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authorLaG1924 <12997935+LaG1924@users.noreply.github.com>2018-08-21 17:40:38 +0200
committerLaG1924 <12997935+LaG1924@users.noreply.github.com>2018-08-21 17:40:38 +0200
commit2877f4eda3d1b0c7431039e3142ecf1a282a34b1 (patch)
tree58ad35e27ab2a3b8955f5adbf28f296670681ffc /external/include/glm/gtx/dual_quaternion.hpp
parentSmooth sun movement (diff)
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Diffstat (limited to 'external/include/glm/gtx/dual_quaternion.hpp')
-rw-r--r--external/include/glm/gtx/dual_quaternion.hpp162
1 files changed, 85 insertions, 77 deletions
diff --git a/external/include/glm/gtx/dual_quaternion.hpp b/external/include/glm/gtx/dual_quaternion.hpp
index 4d7b61e..5544514 100644
--- a/external/include/glm/gtx/dual_quaternion.hpp
+++ b/external/include/glm/gtx/dual_quaternion.hpp
@@ -3,16 +3,15 @@
/// @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.
+/// Include <glm/gtx/dual_quaternion.hpp> to use the features of this extension.
///
-/// <glm/gtx/dual_quaternion.hpp> need to be included to use these functionalities.
+/// Defines a templated dual-quaternion type and several dual-quaternion operations.
#pragma once
@@ -21,6 +20,10 @@
#include "../gtc/constants.hpp"
#include "../gtc/quaternion.hpp"
+#ifndef GLM_ENABLE_EXPERIMENTAL
+# error "GLM: GLM_GTX_dual_quaternion is an experimental extension and may change in the future. Use #define GLM_ENABLE_EXPERIMENTAL before including it, if you really want to use it."
+#endif
+
#if GLM_MESSAGES == GLM_MESSAGES_ENABLED && !defined(GLM_EXT_INCLUDED)
# pragma message("GLM: GLM_GTX_dual_quaternion extension included")
#endif
@@ -30,192 +33,197 @@ namespace glm
/// @addtogroup gtx_dual_quaternion
/// @{
- template <typename T, precision P = defaultp>
+ template<typename T, qualifier Q = defaultp>
struct tdualquat
{
// -- Implementation detail --
typedef T value_type;
- typedef glm::tquat<T, P> part_type;
+ typedef glm::tquat<T, Q> part_type;
// -- Data --
- glm::tquat<T, P> real, dual;
+ glm::tquat<T, Q> 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 static GLM_CONSTEXPR 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;
+ 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);
+ GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tdualquat<T, Q> const& d) GLM_DEFAULT;
+ template<qualifier P>
+ GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tdualquat<T, P> 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);
+ GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tquat<T, Q> const& real);
+ GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tquat<T, Q> const& orientation, vec<3, T, Q> const& translation);
+ GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tquat<T, Q> const& real, tquat<T, Q> const& dual);
// -- Conversion constructors --
- template <typename U, precision Q>
- GLM_FUNC_DECL GLM_CONSTEXPR GLM_EXPLICIT tdualquat(tdualquat<U, Q> const & q);
+ template<typename U, qualifier P>
+ GLM_FUNC_DECL GLM_CONSTEXPR GLM_EXPLICIT tdualquat(tdualquat<U, P> 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);
+ GLM_FUNC_DECL GLM_EXPLICIT tdualquat(mat<2, 4, T, Q> const& holder_mat);
+ GLM_FUNC_DECL GLM_EXPLICIT tdualquat(mat<3, 4, T, Q> const& aug_mat);
// -- Unary arithmetic operators --
- GLM_FUNC_DECL tdualquat<T, P> & operator=(tdualquat<T, P> const & m) GLM_DEFAULT;
+ GLM_FUNC_DECL tdualquat<T, Q> & operator=(tdualquat<T, Q> 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);
+ template<typename U>
+ GLM_FUNC_DECL tdualquat<T, Q> & operator=(tdualquat<U, Q> const& m);
+ template<typename U>
+ GLM_FUNC_DECL tdualquat<T, Q> & operator*=(U s);
+ template<typename U>
+ GLM_FUNC_DECL tdualquat<T, Q> & 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, qualifier Q>
+ GLM_FUNC_DECL tdualquat<T, Q> operator+(tdualquat<T, Q> const& q);
- template <typename T, precision P>
- GLM_FUNC_DECL tdualquat<T, P> operator-(tdualquat<T, P> const & q);
+ template<typename T, qualifier Q>
+ GLM_FUNC_DECL tdualquat<T, Q> operator-(tdualquat<T, Q> 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, qualifier Q>
+ GLM_FUNC_DECL tdualquat<T, Q> operator+(tdualquat<T, Q> const& q, tdualquat<T, Q> 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, qualifier Q>
+ GLM_FUNC_DECL tdualquat<T, Q> operator*(tdualquat<T, Q> const& q, tdualquat<T, Q> 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, qualifier Q>
+ GLM_FUNC_DECL vec<3, T, Q> operator*(tdualquat<T, Q> const& q, vec<3, T, Q> 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, qualifier Q>
+ GLM_FUNC_DECL vec<3, T, Q> operator*(vec<3, T, Q> const& v, tdualquat<T, Q> 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, qualifier Q>
+ GLM_FUNC_DECL vec<4, T, Q> operator*(tdualquat<T, Q> const& q, vec<4, T, Q> 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, qualifier Q>
+ GLM_FUNC_DECL vec<4, T, Q> operator*(vec<4, T, Q> const& v, tdualquat<T, Q> 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, qualifier Q>
+ GLM_FUNC_DECL tdualquat<T, Q> operator*(tdualquat<T, Q> 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, qualifier Q>
+ GLM_FUNC_DECL tdualquat<T, Q> operator*(T const& s, tdualquat<T, Q> 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, qualifier Q>
+ GLM_FUNC_DECL tdualquat<T, Q> operator/(tdualquat<T, Q> 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, qualifier Q>
+ GLM_FUNC_DECL bool operator==(tdualquat<T, Q> const& q1, tdualquat<T, Q> const& q2);
+
+ template<typename T, qualifier Q>
+ GLM_FUNC_DECL bool operator!=(tdualquat<T, Q> const& q1, tdualquat<T, Q> const& q2);
- template <typename T, precision P>
- GLM_FUNC_DECL bool operator!=(tdualquat<T, P> const & q1, tdualquat<T, P> const & q2);
+ /// Creates an identity dual quaternion.
+ ///
+ /// @see gtx_dual_quaternion
+ template <typename T, qualifier Q>
+ GLM_FUNC_DECL tdualquat<T, Q> dual_quat_identity();
/// 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);
+ template<typename T, qualifier Q>
+ GLM_FUNC_DECL tdualquat<T, Q> normalize(tdualquat<T, Q> 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);
+ template<typename T, qualifier Q>
+ GLM_FUNC_DECL tdualquat<T, Q> lerp(tdualquat<T, Q> const& x, tdualquat<T, Q> 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);
+ template<typename T, qualifier Q>
+ GLM_FUNC_DECL tdualquat<T, Q> inverse(tdualquat<T, Q> 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);
+ template<typename T, qualifier Q>
+ GLM_FUNC_DECL mat<2, 4, T, Q> mat2x4_cast(tdualquat<T, Q> 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);
+ template<typename T, qualifier Q>
+ GLM_FUNC_DECL mat<3, 4, T, Q> mat3x4_cast(tdualquat<T, Q> 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);
+ template<typename T, qualifier Q>
+ GLM_FUNC_DECL tdualquat<T, Q> dualquat_cast(mat<2, 4, T, Q> 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);
+ template<typename T, qualifier Q>
+ GLM_FUNC_DECL tdualquat<T, Q> dualquat_cast(mat<3, 4, T, Q> const& x);
- /// Dual-quaternion of low single-precision floating-point numbers.
+ /// Dual-quaternion of low single-qualifier floating-point numbers.
///
/// @see gtx_dual_quaternion
typedef tdualquat<float, lowp> lowp_dualquat;
- /// Dual-quaternion of medium single-precision floating-point numbers.
+ /// Dual-quaternion of medium single-qualifier floating-point numbers.
///
/// @see gtx_dual_quaternion
typedef tdualquat<float, mediump> mediump_dualquat;
- /// Dual-quaternion of high single-precision floating-point numbers.
+ /// Dual-quaternion of high single-qualifier floating-point numbers.
///
/// @see gtx_dual_quaternion
typedef tdualquat<float, highp> highp_dualquat;
- /// Dual-quaternion of low single-precision floating-point numbers.
+ /// Dual-quaternion of low single-qualifier floating-point numbers.
///
/// @see gtx_dual_quaternion
typedef tdualquat<float, lowp> lowp_fdualquat;
- /// Dual-quaternion of medium single-precision floating-point numbers.
+ /// Dual-quaternion of medium single-qualifier floating-point numbers.
///
/// @see gtx_dual_quaternion
typedef tdualquat<float, mediump> mediump_fdualquat;
- /// Dual-quaternion of high single-precision floating-point numbers.
+ /// Dual-quaternion of high single-qualifier floating-point numbers.
///
/// @see gtx_dual_quaternion
typedef tdualquat<float, highp> highp_fdualquat;
- /// Dual-quaternion of low double-precision floating-point numbers.
+ /// Dual-quaternion of low double-qualifier floating-point numbers.
///
/// @see gtx_dual_quaternion
typedef tdualquat<double, lowp> lowp_ddualquat;
- /// Dual-quaternion of medium double-precision floating-point numbers.
+ /// Dual-quaternion of medium double-qualifier floating-point numbers.
///
/// @see gtx_dual_quaternion
typedef tdualquat<double, mediump> mediump_ddualquat;
- /// Dual-quaternion of high double-precision floating-point numbers.
+ /// Dual-quaternion of high double-qualifier floating-point numbers.
///
/// @see gtx_dual_quaternion
typedef tdualquat<double, highp> highp_ddualquat;
@@ -227,7 +235,7 @@ namespace glm
/// @see gtx_dual_quaternion
typedef highp_fdualquat dualquat;
- /// Dual-quaternion of single-precision floating-point numbers.
+ /// Dual-quaternion of single-qualifier floating-point numbers.
///
/// @see gtx_dual_quaternion
typedef highp_fdualquat fdualquat;
@@ -246,7 +254,7 @@ namespace glm
#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.
+ /// Dual-quaternion of default double-qualifier floating-point numbers.
///
/// @see gtx_dual_quaternion
typedef highp_ddualquat ddualquat;