/// @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"