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<div class="title">quaternion.hpp</div> </div>
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<a href="a00076.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001
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<a name="l00039"></a>00039 <span class="preprocessor">#ifndef GLM_GTC_quaternion</span>
<a name="l00040"></a>00040 <span class="preprocessor"></span><span class="preprocessor">#define GLM_GTC_quaternion GLM_VERSION</span>
<a name="l00041"></a>00041 <span class="preprocessor"></span>
<a name="l00042"></a>00042 <span class="comment">// Dependency:</span>
<a name="l00043"></a>00043 <span class="preprocessor">#include "../glm.hpp"</span>
<a name="l00044"></a>00044 <span class="preprocessor">#include "../gtc/half_float.hpp"</span>
<a name="l00045"></a>00045
<a name="l00046"></a>00046 <span class="preprocessor">#if(defined(GLM_MESSAGES) && !defined(glm_ext))</span>
<a name="l00047"></a>00047 <span class="preprocessor"></span><span class="preprocessor"># pragma message("GLM: GLM_GTC_quaternion extension included")</span>
<a name="l00048"></a>00048 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00049"></a>00049 <span class="preprocessor"></span>
<a name="l00050"></a>00050 <span class="keyword">namespace </span>glm{
<a name="l00051"></a>00051 <span class="keyword">namespace </span>detail
<a name="l00052"></a>00052 {
<a name="l00056"></a>00056 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
<a name="l00057"></a><a class="code" href="a00003.html">00057</a> <span class="keyword">struct </span><a class="code" href="a00003.html" title="Template for quaternion.">tquat</a><span class="comment">// : public genType<T, tquat></span>
<a name="l00058"></a>00058 {
<a name="l00059"></a>00059 <span class="keyword">enum</span> ctor{null};
<a name="l00060"></a>00060
<a name="l00061"></a>00061 <span class="keyword">typedef</span> T value_type;
<a name="l00062"></a>00062 <span class="keyword">typedef</span> std::size_t size_type;
<a name="l00063"></a>00063
<a name="l00064"></a>00064 <span class="keyword">public</span>:
<a name="l00065"></a>00065 value_type x, y, z, w;
<a name="l00066"></a>00066
<a name="l00067"></a>00067 GLM_FUNC_DECL size_type length() <span class="keyword">const</span>;
<a name="l00068"></a>00068
<a name="l00069"></a>00069 <span class="comment">// Constructors</span>
<a name="l00070"></a>00070 <a class="code" href="a00003.html" title="Template for quaternion.">tquat</a>();
<a name="l00071"></a>00071 <span class="keyword">explicit</span> <a class="code" href="a00003.html" title="Template for quaternion.">tquat</a>(
<a name="l00072"></a>00072 value_type <span class="keyword">const</span> & s,
<a name="l00073"></a>00073 glm::detail::tvec3<T> <span class="keyword">const</span> & v);
<a name="l00074"></a>00074 <span class="keyword">explicit</span> <a class="code" href="a00003.html" title="Template for quaternion.">tquat</a>(
<a name="l00075"></a>00075 value_type <span class="keyword">const</span> & w,
<a name="l00076"></a>00076 value_type <span class="keyword">const</span> & x,
<a name="l00077"></a>00077 value_type <span class="keyword">const</span> & y,
<a name="l00078"></a>00078 value_type <span class="keyword">const</span> & z);
<a name="l00079"></a>00079
<a name="l00080"></a>00080 <span class="comment">// Convertions</span>
<a name="l00081"></a>00081 <span class="comment">//explicit tquat(valType const & pitch, valType const & yaw, valType const & roll);</span>
<a name="l00083"></a>00083 <span class="comment"></span> <span class="keyword">explicit</span> <a class="code" href="a00003.html" title="Template for quaternion.">tquat</a>(
<a name="l00084"></a>00084 tvec3<T> <span class="keyword">const</span> & <a class="code" href="a00149.html#gaa53e0e8933e176c6207720433fb8dd2b" title="Returns euler angles, yitch as x, yaw as y, roll as z.">eulerAngles</a>);
<a name="l00085"></a>00085 <span class="keyword">explicit</span> <a class="code" href="a00003.html" title="Template for quaternion.">tquat</a>(
<a name="l00086"></a>00086 tmat3x3<T> <span class="keyword">const</span> & m);
<a name="l00087"></a>00087 <span class="keyword">explicit</span> <a class="code" href="a00003.html" title="Template for quaternion.">tquat</a>(
<a name="l00088"></a>00088 tmat4x4<T> <span class="keyword">const</span> & m);
<a name="l00089"></a>00089
<a name="l00090"></a>00090 <span class="comment">// Accesses</span>
<a name="l00091"></a>00091 value_type & operator[](<span class="keywordtype">int</span> i);
<a name="l00092"></a>00092 value_type <span class="keyword">const</span> & operator[](<span class="keywordtype">int</span> i) <span class="keyword">const</span>;
<a name="l00093"></a>00093
<a name="l00094"></a>00094 <span class="comment">// Operators</span>
<a name="l00095"></a>00095 <a class="code" href="a00003.html" title="Template for quaternion.">tquat<T></a> & operator*=(value_type <span class="keyword">const</span> & s);
<a name="l00096"></a>00096 <a class="code" href="a00003.html" title="Template for quaternion.">tquat<T></a> & operator/=(value_type <span class="keyword">const</span> & s);
<a name="l00097"></a>00097 };
<a name="l00098"></a>00098
<a name="l00099"></a>00099 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
<a name="l00100"></a>00100 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> operator- (
<a name="l00101"></a>00101 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & q);
<a name="l00102"></a>00102
<a name="l00103"></a>00103 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
<a name="l00104"></a>00104 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> operator+ (
<a name="l00105"></a>00105 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & q,
<a name="l00106"></a>00106 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & p);
<a name="l00107"></a>00107
<a name="l00108"></a>00108 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
<a name="l00109"></a>00109 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> operator* (
<a name="l00110"></a>00110 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & q,
<a name="l00111"></a>00111 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & p);
<a name="l00112"></a>00112
<a name="l00113"></a>00113 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
<a name="l00114"></a>00114 detail::tvec3<T> operator* (
<a name="l00115"></a>00115 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & q,
<a name="l00116"></a>00116 detail::tvec3<T> <span class="keyword">const</span> & v);
<a name="l00117"></a>00117
<a name="l00118"></a>00118 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
<a name="l00119"></a>00119 detail::tvec3<T> operator* (
<a name="l00120"></a>00120 detail::tvec3<T> <span class="keyword">const</span> & v,
<a name="l00121"></a>00121 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & q);
<a name="l00122"></a>00122
<a name="l00123"></a>00123 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
<a name="l00124"></a>00124 detail::tvec4<T> operator* (
<a name="l00125"></a>00125 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & q,
<a name="l00126"></a>00126 detail::tvec4<T> <span class="keyword">const</span> & v);
<a name="l00127"></a>00127
<a name="l00128"></a>00128 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
<a name="l00129"></a>00129 detail::tvec4<T> operator* (
<a name="l00130"></a>00130 detail::tvec4<T> <span class="keyword">const</span> & v,
<a name="l00131"></a>00131 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & q);
<a name="l00132"></a>00132
<a name="l00133"></a>00133 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
<a name="l00134"></a>00134 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> operator* (
<a name="l00135"></a>00135 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & q,
<a name="l00136"></a>00136 <span class="keyword">typename</span> detail::tquat<T>::value_type <span class="keyword">const</span> & s);
<a name="l00137"></a>00137
<a name="l00138"></a>00138 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
<a name="l00139"></a>00139 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> operator* (
<a name="l00140"></a>00140 <span class="keyword">typename</span> detail::tquat<T>::value_type <span class="keyword">const</span> & s,
<a name="l00141"></a>00141 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & q);
<a name="l00142"></a>00142
<a name="l00143"></a>00143 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
<a name="l00144"></a>00144 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> operator/ (
<a name="l00145"></a>00145 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & q,
<a name="l00146"></a>00146 <span class="keyword">typename</span> detail::tquat<T>::value_type <span class="keyword">const</span> & s);
<a name="l00147"></a>00147
<a name="l00148"></a>00148 } <span class="comment">//namespace detail</span>
<a name="l00149"></a>00149
<a name="l00152"></a>00152
<a name="l00156"></a>00156 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
<a name="l00157"></a>00157 T <a class="code" href="a00129.html#ga282360c8bb80b80d3c7f5bc00766d873" title="Returns the length of x, i.e., sqrt(x * x).">length</a>(
<a name="l00158"></a>00158 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & q);
<a name="l00159"></a>00159
<a name="l00163"></a>00163 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
<a name="l00164"></a>00164 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> <a class="code" href="a00129.html#ga68b931c228750eeba844c273c54ca43d" title="Returns a vector in the same direction as x but with length of 1.">normalize</a>(
<a name="l00165"></a>00165 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & q);
<a name="l00166"></a>00166
<a name="l00170"></a>00170 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
<a name="l00171"></a>00171 T <a class="code" href="a00129.html#ga7a31d2864eccfe665409e3b44f5e6e8d" title="Returns the dot product of x and y, i.e., result = x * y.">dot</a>(
<a name="l00172"></a>00172 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & q1,
<a name="l00173"></a>00173 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & q2);
<a name="l00174"></a>00174
<a name="l00178"></a>00178 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
<a name="l00179"></a>00179 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> <a class="code" href="a00127.html#ga3f64b3986efe205cf30300700667e761">mix</a>(
<a name="l00180"></a>00180 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & x,
<a name="l00181"></a>00181 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & y,
<a name="l00182"></a>00182 T <span class="keyword">const</span> & a);
<a name="l00183"></a>00183
<a name="l00187"></a>00187 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
<a name="l00188"></a>00188 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> <a class="code" href="a00149.html#ga8b6594dffb8bf455d848ffa2169ba41d" title="Returns the q conjugate.">conjugate</a>(
<a name="l00189"></a>00189 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & q);
<a name="l00190"></a>00190
<a name="l00194"></a>00194 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
<a name="l00195"></a>00195 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> <a class="code" href="a00131.html#gada3384a86cf38a1fd96275194b8ba8c0" title="Return the inverse of a mat2 matrix.">inverse</a>(
<a name="l00196"></a>00196 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & q);
<a name="l00197"></a>00197
<a name="l00201"></a>00201 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
<a name="l00202"></a>00202 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> <a class="code" href="a00147.html#gaacb9cbe8f93a8fef9dc3e25559df19c0" title="Builds a rotation 4 * 4 matrix created from an axis vector and an angle expressed in degrees...">rotate</a>(
<a name="l00203"></a>00203 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & q,
<a name="l00204"></a>00204 <span class="keyword">typename</span> detail::tquat<T>::value_type <span class="keyword">const</span> & <a class="code" href="a00195.html#ga69041d18bd8539fe82d6170932d28362" title="Returns the quaternion rotation angle.">angle</a>,
<a name="l00205"></a>00205 detail::tvec3<T> <span class="keyword">const</span> & v);
<a name="l00206"></a>00206
<a name="l00210"></a>00210 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
<a name="l00211"></a>00211 detail::tvec3<T> <a class="code" href="a00149.html#gaa53e0e8933e176c6207720433fb8dd2b" title="Returns euler angles, yitch as x, yaw as y, roll as z.">eulerAngles</a>(
<a name="l00212"></a>00212 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & x);
<a name="l00213"></a>00213
<a name="l00217"></a>00217 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
<a name="l00218"></a>00218 detail::tmat3x3<T> <a class="code" href="a00149.html#gae04ce320008c9bec0037b4ba21853cb5" title="Converts a quaternion to a 3 * 3 matrix.">mat3_cast</a>(
<a name="l00219"></a>00219 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & x);
<a name="l00220"></a>00220
<a name="l00224"></a>00224 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
<a name="l00225"></a>00225 detail::tmat4x4<T> <a class="code" href="a00149.html#ga8c376eb15971eb52d85df5ee26825627" title="Converts a quaternion to a 4 * 4 matrix.">mat4_cast</a>(
<a name="l00226"></a>00226 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & x);
<a name="l00227"></a>00227
<a name="l00231"></a>00231 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
<a name="l00232"></a>00232 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> <a class="code" href="a00149.html#ga4d37447d81ceade1d10d68c995a4d881" title="Converts a 3 * 3 matrix to a quaternion.">quat_cast</a>(
<a name="l00233"></a>00233 detail::tmat3x3<T> <span class="keyword">const</span> & x);
<a name="l00234"></a>00234
<a name="l00238"></a>00238 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
<a name="l00239"></a>00239 <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<T></a> <a class="code" href="a00149.html#ga4d37447d81ceade1d10d68c995a4d881" title="Converts a 3 * 3 matrix to a quaternion.">quat_cast</a>(
<a name="l00240"></a>00240 detail::tmat4x4<T> <span class="keyword">const</span> & x);
<a name="l00241"></a>00241
<a name="l00245"></a><a class="code" href="a00149.html#ga60408579db470456070a3336295625a7">00245</a> <span class="keyword">typedef</span> <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<float></a> <a class="code" href="a00149.html#ga60408579db470456070a3336295625a7" title="Quaternion of floating-point numbers.">quat</a>;
<a name="l00246"></a>00246
<a name="l00250"></a><a class="code" href="a00149.html#gaba1bbdeae84c942ce0dc83af40e1d7d3">00250</a> <span class="keyword">typedef</span> <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<detail::half></a> <a class="code" href="a00149.html#gaba1bbdeae84c942ce0dc83af40e1d7d3" title="Quaternion of half-precision floating-point numbers.">hquat</a>;
<a name="l00251"></a>00251
<a name="l00255"></a><a class="code" href="a00149.html#gaae07c293efbe1c530ff18044a15fe662">00255</a> <span class="keyword">typedef</span> <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<float></a> <a class="code" href="a00149.html#gaae07c293efbe1c530ff18044a15fe662" title="Quaternion of single-precision floating-point numbers.">fquat</a>;
<a name="l00256"></a>00256
<a name="l00260"></a><a class="code" href="a00149.html#ga5428321324094c7170d6133c8139d255">00260</a> <span class="keyword">typedef</span> <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<double></a> <a class="code" href="a00149.html#ga5428321324094c7170d6133c8139d255" title="Quaternion of double-precision floating-point numbers.">dquat</a>;
<a name="l00261"></a>00261
<a name="l00265"></a><a class="code" href="a00149.html#ga5acd0f3e9f9e3c0e6577440443ec4594">00265</a> <span class="keyword">typedef</span> <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<lowp_float></a> <a class="code" href="a00149.html#ga5acd0f3e9f9e3c0e6577440443ec4594" title="Quaternion of low precision floating-point numbers.">lowp_quat</a>;
<a name="l00266"></a>00266
<a name="l00270"></a><a class="code" href="a00149.html#gae93fe73ea5fe5e2150c2eb0641394dc8">00270</a> <span class="keyword">typedef</span> <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<mediump_float></a> <a class="code" href="a00149.html#gae93fe73ea5fe5e2150c2eb0641394dc8" title="Quaternion of medium precision floating-point numbers.">mediump_quat</a>;
<a name="l00271"></a>00271
<a name="l00275"></a><a class="code" href="a00149.html#ga8a7c2c751ad30db9ec4268a6b7d99f6c">00275</a> <span class="keyword">typedef</span> <a class="code" href="a00003.html" title="Template for quaternion.">detail::tquat<highp_float></a> <a class="code" href="a00149.html#ga8a7c2c751ad30db9ec4268a6b7d99f6c" title="Quaternion of high precision floating-point numbers.">highp_quat</a>;
<a name="l00276"></a>00276
<a name="l00278"></a>00278 } <span class="comment">//namespace glm</span>
<a name="l00279"></a>00279
<a name="l00280"></a>00280 <span class="preprocessor">#include "quaternion.inl"</span>
<a name="l00281"></a>00281
<a name="l00282"></a>00282 <span class="preprocessor">#endif//GLM_GTC_quaternion</span>
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