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Diffstat (limited to 'external/include/glm/gtx/dual_quaternion.hpp')
| -rw-r--r-- | external/include/glm/gtx/dual_quaternion.hpp | 266 |
1 files changed, 266 insertions, 0 deletions
diff --git a/external/include/glm/gtx/dual_quaternion.hpp b/external/include/glm/gtx/dual_quaternion.hpp new file mode 100644 index 0000000..4d7b61e --- /dev/null +++ b/external/include/glm/gtx/dual_quaternion.hpp @@ -0,0 +1,266 @@ +/// @ref gtx_dual_quaternion +/// @file glm/gtx/dual_quaternion.hpp +/// @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. +/// +/// <glm/gtx/dual_quaternion.hpp> need to be included to use these functionalities. + +#pragma once + +// Dependency: +#include "../glm.hpp" +#include "../gtc/constants.hpp" +#include "../gtc/quaternion.hpp" + +#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, precision P = defaultp> + struct tdualquat + { + // -- Implementation detail -- + + typedef T value_type; + typedef glm::tquat<T, P> part_type; + + // -- Data -- + + glm::tquat<T, P> 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 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, P> const & d) GLM_DEFAULT; + template <precision Q> + GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tdualquat<T, Q> 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); + + // -- Conversion constructors -- + + template <typename U, precision Q> + GLM_FUNC_DECL GLM_CONSTEXPR GLM_EXPLICIT tdualquat(tdualquat<U, Q> 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); + + // -- Unary arithmetic operators -- + + GLM_FUNC_DECL tdualquat<T, P> & operator=(tdualquat<T, P> 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); + }; + + // -- Unary bit operators -- + + template <typename T, precision P> + GLM_FUNC_DECL tdualquat<T, P> operator+(tdualquat<T, P> const & q); + + template <typename T, precision P> + GLM_FUNC_DECL tdualquat<T, P> operator-(tdualquat<T, P> 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, precision P> + GLM_FUNC_DECL tdualquat<T, P> operator*(tdualquat<T, P> const & q, tdualquat<T, P> 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, precision P> + GLM_FUNC_DECL tvec3<T, P> operator*(tvec3<T, P> const & v, tdualquat<T, P> 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, precision P> + GLM_FUNC_DECL tvec4<T, P> operator*(tvec4<T, P> const & v, tdualquat<T, P> 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, precision P> + GLM_FUNC_DECL tdualquat<T, P> operator*(T const & s, tdualquat<T, P> const & q); + + template <typename T, precision P> + GLM_FUNC_DECL tdualquat<T, P> operator/(tdualquat<T, P> 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, precision P> + GLM_FUNC_DECL bool operator!=(tdualquat<T, P> const & q1, tdualquat<T, P> const & q2); + + /// 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); + + /// 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); + + /// 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); + + /// 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); + + /// 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); + + /// 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); + + /// 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); + + + /// Dual-quaternion of low single-precision floating-point numbers. + /// + /// @see gtx_dual_quaternion + typedef tdualquat<float, lowp> lowp_dualquat; + + /// Dual-quaternion of medium single-precision floating-point numbers. + /// + /// @see gtx_dual_quaternion + typedef tdualquat<float, mediump> mediump_dualquat; + + /// Dual-quaternion of high single-precision floating-point numbers. + /// + /// @see gtx_dual_quaternion + typedef tdualquat<float, highp> highp_dualquat; + + + /// Dual-quaternion of low single-precision floating-point numbers. + /// + /// @see gtx_dual_quaternion + typedef tdualquat<float, lowp> lowp_fdualquat; + + /// Dual-quaternion of medium single-precision floating-point numbers. + /// + /// @see gtx_dual_quaternion + typedef tdualquat<float, mediump> mediump_fdualquat; + + /// Dual-quaternion of high single-precision floating-point numbers. + /// + /// @see gtx_dual_quaternion + typedef tdualquat<float, highp> highp_fdualquat; + + + /// Dual-quaternion of low double-precision floating-point numbers. + /// + /// @see gtx_dual_quaternion + typedef tdualquat<double, lowp> lowp_ddualquat; + + /// Dual-quaternion of medium double-precision floating-point numbers. + /// + /// @see gtx_dual_quaternion + typedef tdualquat<double, mediump> mediump_ddualquat; + + /// Dual-quaternion of high double-precision 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-precision 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-precision 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" |