diff options
Diffstat (limited to 'external/include/glm/gtx/dual_quaternion.hpp')
| -rw-r--r-- | external/include/glm/gtx/dual_quaternion.hpp | 274 |
1 files changed, 0 insertions, 274 deletions
diff --git a/external/include/glm/gtx/dual_quaternion.hpp b/external/include/glm/gtx/dual_quaternion.hpp deleted file mode 100644 index 5544514..0000000 --- a/external/include/glm/gtx/dual_quaternion.hpp +++ /dev/null @@ -1,274 +0,0 @@ -/// @ref gtx_dual_quaternion -/// @file glm/gtx/dual_quaternion.hpp -/// @author Maksim Vorobiev (msomeone@gmail.com) -/// -/// @see core (dependence) -/// @see gtc_constants (dependence) -/// @see gtc_quaternion (dependence) -/// -/// @defgroup gtx_dual_quaternion GLM_GTX_dual_quaternion -/// @ingroup gtx -/// -/// Include <glm/gtx/dual_quaternion.hpp> to use the features of this extension. -/// -/// Defines a templated dual-quaternion type and several dual-quaternion operations. - -#pragma once - -// Dependency: -#include "../glm.hpp" -#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 - -namespace glm -{ - /// @addtogroup gtx_dual_quaternion - /// @{ - - template<typename T, qualifier Q = defaultp> - struct tdualquat - { - // -- Implementation detail -- - - typedef T value_type; - typedef glm::tquat<T, Q> part_type; - - // -- Data -- - - 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 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; - - // -- Implicit basic constructors -- - - GLM_FUNC_DECL GLM_CONSTEXPR tdualquat() GLM_DEFAULT_CTOR; - 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 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, qualifier P> - GLM_FUNC_DECL GLM_CONSTEXPR GLM_EXPLICIT tdualquat(tdualquat<U, P> const& q); - - 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, Q> & operator=(tdualquat<T, Q> const& m) GLM_DEFAULT; - - 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, qualifier Q> - GLM_FUNC_DECL tdualquat<T, Q> operator+(tdualquat<T, Q> const& q); - - template<typename T, qualifier Q> - GLM_FUNC_DECL tdualquat<T, Q> operator-(tdualquat<T, Q> const& q); - - // -- Binary operators -- - - 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, qualifier Q> - GLM_FUNC_DECL tdualquat<T, Q> operator*(tdualquat<T, Q> const& q, tdualquat<T, Q> const& p); - - 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, qualifier Q> - GLM_FUNC_DECL vec<3, T, Q> operator*(vec<3, T, Q> const& v, tdualquat<T, Q> const& q); - - 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, qualifier Q> - GLM_FUNC_DECL vec<4, T, Q> operator*(vec<4, T, Q> const& v, tdualquat<T, Q> const& q); - - template<typename T, qualifier Q> - GLM_FUNC_DECL tdualquat<T, Q> operator*(tdualquat<T, Q> const& q, T const& s); - - template<typename T, qualifier Q> - GLM_FUNC_DECL tdualquat<T, Q> operator*(T const& s, tdualquat<T, Q> const& q); - - 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, 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); - - /// 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, 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, 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, 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, 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, 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, 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, qualifier Q> - GLM_FUNC_DECL tdualquat<T, Q> dualquat_cast(mat<3, 4, T, Q> const& x); - - - /// Dual-quaternion of low single-qualifier floating-point numbers. - /// - /// @see gtx_dual_quaternion - typedef tdualquat<float, lowp> lowp_dualquat; - - /// Dual-quaternion of medium single-qualifier floating-point numbers. - /// - /// @see gtx_dual_quaternion - typedef tdualquat<float, mediump> mediump_dualquat; - - /// Dual-quaternion of high single-qualifier floating-point numbers. - /// - /// @see gtx_dual_quaternion - typedef tdualquat<float, highp> highp_dualquat; - - - /// Dual-quaternion of low single-qualifier floating-point numbers. - /// - /// @see gtx_dual_quaternion - typedef tdualquat<float, lowp> lowp_fdualquat; - - /// Dual-quaternion of medium single-qualifier floating-point numbers. - /// - /// @see gtx_dual_quaternion - typedef tdualquat<float, mediump> mediump_fdualquat; - - /// Dual-quaternion of high single-qualifier floating-point numbers. - /// - /// @see gtx_dual_quaternion - typedef tdualquat<float, highp> highp_fdualquat; - - - /// Dual-quaternion of low double-qualifier floating-point numbers. - /// - /// @see gtx_dual_quaternion - typedef tdualquat<double, lowp> lowp_ddualquat; - - /// Dual-quaternion of medium double-qualifier floating-point numbers. - /// - /// @see gtx_dual_quaternion - typedef tdualquat<double, mediump> mediump_ddualquat; - - /// Dual-quaternion of high double-qualifier floating-point numbers. - /// - /// @see gtx_dual_quaternion - typedef tdualquat<double, highp> highp_ddualquat; - - -#if(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT)) - /// Dual-quaternion of floating-point numbers. - /// - /// @see gtx_dual_quaternion - typedef highp_fdualquat dualquat; - - /// Dual-quaternion of single-qualifier floating-point numbers. - /// - /// @see gtx_dual_quaternion - typedef highp_fdualquat fdualquat; -#elif(defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT)) - typedef highp_fdualquat dualquat; - typedef highp_fdualquat fdualquat; -#elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT)) - typedef mediump_fdualquat dualquat; - typedef mediump_fdualquat fdualquat; -#elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && defined(GLM_PRECISION_LOWP_FLOAT)) - typedef lowp_fdualquat dualquat; - typedef lowp_fdualquat fdualquat; -#else -# error "GLM error: multiple default precision requested for single-precision floating-point types" -#endif - - -#if(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE)) - /// Dual-quaternion of default double-qualifier floating-point numbers. - /// - /// @see gtx_dual_quaternion - typedef highp_ddualquat ddualquat; -#elif(defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE)) - typedef highp_ddualquat ddualquat; -#elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE)) - typedef mediump_ddualquat ddualquat; -#elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && defined(GLM_PRECISION_LOWP_DOUBLE)) - typedef lowp_ddualquat ddualquat; -#else -# error "GLM error: Multiple default precision requested for double-precision floating-point types" -#endif - - /// @} -} //namespace glm - -#include "dual_quaternion.inl" |