18 #include "../mat3x3.hpp"
19 #include "../mat4x4.hpp"
20 #include "../vec3.hpp"
21 #include "../vec4.hpp"
22 #include "../gtc/constants.hpp"
24 #if GLM_MESSAGES == GLM_MESSAGES_ENABLED && !defined(GLM_EXT_INCLUDED)
25 # pragma message("GLM: GLM_GTC_quaternion extension included")
33 template <
typename T, precision P = defaultp>
38 typedef tquat<T, P> type;
43 # if GLM_HAS_ALIGNED_TYPE
44 # if GLM_COMPILER & GLM_COMPILER_GCC
45 # pragma GCC diagnostic push
46 # pragma GCC diagnostic ignored "-pedantic"
48 # if GLM_COMPILER & GLM_COMPILER_CLANG
49 # pragma clang diagnostic push
50 # pragma clang diagnostic ignored "-Wgnu-anonymous-struct"
51 # pragma clang diagnostic ignored "-Wnested-anon-types"
56 struct { T x, y, z, w;};
57 typename detail::storage<T, sizeof(T) * 4, detail::is_aligned<P>::value>::type data;
60 # if GLM_COMPILER & GLM_COMPILER_CLANG
61 # pragma clang diagnostic pop
63 # if GLM_COMPILER & GLM_COMPILER_GCC
64 # pragma GCC diagnostic pop
72 typedef length_t length_type;
74 GLM_FUNC_DECL GLM_CONSTEXPR length_type
length()
const;
76 GLM_FUNC_DECL T & operator[](length_type i);
77 GLM_FUNC_DECL T
const & operator[](length_type i)
const;
81 GLM_FUNC_DECL GLM_CONSTEXPR tquat() GLM_DEFAULT_CTOR;
82 GLM_FUNC_DECL GLM_CONSTEXPR tquat(tquat<T, P> const & q) GLM_DEFAULT;
83 template <precision Q>
84 GLM_FUNC_DECL GLM_CONSTEXPR tquat(tquat<T, Q> const & q);
88 GLM_FUNC_DECL GLM_CONSTEXPR_CTOR explicit tquat(ctor);
89 GLM_FUNC_DECL GLM_CONSTEXPR tquat(T const & s, tvec3<T, P> const & v);
90 GLM_FUNC_DECL GLM_CONSTEXPR tquat(T const & w, T const & x, T const & y, T const & z);
94 template <typename U, precision Q>
95 GLM_FUNC_DECL GLM_CONSTEXPR GLM_EXPLICIT tquat(tquat<U, Q> const & q);
98 # if GLM_HAS_EXPLICIT_CONVERSION_OPERATORS
99 GLM_FUNC_DECL
explicit operator tmat3x3<T, P>();
100 GLM_FUNC_DECL
explicit operator tmat4x4<T, P>();
109 GLM_FUNC_DECL tquat(tvec3<T, P>
const & u, tvec3<T, P>
const & v);
112 GLM_FUNC_DECL GLM_EXPLICIT tquat(tvec3<T, P>
const &
eulerAngles);
113 GLM_FUNC_DECL GLM_EXPLICIT tquat(tmat3x3<T, P>
const & m);
114 GLM_FUNC_DECL GLM_EXPLICIT tquat(tmat4x4<T, P>
const & m);
118 GLM_FUNC_DECL tquat<T, P> & operator=(tquat<T, P>
const & m) GLM_DEFAULT;
120 template <
typename U>
121 GLM_FUNC_DECL tquat<T, P> & operator=(tquat<U, P>
const & m);
122 template <
typename U>
123 GLM_FUNC_DECL tquat<T, P> & operator+=(tquat<U, P>
const & q);
124 template <
typename U>
125 GLM_FUNC_DECL tquat<T, P> & operator-=(tquat<U, P>
const & q);
126 template <
typename U>
127 GLM_FUNC_DECL tquat<T, P> & operator*=(tquat<U, P>
const & q);
128 template <
typename U>
129 GLM_FUNC_DECL tquat<T, P> & operator*=(U s);
130 template <
typename U>
131 GLM_FUNC_DECL tquat<T, P> & operator/=(U s);
136 template <
typename T, precision P>
137 GLM_FUNC_DECL tquat<T, P> operator+(tquat<T, P>
const & q);
139 template <
typename T, precision P>
140 GLM_FUNC_DECL tquat<T, P> operator-(tquat<T, P>
const & q);
144 template <
typename T, precision P>
145 GLM_FUNC_DECL tquat<T, P> operator+(tquat<T, P>
const & q, tquat<T, P>
const & p);
147 template <
typename T, precision P>
148 GLM_FUNC_DECL tquat<T, P> operator*(tquat<T, P>
const & q, tquat<T, P>
const & p);
150 template <
typename T, precision P>
151 GLM_FUNC_DECL tvec3<T, P> operator*(tquat<T, P>
const & q, tvec3<T, P>
const & v);
153 template <
typename T, precision P>
154 GLM_FUNC_DECL tvec3<T, P> operator*(tvec3<T, P>
const & v, tquat<T, P>
const & q);
156 template <
typename T, precision P>
157 GLM_FUNC_DECL tvec4<T, P> operator*(tquat<T, P>
const & q, tvec4<T, P>
const & v);
159 template <
typename T, precision P>
160 GLM_FUNC_DECL tvec4<T, P> operator*(tvec4<T, P>
const & v, tquat<T, P>
const & q);
162 template <
typename T, precision P>
163 GLM_FUNC_DECL tquat<T, P> operator*(tquat<T, P>
const & q, T
const & s);
165 template <
typename T, precision P>
166 GLM_FUNC_DECL tquat<T, P> operator*(T
const & s, tquat<T, P>
const & q);
168 template <
typename T, precision P>
169 GLM_FUNC_DECL tquat<T, P> operator/(tquat<T, P>
const & q, T
const & s);
173 template <
typename T, precision P>
174 GLM_FUNC_DECL
bool operator==(tquat<T, P>
const & q1, tquat<T, P>
const & q2);
176 template <
typename T, precision P>
177 GLM_FUNC_DECL
bool operator!=(tquat<T, P>
const & q1, tquat<T, P>
const & q2);
182 template <
typename T, precision P>
183 GLM_FUNC_DECL T
length(tquat<T, P>
const & q);
188 template <
typename T, precision P>
189 GLM_FUNC_DECL tquat<T, P>
normalize(tquat<T, P>
const & q);
194 template <
typename T, precision P,
template <
typename, precision>
class quatType>
195 GLM_FUNC_DECL T
dot(quatType<T, P>
const & x, quatType<T, P>
const & y);
207 template <
typename T, precision P>
208 GLM_FUNC_DECL tquat<T, P>
mix(tquat<T, P>
const & x, tquat<T, P>
const & y, T a);
218 template <
typename T, precision P>
219 GLM_FUNC_DECL tquat<T, P>
lerp(tquat<T, P>
const & x, tquat<T, P>
const & y, T a);
229 template <
typename T, precision P>
230 GLM_FUNC_DECL tquat<T, P>
slerp(tquat<T, P>
const & x, tquat<T, P>
const & y, T a);
235 template <
typename T, precision P>
236 GLM_FUNC_DECL tquat<T, P>
conjugate(tquat<T, P>
const & q);
241 template <
typename T, precision P>
242 GLM_FUNC_DECL tquat<T, P>
inverse(tquat<T, P>
const & q);
251 template <
typename T, precision P>
252 GLM_FUNC_DECL tquat<T, P>
rotate(tquat<T, P>
const & q, T
const &
angle, tvec3<T, P>
const &
axis);
258 template <
typename T, precision P>
259 GLM_FUNC_DECL tvec3<T, P>
eulerAngles(tquat<T, P>
const & x);
264 template <
typename T, precision P>
265 GLM_FUNC_DECL T
roll(tquat<T, P>
const & x);
270 template <
typename T, precision P>
271 GLM_FUNC_DECL T
pitch(tquat<T, P>
const & x);
276 template <
typename T, precision P>
277 GLM_FUNC_DECL T
yaw(tquat<T, P>
const & x);
282 template <
typename T, precision P>
283 GLM_FUNC_DECL tmat3x3<T, P>
mat3_cast(tquat<T, P>
const & x);
288 template <
typename T, precision P>
289 GLM_FUNC_DECL tmat4x4<T, P>
mat4_cast(tquat<T, P>
const & x);
294 template <
typename T, precision P>
295 GLM_FUNC_DECL tquat<T, P>
quat_cast(tmat3x3<T, P>
const & x);
300 template <
typename T, precision P>
301 GLM_FUNC_DECL tquat<T, P>
quat_cast(tmat4x4<T, P>
const & x);
306 template <
typename T, precision P>
307 GLM_FUNC_DECL T
angle(tquat<T, P>
const & x);
312 template <
typename T, precision P>
313 GLM_FUNC_DECL tvec3<T, P>
axis(tquat<T, P>
const & x);
321 template <
typename T, precision P>
329 template <
typename T, precision P>
330 GLM_FUNC_DECL tvec4<bool, P>
lessThan(tquat<T, P>
const & x, tquat<T, P>
const & y);
337 template <
typename T, precision P>
338 GLM_FUNC_DECL tvec4<bool, P>
lessThanEqual(tquat<T, P>
const & x, tquat<T, P>
const & y);
345 template <
typename T, precision P>
346 GLM_FUNC_DECL tvec4<bool, P>
greaterThan(tquat<T, P>
const & x, tquat<T, P>
const & y);
353 template <
typename T, precision P>
354 GLM_FUNC_DECL tvec4<bool, P>
greaterThanEqual(tquat<T, P>
const & x, tquat<T, P>
const & y);
361 template <
typename T, precision P>
362 GLM_FUNC_DECL tvec4<bool, P>
equal(tquat<T, P>
const & x, tquat<T, P>
const & y);
369 template <
typename T, precision P>
370 GLM_FUNC_DECL tvec4<bool, P>
notEqual(tquat<T, P>
const & x, tquat<T, P>
const & y);
381 template <
typename T, precision P>
382 GLM_FUNC_DECL tvec4<bool, P>
isnan(tquat<T, P>
const & x);
391 template <
typename T, precision P>
392 GLM_FUNC_DECL tvec4<bool, P>
isinf(tquat<T, P>
const & x);
397 #include "quaternion.inl"
GLM_FUNC_DECL T roll(tquat< T, P > const &x)
Returns roll value of euler angles expressed in radians.
GLM_FUNC_DECL T pitch(tquat< T, P > const &x)
Returns pitch value of euler angles expressed in radians.
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_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_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_FUNC_DECL tquat< T, P > quat_cast(tmat4x4< T, P > const &x)
Converts a 4 * 4 matrix to a quaternion.
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_FUNC_DECL tquat< T, P > conjugate(tquat< T, P > const &q)
Returns the q conjugate.
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_FUNC_DECL tquat< T, P > lerp(tquat< T, P > const &x, tquat< T, P > const &y, T a)
Linear interpolation of two quaternions.
GLM_FUNC_DECL tmat4x4< T, P > mat4_cast(tquat< T, P > const &x)
Converts a quaternion to a 4 * 4 matrix.
GLM_FUNC_DECL tquat< T, P > normalize(tquat< T, P > const &q)
Returns the normalized quaternion.
GLM_FUNC_DECL T length(tquat< T, P > const &q)
Returns the length of the quaternion.
GLM_FUNC_DECL tvec3< T, P > axis(tquat< T, P > const &x)
Returns the q rotation axis.
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_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_FUNC_DECL tvec3< T, P > eulerAngles(tquat< T, P > const &x)
Returns euler angles, pitch as x, yaw as y, roll as z.
GLM_FUNC_DECL T angle(tquat< T, P > const &x)
Returns the quaternion rotation angle.
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_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_FUNC_DECL tmat3x3< T, P > mat3_cast(tquat< T, P > const &x)
Converts a quaternion to a 3 * 3 matrix.
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_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_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_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_FUNC_DECL tquat< T, P > inverse(tquat< T, P > const &q)
Returns the q inverse.
GLM_FUNC_DECL T yaw(tquat< T, P > const &x)
Returns yaw value of euler angles expressed in radians.