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lib/glm/gtx/dual_quaternion.hpp
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266
lib/glm/gtx/dual_quaternion.hpp
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/// @ref gtx_dual_quaternion
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/// @file glm/gtx/dual_quaternion.hpp
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/// @author Maksim Vorobiev (msomeone@gmail.com)
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///
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/// @see core (dependence)
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/// @see gtc_half_float (dependence)
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/// @see gtc_constants (dependence)
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/// @see gtc_quaternion (dependence)
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///
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/// @defgroup gtx_dual_quaternion GLM_GTX_dual_quaternion
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/// @ingroup gtx
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///
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/// @brief Defines a templated dual-quaternion type and several dual-quaternion operations.
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///
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/// <glm/gtx/dual_quaternion.hpp> need to be included to use these functionalities.
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#pragma once
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// Dependency:
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#include "../glm.hpp"
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#include "../gtc/constants.hpp"
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#include "../gtc/quaternion.hpp"
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#if GLM_MESSAGES == GLM_MESSAGES_ENABLED && !defined(GLM_EXT_INCLUDED)
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# pragma message("GLM: GLM_GTX_dual_quaternion extension included")
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#endif
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namespace glm
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{
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/// @addtogroup gtx_dual_quaternion
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/// @{
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template <typename T, precision P = defaultp>
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struct tdualquat
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{
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// -- Implementation detail --
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typedef T value_type;
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typedef glm::tquat<T, P> part_type;
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// -- Data --
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glm::tquat<T, P> real, dual;
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// -- Component accesses --
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typedef length_t length_type;
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/// Return the count of components of a dual quaternion
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GLM_FUNC_DECL static length_type length(){return 2;}
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GLM_FUNC_DECL part_type & operator[](length_type i);
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GLM_FUNC_DECL part_type const & operator[](length_type i) const;
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// -- Implicit basic constructors --
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GLM_FUNC_DECL GLM_CONSTEXPR tdualquat() GLM_DEFAULT_CTOR;
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GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tdualquat<T, P> const & d) GLM_DEFAULT;
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template <precision Q>
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GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tdualquat<T, Q> const & d);
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// -- Explicit basic constructors --
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GLM_FUNC_DECL GLM_CONSTEXPR_CTOR explicit tdualquat(ctor);
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GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tquat<T, P> const & real);
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GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tquat<T, P> const & orientation, tvec3<T, P> const & translation);
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GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tquat<T, P> const & real, tquat<T, P> const & dual);
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// -- Conversion constructors --
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template <typename U, precision Q>
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GLM_FUNC_DECL GLM_CONSTEXPR GLM_EXPLICIT tdualquat(tdualquat<U, Q> const & q);
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GLM_FUNC_DECL GLM_EXPLICIT tdualquat(tmat2x4<T, P> const & holder_mat);
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GLM_FUNC_DECL GLM_EXPLICIT tdualquat(tmat3x4<T, P> const & aug_mat);
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// -- Unary arithmetic operators --
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GLM_FUNC_DECL tdualquat<T, P> & operator=(tdualquat<T, P> const & m) GLM_DEFAULT;
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template <typename U>
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GLM_FUNC_DECL tdualquat<T, P> & operator=(tdualquat<U, P> const & m);
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template <typename U>
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GLM_FUNC_DECL tdualquat<T, P> & operator*=(U s);
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template <typename U>
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GLM_FUNC_DECL tdualquat<T, P> & operator/=(U s);
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};
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// -- Unary bit operators --
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template <typename T, precision P>
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GLM_FUNC_DECL tdualquat<T, P> operator+(tdualquat<T, P> const & q);
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template <typename T, precision P>
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GLM_FUNC_DECL tdualquat<T, P> operator-(tdualquat<T, P> const & q);
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// -- Binary operators --
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template <typename T, precision P>
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GLM_FUNC_DECL tdualquat<T, P> operator+(tdualquat<T, P> const & q, tdualquat<T, P> const & p);
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template <typename T, precision P>
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GLM_FUNC_DECL tdualquat<T, P> operator*(tdualquat<T, P> const & q, tdualquat<T, P> const & p);
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template <typename T, precision P>
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GLM_FUNC_DECL tvec3<T, P> operator*(tdualquat<T, P> const & q, tvec3<T, P> const & v);
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template <typename T, precision P>
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GLM_FUNC_DECL tvec3<T, P> operator*(tvec3<T, P> const & v, tdualquat<T, P> const & q);
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template <typename T, precision P>
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GLM_FUNC_DECL tvec4<T, P> operator*(tdualquat<T, P> const & q, tvec4<T, P> const & v);
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template <typename T, precision P>
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GLM_FUNC_DECL tvec4<T, P> operator*(tvec4<T, P> const & v, tdualquat<T, P> const & q);
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template <typename T, precision P>
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GLM_FUNC_DECL tdualquat<T, P> operator*(tdualquat<T, P> const & q, T const & s);
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template <typename T, precision P>
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GLM_FUNC_DECL tdualquat<T, P> operator*(T const & s, tdualquat<T, P> const & q);
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template <typename T, precision P>
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GLM_FUNC_DECL tdualquat<T, P> operator/(tdualquat<T, P> const & q, T const & s);
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// -- Boolean operators --
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template <typename T, precision P>
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GLM_FUNC_DECL bool operator==(tdualquat<T, P> const & q1, tdualquat<T, P> const & q2);
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template <typename T, precision P>
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GLM_FUNC_DECL bool operator!=(tdualquat<T, P> const & q1, tdualquat<T, P> const & q2);
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/// Returns the normalized quaternion.
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///
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/// @see gtx_dual_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL tdualquat<T, P> normalize(tdualquat<T, P> const & q);
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/// Returns the linear interpolation of two dual quaternion.
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///
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/// @see gtc_dual_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL tdualquat<T, P> lerp(tdualquat<T, P> const & x, tdualquat<T, P> const & y, T const & a);
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/// Returns the q inverse.
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///
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/// @see gtx_dual_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL tdualquat<T, P> inverse(tdualquat<T, P> const & q);
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/// Converts a quaternion to a 2 * 4 matrix.
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///
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/// @see gtx_dual_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL tmat2x4<T, P> mat2x4_cast(tdualquat<T, P> const & x);
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/// Converts a quaternion to a 3 * 4 matrix.
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///
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/// @see gtx_dual_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL tmat3x4<T, P> mat3x4_cast(tdualquat<T, P> const & x);
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/// Converts a 2 * 4 matrix (matrix which holds real and dual parts) to a quaternion.
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///
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/// @see gtx_dual_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL tdualquat<T, P> dualquat_cast(tmat2x4<T, P> const & x);
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/// Converts a 3 * 4 matrix (augmented matrix rotation + translation) to a quaternion.
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///
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/// @see gtx_dual_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL tdualquat<T, P> dualquat_cast(tmat3x4<T, P> const & x);
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/// Dual-quaternion of low single-precision floating-point numbers.
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///
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/// @see gtx_dual_quaternion
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typedef tdualquat<float, lowp> lowp_dualquat;
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/// Dual-quaternion of medium single-precision floating-point numbers.
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///
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/// @see gtx_dual_quaternion
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typedef tdualquat<float, mediump> mediump_dualquat;
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/// Dual-quaternion of high single-precision floating-point numbers.
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///
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/// @see gtx_dual_quaternion
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typedef tdualquat<float, highp> highp_dualquat;
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/// Dual-quaternion of low single-precision floating-point numbers.
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///
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/// @see gtx_dual_quaternion
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typedef tdualquat<float, lowp> lowp_fdualquat;
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/// Dual-quaternion of medium single-precision floating-point numbers.
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///
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/// @see gtx_dual_quaternion
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typedef tdualquat<float, mediump> mediump_fdualquat;
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/// Dual-quaternion of high single-precision floating-point numbers.
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///
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/// @see gtx_dual_quaternion
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typedef tdualquat<float, highp> highp_fdualquat;
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/// Dual-quaternion of low double-precision floating-point numbers.
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///
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/// @see gtx_dual_quaternion
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typedef tdualquat<double, lowp> lowp_ddualquat;
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/// Dual-quaternion of medium double-precision floating-point numbers.
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///
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/// @see gtx_dual_quaternion
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typedef tdualquat<double, mediump> mediump_ddualquat;
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/// Dual-quaternion of high double-precision floating-point numbers.
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///
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/// @see gtx_dual_quaternion
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typedef tdualquat<double, highp> highp_ddualquat;
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#if(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
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/// Dual-quaternion of floating-point numbers.
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///
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/// @see gtx_dual_quaternion
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typedef highp_fdualquat dualquat;
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/// Dual-quaternion of single-precision floating-point numbers.
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///
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/// @see gtx_dual_quaternion
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typedef highp_fdualquat fdualquat;
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#elif(defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
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typedef highp_fdualquat dualquat;
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typedef highp_fdualquat fdualquat;
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#elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
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typedef mediump_fdualquat dualquat;
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typedef mediump_fdualquat fdualquat;
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#elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && defined(GLM_PRECISION_LOWP_FLOAT))
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typedef lowp_fdualquat dualquat;
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typedef lowp_fdualquat fdualquat;
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#else
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# error "GLM error: multiple default precision requested for single-precision floating-point types"
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#endif
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#if(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
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/// Dual-quaternion of default double-precision floating-point numbers.
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///
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/// @see gtx_dual_quaternion
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typedef highp_ddualquat ddualquat;
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#elif(defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
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typedef highp_ddualquat ddualquat;
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#elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
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typedef mediump_ddualquat ddualquat;
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#elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && defined(GLM_PRECISION_LOWP_DOUBLE))
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typedef lowp_ddualquat ddualquat;
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#else
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# error "GLM error: Multiple default precision requested for double-precision floating-point types"
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#endif
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/// @}
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} //namespace glm
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#include "dual_quaternion.inl"
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