P>
|
|
GLM_FUNC_DECL tdualquat<T, P> operator-(tdualquat<T, P> const & q);
|
|
|
|
// -- Binary operators --
|
|
|
|
template <typename T, precision P>
|
|
GLM_FUNC_DECL tdualquat<T, P> operator+(tdualquat<T, P> const & q, tdualquat<T, P> const & p);
|
|
|
|
template <typename T, precision P>
|
|
GLM_FUNC_DECL tdualquat<T, P> operator*(tdualquat<T, P> const & q, tdualquat<T, P> const & p);
|
|
|
|
template <typename T, precision P>
|
|
GLM_FUNC_DECL tvec3<T, P> operator*(tdualquat<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, tdualquat<T, P> const & q);
|
|
|
|
template <typename T, precision P>
|
|
GLM_FUNC_DECL tvec4<T, P> operator*(tdualquat<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, tdualquat<T, P> const & q);
|
|
|
|
template <typename T, precision P>
|
|
GLM_FUNC_DECL tdualquat<T, P> operator*(tdualquat<T, P> const & q, T const & s);
|
|
|
|
template <typename T, precision P>
|
|
GLM_FUNC_DECL tdualquat<T, P> operator*(T const & s, tdualquat<T, P> const & q);
|
|
|
|
template <typename T, precision P>
|
|
GLM_FUNC_DECL tdualquat<T, P> operator/(tdualquat<T, P> const & q, T const & s);
|
|
|
|
// -- Boolean operators --
|
|
|
|
template <typename T, precision P>
|
|
GLM_FUNC_DECL bool operator==(tdualquat<T, P> const & q1, tdualquat<T, P> const & q2);
|
|
|
|
template <typename T, precision P>
|
|
GLM_FUNC_DECL bool operator!=(tdualquat<T, P> const & q1, tdualquat<T, P> const & q2);
|
|
|
|
/// Returns the normalized quaternion.
|
|
///
|
|
/// @see gtx_dual_quaternion
|
|
template <typename T, precision P>
|
|
GLM_FUNC_DECL tdualquat<T, P> normalize(tdualquat<T, P> const & q);
|
|
|
|
/// Returns the linear interpolation of two dual quaternion.
|
|
///
|
|
/// @see gtc_dual_quaternion
|
|
template <typename T, precision P>
|
|
GLM_FUNC_DECL tdualquat<T, P> lerp(tdualquat<T, P> const & x, tdualquat<T, P> const & y, T const & a);
|
|
|
|
/// Returns the q inverse.
|
|
///
|
|
/// @see gtx_dual_quaternion
|
|
template <typename T, precision P>
|
|
GLM_FUNC_DECL tdualquat<T, P> inverse(tdualquat<T, P> const & q);
|
|
|
|
/// Converts a quaternion to a 2 * 4 matrix.
|
|
///
|
|
/// @see gtx_dual_quaternion
|
|
template <typename T, precision P>
|
|
GLM_FUNC_DECL tmat2x4<T, P> mat2x4_cast(tdualquat<T, P> const & x);
|
|
|
|
/// Converts a quaternion to a 3 * 4 matrix.
|
|
///
|
|
/// @see gtx_dual_quaternion
|
|
template <typename T, precision P>
|
|
GLM_FUNC_DECL tmat3x4<T, P> mat3x4_cast(tdualquat<T, P> const & x);
|
|
|
|
/// Converts a 2 * 4 matrix (matrix which holds real and dual parts) to a quaternion.
|
|
///
|
|
/// @see gtx_dual_quaternion
|
|
template <typename T, precision P>
|
|
GLM_FUNC_DECL tdualquat<T, P> dualquat_cast(tmat2x4<T, P> const & x);
|
|
|
|
/// Converts a 3 * 4 matrix (augmented matrix rotation + translation) to a quaternion.
|
|
///
|
|
/// @see gtx_dual_quaternion
|
|
template <typename T, precision P>
|
|
GLM_FUNC_DECL tdualquat<T, P> dualquat_cast(tmat3x4<T, P> const & x);
|
|
|
|
|
|
/// Dual-quaternion of low single-precision floating-point numbers.
|
|
///
|
|
/// @see gtx_dual_quaternion
|
|
typedef tdualquat<float, lowp> lowp_dualquat;
|
|
|
|
/// Dual-quaternion of medium single-precision floating-point numbers.
|
|
///
|
|
/// @see gtx_dual_quaternion
|
|
typedef tdualquat<float, mediump> mediump_dualquat;
|
|
|
|
/// Dual-quaternion of high single-precision floating-point numbers.
|
|
///
|
|
/// @see gtx_dual_quaternion
|
|
typedef tdualquat<float, highp> highp_dualquat;
|
|
|
|
|
|
/// Dual-quaternion of low single-precision floating-point numbers.
|
|
///
|
|
/// @see gtx_dual_quaternion
|
|
typedef tdualquat<float, lowp> lowp_fdualquat;
|
|
|
|
/// Dual-quaternion of medium single-precision floating-point numbers.
|
|
///
|
|
/// @see gtx_dual_quaternion
|
|
typedef tdualquat<float, mediump> mediump_fdualquat;
|
|
|
|
/// Dual-quaternion of high single-precision floating-point numbers.
|
|
///
|
|
/// @see gtx_dual_quaternion
|
|
typedef tdualquat<float, highp> highp_fdualquat;
|
|
|
|
|
|
/// Dual-quaternion of low double-precision floating-point numbers.
|
|
///
|
|
/// @see gtx_dual_quaternion
|
|
typedef tdualquat<double, lowp> lowp_ddualquat;
|
|
|
|
/// Dual-quaternion of medium double-precision floating-point numbers.
|
|
///
|
|
/// @see gtx_dual_quaternion
|
|
typedef tdualquat<double, mediump> mediump_ddualquat;
|
|
|
|
/// Dual-quaternion of high double-precision floating-point numbers.
|
|
///
|
|
/// @see gtx_dual_quaternion
|
|
typedef tdualquat<double, highp> highp_ddualquat;
|
|
|
|
|
|
#if(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
|
|
/// Dual-quaternion of floating-point numbers.
|
|
///
|
|
/// @see gtx_dual_quaternion
|
|
typedef highp_fdualquat dualquat;
|
|
|
|
/// Dual-quaternion of single-precision floating-point numbers.
|
|
///
|
|
/// @see gtx_dual_quaternion
|
|
typedef highp_fdualquat fdualquat;
|
|
#elif(defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
|
|
typedef highp_fdualquat dualquat;
|
|
typedef highp_fdualquat fdualquat;
|
|
#elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
|
|
typedef mediump_fdualquat dualquat;
|
|
typedef mediump_fdualquat fdualquat;
|
|
#elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && defined(GLM_PRECISION_LOWP_FLOAT))
|
|
typedef lowp_fdualquat dualquat;
|
|
typedef lowp_fdualquat fdualquat;
|
|
#else
|
|
# error "GLM error: multiple default precision requested for single-precision floating-point types"
|
|
#endif
|
|
|
|
|
|
#if(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
|
|
/// Dual-quaternion of default double-precision floating-point numbers.
|
|
///
|
|
/// @see gtx_dual_quaternion
|
|
typedef highp_ddualquat ddualquat;
|
|
#elif(defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
|
|
typedef highp_ddualquat ddualquat;
|
|
#elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
|
|
typedef mediump_ddualquat ddualquat;
|
|
#elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && defined(GLM_PRECISION_LOWP_DOUBLE))
|
|
typedef lowp_ddualquat ddualquat;
|
|
#else
|
|
# error "GLM error: Multiple default precision requested for double-precision floating-point types"
|
|
#endif
|
|
|
|
/// @}
|
|
} //namespace glm
|
|
|
|
#include "dual_quaternion.inl"
|