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/// @ref gtx_quaternion
/// @file glm/gtx/quaternion.hpp
///
/// @see core (dependence)
/// @see gtx_extented_min_max (dependence)
///
/// @defgroup gtx_quaternion GLM_GTX_quaternion
/// @ingroup gtx
///
/// @brief Extented quaternion types and functions
///
/// <glm/gtx/quaternion.hpp> need to be included to use these functionalities.
#pragma once
// Dependency:
#include "../glm.hpp"
#include "../gtc/constants.hpp"
#include "../gtc/quaternion.hpp"
#include "../gtx/norm.hpp"
#if GLM_MESSAGES == GLM_MESSAGES_ENABLED && !defined(GLM_EXT_INCLUDED)
# pragma message("GLM: GLM_GTX_quaternion extension included")
#endif
namespace glm
{
/// @addtogroup gtx_quaternion
/// @{
/// Compute a cross product between a quaternion and a vector.
///
/// @see gtx_quaternion
template<typename T, precision P>
GLM_FUNC_DECL tvec3<T, P> cross(
tquat<T, P> const & q,
tvec3<T, P> const & v);
//! Compute a cross product between a vector and a quaternion.
///
/// @see gtx_quaternion
template<typename T, precision P>
GLM_FUNC_DECL tvec3<T, P> cross(
tvec3<T, P> const & v,
tquat<T, P> const & q);
//! Compute a point on a path according squad equation.
//! q1 and q2 are control points; s1 and s2 are intermediate control points.
///
/// @see gtx_quaternion
template<typename T, precision P>
GLM_FUNC_DECL tquat<T, P> squad(
tquat<T, P> const & q1,
tquat<T, P> const & q2,
tquat<T, P> const & s1,
tquat<T, P> const & s2,
T const & h);
//! Returns an intermediate control point for squad interpolation.
///
/// @see gtx_quaternion
template<typename T, precision P>
GLM_FUNC_DECL tquat<T, P> intermediate(
tquat<T, P> const & prev,
tquat<T, P> const & curr,
tquat<T, P> const & next);
//! Returns a exp of a quaternion.
///
/// @see gtx_quaternion
template<typename T, precision P>
GLM_FUNC_DECL tquat<T, P> exp(
tquat<T, P> const & q);
//! Returns a log of a quaternion.
///
/// @see gtx_quaternion
template<typename T, precision P>
GLM_FUNC_DECL tquat<T, P> log(
tquat<T, P> const & q);
/// Returns x raised to the y power.
///
/// @see gtx_quaternion
template<typename T, precision P>
GLM_FUNC_DECL tquat<T, P> pow(
tquat<T, P> const & x,
T const & y);
//! Returns quarternion square root.
///
/// @see gtx_quaternion
//template<typename T, precision P>
//tquat<T, P> sqrt(
// tquat<T, P> const & q);
//! Rotates a 3 components vector by a quaternion.
///
/// @see gtx_quaternion
template<typename T, precision P>
GLM_FUNC_DECL tvec3<T, P> rotate(
tquat<T, P> const & q,
tvec3<T, P> const & v);
/// Rotates a 4 components vector by a quaternion.
///
/// @see gtx_quaternion
template<typename T, precision P>
GLM_FUNC_DECL tvec4<T, P> rotate(
tquat<T, P> const & q,
tvec4<T, P> const & v);
/// Extract the real component of a quaternion.
///
/// @see gtx_quaternion
template<typename T, precision P>
GLM_FUNC_DECL T extractRealComponent(
tquat<T, P> const & q);
/// Converts a quaternion to a 3 * 3 matrix.
///
/// @see gtx_quaternion
template<typename T, precision P>
GLM_FUNC_DECL tmat3x3<T, P> toMat3(
tquat<T, P> const & x){return mat3_cast(x);}
/// Converts a quaternion to a 4 * 4 matrix.
///
/// @see gtx_quaternion
template<typename T, precision P>
GLM_FUNC_DECL tmat4x4<T, P> toMat4(
tquat<T, P> const & x){return mat4_cast(x);}
/// Converts a 3 * 3 matrix to a quaternion.
///
/// @see gtx_quaternion
template<typename T, precision P>
GLM_FUNC_DECL tquat<T, P> toQuat(
tmat3x3<T, P> const & x){return quat_cast(x);}
/// Converts a 4 * 4 matrix to a quaternion.
///
/// @see gtx_quaternion
template<typename T, precision P>
GLM_FUNC_DECL tquat<T, P> toQuat(
tmat4x4<T, P> const & x){return quat_cast(x);}
/// Quaternion interpolation using the rotation short path.
///
/// @see gtx_quaternion
template<typename T, precision P>
GLM_FUNC_DECL tquat<T, P> shortMix(
tquat<T, P> const & x,
tquat<T, P> const & y,
T const & a);
/// Quaternion normalized linear interpolation.
///
/// @see gtx_quaternion
template<typename T, precision P>
GLM_FUNC_DECL tquat<T, P> fastMix(
tquat<T, P> const & x,
tquat<T, P> const & y,
T const & a);
/// Compute the rotation between two vectors.
/// param orig vector, needs to be normalized
/// param dest vector, needs to be normalized
///
/// @see gtx_quaternion
template<typename T, precision P>
GLM_FUNC_DECL tquat<T, P> rotation(
tvec3<T, P> const & orig,
tvec3<T, P> const & dest);
/// Returns the squared length of x.
///
/// @see gtx_quaternion
template<typename T, precision P>
GLM_FUNC_DECL T length2(tquat<T, P> const & q);
/// @}
}//namespace glm
#include "quaternion.inl"
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