quaternion.hpp

// OpenGL Mathematics Copyright (c) 2005 - 2011 G-Truc Creation (www.g-truc.net)
// Created : 2005-12-21
// Updated : 2009-05-21
// Licence : This source is under MIT License
// File    : glm/gtx/quaternion.hpp
// Dependency:
// - GLM core
// ToDo:
// - Study constructors with angles and axis
// - Study constructors with vec3 that are the imaginary component of quaternion

#ifndef glm_gtx_quaternion
#define glm_gtx_quaternion

// Dependency:
#include "../glm.hpp"
#include "../gtc/quaternion.hpp"

#if(defined(GLM_MESSAGES) && !defined(glm_ext))
#       pragma message("GLM: GLM_GTX_quaternion extension included")
#endif

namespace glm
{
        namespace gtx{
    namespace quaternion
    {
                using namespace gtc::quaternion;


                template <typename valType> 
                detail::tvec3<valType> cross(
                        detail::tquat<valType> const & q, 
                        detail::tvec3<valType> const & v);

                template <typename valType> 
                detail::tvec3<valType> cross(
                        detail::tvec3<valType> const & v, 
                        detail::tquat<valType> const & q);

                template <typename valType> 
                detail::tquat<valType> squad(
                        detail::tquat<valType> const & q1, 
                        detail::tquat<valType> const & q2, 
                        detail::tquat<valType> const & s1, 
                        detail::tquat<valType> const & s2, 
                        valType const & h);

                template <typename valType> 
                detail::tquat<valType> intermediate(
                        detail::tquat<valType> const & prev, 
                        detail::tquat<valType> const & curr, 
                        detail::tquat<valType> const & next);

        template <typename valType> 
                detail::tquat<valType> exp(
                        detail::tquat<valType> const & q, 
                        valType const & exponent);

        template <typename valType> 
                detail::tquat<valType> log(
                        detail::tquat<valType> const & q);

        template <typename valType> 
                detail::tquat<valType> pow(
                        detail::tquat<valType> const & x, 
                        valType const & y);

                //template <typename valType> 
                //detail::tquat<valType> sqrt(
                //      detail::tquat<valType> const & q);

                template <typename valType> 
                detail::tvec3<valType> rotate(
                        detail::tquat<valType> const & q, 
                        detail::tvec3<valType> const & v);

                template <typename valType> 
                detail::tvec4<valType> rotate(
                        detail::tquat<valType> const & q, 
                        detail::tvec4<valType> const & v);
                
                template <typename valType> 
                valType angle(
                        detail::tquat<valType> const & x);

                template <typename valType> 
                detail::tvec3<valType> axis(
                        detail::tquat<valType> const & x);

                template <typename valType> 
                detail::tquat<valType> angleAxis(
                        valType const & angle, 
                        valType const & x, 
                        valType const & y, 
                        valType const & z);

                template <typename valType> 
                detail::tquat<valType> angleAxis(
                        valType const & angle, 
                        detail::tvec3<valType> const & v);

                template <typename valType> 
                valType extractRealComponent(
                        detail::tquat<valType> const & q);

                template <typename valType> 
                valType roll(
                        detail::tquat<valType> const & x);

        template <typename valType> 
                valType pitch(
                        detail::tquat<valType> const & x);

                template <typename valType> 
                valType yaw(
                        detail::tquat<valType> const & x);
                
                template <typename valType> 
                detail::tvec3<valType> eularAngles(
                        detail::tquat<valType> const & x);

        template <typename valType> 
                detail::tmat3x3<valType> toMat3(
                        detail::tquat<valType> const & x){return gtc::quaternion::mat3_cast(x);}

                template <typename valType> 
                detail::tmat4x4<valType> toMat4(
                        detail::tquat<valType> const & x){return gtc::quaternion::mat4_cast(x);}

                template <typename valType> 
                detail::tquat<valType> toQuat(
                        detail::tmat3x3<valType> const & x){return gtc::quaternion::quat_cast(x);}

                template <typename valType> 
                detail::tquat<valType> toQuat(
                        detail::tmat4x4<valType> const & x){return gtc::quaternion::quat_cast(x);}


    }//namespace quaternion
    }//namespace gtx
} //namespace glm

#include "quaternion.inl"

namespace glm{using namespace gtx::quaternion;}

#endif//glm_gtx_quaternion