/// @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 /// /// @brief Extented quaternion types and functions /// /// <glm/gtx/quaternion.hpp> need to be included to use these functionalities. #pragma once // Dependency: #include "../glm.hpp" #include "../gtc/constants.hpp" #include "../gtc/quaternion.hpp" #include "../gtx/norm.hpp" #if GLM_MESSAGES == GLM_MESSAGES_ENABLED && !defined(GLM_EXT_INCLUDED) # pragma message("GLM: GLM_GTX_quaternion extension included") #endif namespace glm { /// @addtogroup gtx_quaternion /// @{ /// Compute a cross product between a quaternion and a vector. /// /// @see gtx_quaternion template<typename T, precision P> GLM_FUNC_DECL tvec3<T, P> cross( tquat<T, P> const & q, tvec3<T, P> const & v); //! Compute a cross product between a vector and a quaternion. /// /// @see gtx_quaternion template<typename T, precision P> GLM_FUNC_DECL tvec3<T, P> cross( tvec3<T, P> const & v, tquat<T, P> 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, precision P> GLM_FUNC_DECL tquat<T, P> squad( tquat<T, P> const & q1, tquat<T, P> const & q2, tquat<T, P> const & s1, tquat<T, P> const & s2, T const & h); //! Returns an intermediate control point for squad interpolation. /// /// @see gtx_quaternion template<typename T, precision P> GLM_FUNC_DECL tquat<T, P> intermediate( tquat<T, P> const & prev, tquat<T, P> const & curr, tquat<T, P> const & next); //! Returns a exp of a quaternion. /// /// @see gtx_quaternion template<typename T, precision P> GLM_FUNC_DECL tquat<T, P> exp( tquat<T, P> const & q); //! Returns a log of a quaternion. /// /// @see gtx_quaternion template<typename T, precision P> GLM_FUNC_DECL tquat<T, P> log( tquat<T, P> const & q); /// Returns x raised to the y power. /// /// @see gtx_quaternion template<typename T, precision P> GLM_FUNC_DECL tquat<T, P> pow( tquat<T, P> const & x, T const & y); //! Returns quarternion square root. /// /// @see gtx_quaternion //template<typename T, precision P> //tquat<T, P> sqrt( // tquat<T, P> const & q); //! Rotates a 3 components vector by a quaternion. /// /// @see gtx_quaternion template<typename T, precision P> GLM_FUNC_DECL tvec3<T, P> rotate( tquat<T, P> const & q, tvec3<T, P> const & v); /// Rotates a 4 components vector by a quaternion. /// /// @see gtx_quaternion template<typename T, precision P> GLM_FUNC_DECL tvec4<T, P> rotate( tquat<T, P> const & q, tvec4<T, P> const & v); /// Extract the real component of a quaternion. /// /// @see gtx_quaternion template<typename T, precision P> GLM_FUNC_DECL T extractRealComponent( tquat<T, P> const & q); /// Converts a quaternion to a 3 * 3 matrix. /// /// @see gtx_quaternion template<typename T, precision P> GLM_FUNC_DECL tmat3x3<T, P> toMat3( tquat<T, P> const & x){return mat3_cast(x);} /// Converts a quaternion to a 4 * 4 matrix. /// /// @see gtx_quaternion template<typename T, precision P> GLM_FUNC_DECL tmat4x4<T, P> toMat4( tquat<T, P> const & x){return mat4_cast(x);} /// Converts a 3 * 3 matrix to a quaternion. /// /// @see gtx_quaternion template<typename T, precision P> GLM_FUNC_DECL tquat<T, P> toQuat( tmat3x3<T, P> const & x){return quat_cast(x);} /// Converts a 4 * 4 matrix to a quaternion. /// /// @see gtx_quaternion template<typename T, precision P> GLM_FUNC_DECL tquat<T, P> toQuat( tmat4x4<T, P> const & x){return quat_cast(x);} /// Quaternion interpolation using the rotation short path. /// /// @see gtx_quaternion template<typename T, precision P> GLM_FUNC_DECL tquat<T, P> shortMix( tquat<T, P> const & x, tquat<T, P> const & y, T const & a); /// Quaternion normalized linear interpolation. /// /// @see gtx_quaternion template<typename T, precision P> GLM_FUNC_DECL tquat<T, P> fastMix( tquat<T, P> const & x, tquat<T, P> 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, precision P> GLM_FUNC_DECL tquat<T, P> rotation( tvec3<T, P> const & orig, tvec3<T, P> const & dest); /// Returns the squared length of x. /// /// @see gtx_quaternion template<typename T, precision P> GLM_FUNC_DECL T length2(tquat<T, P> const & q); /// @} }//namespace glm #include "quaternion.inl"