dual_quaternion.hpp
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#pragma once
// Dependency:
#include "../glm.hpp"
#include "../gtc/constants.hpp"
#include "../gtc/quaternion.hpp"
#if(defined(GLM_MESSAGES) && !defined(GLM_EXT_INCLUDED))
# pragma message("GLM: GLM_GTX_dual_quaternion extension included")
#endif
namespace glm
{
template <typename T, precision P>
struct tdualquat
{
typedef T value_type;
typedef glm::tquat<T, P> part_type;
public:
glm::tquat<T, P> real, dual;
// Component accesses
# ifdef GLM_FORCE_SIZE_FUNC
typedef size_t size_type;
GLM_FUNC_DECL GLM_CONSTEXPR size_type size() const;
GLM_FUNC_DECL part_type & operator[](size_type i);
GLM_FUNC_DECL part_type const & operator[](size_type i) const;
# else
typedef length_t length_type;
GLM_FUNC_DECL GLM_CONSTEXPR length_type length() const;
GLM_FUNC_DECL part_type & operator[](length_type i);
GLM_FUNC_DECL part_type const & operator[](length_type i) const;
# endif//GLM_FORCE_SIZE_FUNC
// Implicit basic constructors
GLM_FUNC_DECL tdualquat();
template <precision Q>
GLM_FUNC_DECL tdualquat(tdualquat<T, Q> const & d);
// Explicit basic constructors
GLM_FUNC_DECL explicit tdualquat(ctor);
GLM_FUNC_DECL explicit tdualquat(tquat<T, P> const & real);
GLM_FUNC_DECL tdualquat(tquat<T, P> const & orientation, tvec3<T, P> const & translation);
GLM_FUNC_DECL tdualquat(tquat<T, P> const & real, tquat<T, P> const & dual);
// tdualquat conversions
# ifdef GLM_FORCE_EXPLICIT_CTOR
template <typename U, precision Q>
GLM_FUNC_DECL explicit tdualquat(tdualquat<U, Q> const & q);
# else
template <typename U, precision Q>
GLM_FUNC_DECL tdualquat(tdualquat<U, Q> const & q);
# endif
GLM_FUNC_DECL explicit tdualquat(tmat2x4<T, P> const & holder_mat);
GLM_FUNC_DECL explicit tdualquat(tmat3x4<T, P> const & aug_mat);
// Operators
GLM_FUNC_DECL tdualquat<T, P> & operator*=(T const & s);
GLM_FUNC_DECL tdualquat<T, P> & operator/=(T const & s);
};
template <typename T, precision P>
GLM_FUNC_DECL tquat<T, P> operator- (
tquat<T, P> const & q);
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* (
tquat<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,
tquat<T, P> const & q);
template <typename T, precision P>
GLM_FUNC_DECL tvec4<T, P> operator* (
tquat<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,
tquat<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);
template <typename T, precision P>
GLM_FUNC_DECL tdualquat<T, P> normalize(
tdualquat<T, P> const & q);
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, precision P>
GLM_FUNC_DECL tdualquat<T, P> inverse(
tdualquat<T, P> const & q);
template <typename T, precision P>
GLM_FUNC_DECL tmat2x4<T, P> mat2x4_cast(
tdualquat<T, P> const & x);
template <typename T, precision P>
GLM_FUNC_DECL tmat3x4<T, P> mat3x4_cast(
tdualquat<T, P> const & x);
template <typename T, precision P>
GLM_FUNC_DECL tdualquat<T, P> dualquat_cast(
tmat2x4<T, P> const & x);
template <typename T, precision P>
GLM_FUNC_DECL tdualquat<T, P> dualquat_cast(
tmat3x4<T, P> const & x);
typedef tdualquat<float, lowp> lowp_dualquat;
typedef tdualquat<float, mediump> mediump_dualquat;
typedef tdualquat<float, highp> highp_dualquat;
typedef tdualquat<float, lowp> lowp_fdualquat;
typedef tdualquat<float, mediump> mediump_fdualquat;
typedef tdualquat<float, highp> highp_fdualquat;
typedef tdualquat<double, lowp> lowp_ddualquat;
typedef tdualquat<double, mediump> mediump_ddualquat;
typedef tdualquat<double, highp> highp_ddualquat;
#if(!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 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))
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"
glm::lowp_fdualquat
tdualquat< float, lowp > lowp_fdualquat
Dual-quaternion of low single-precision floating-point numbers.
Definition: dual_quaternion.hpp:243
glm::dualquat
highp_fdualquat dualquat
Dual-quaternion of floating-point numbers.
Definition: dual_quaternion.hpp:276
glm::lowp_dualquat
tdualquat< float, lowp > lowp_dualquat
Dual-quaternion of low single-precision floating-point numbers.
Definition: dual_quaternion.hpp:227
glm::dualquat_cast
GLM_FUNC_DECL tdualquat< T, P > dualquat_cast(tmat3x4< T, P > const &x)
Converts a 3 * 4 matrix (augmented matrix rotation + translation) to a quaternion.
glm::lerp
GLM_FUNC_DECL tdualquat< T, P > lerp(tdualquat< T, P > const &x, tdualquat< T, P > const &y, T const &a)
Returns the linear interpolation of two dual quaternion.
glm::highp_dualquat
tdualquat< float, highp > highp_dualquat
Dual-quaternion of high single-precision floating-point numbers.
Definition: dual_quaternion.hpp:237
glm::lowp_ddualquat
tdualquat< double, lowp > lowp_ddualquat
Dual-quaternion of low double-precision floating-point numbers.
Definition: dual_quaternion.hpp:259
glm::highp_ddualquat
tdualquat< double, highp > highp_ddualquat
Dual-quaternion of high double-precision floating-point numbers.
Definition: dual_quaternion.hpp:269
glm::ddualquat
highp_ddualquat ddualquat
Dual-quaternion of default double-precision floating-point numbers.
Definition: dual_quaternion.hpp:300
glm::mediump_dualquat
tdualquat< float, mediump > mediump_dualquat
Dual-quaternion of medium single-precision floating-point numbers.
Definition: dual_quaternion.hpp:232
glm::mat2x4_cast
GLM_FUNC_DECL tmat2x4< T, P > mat2x4_cast(tdualquat< T, P > const &x)
Converts a quaternion to a 2 * 4 matrix.
glm::fdualquat
highp_fdualquat fdualquat
Dual-quaternion of single-precision floating-point numbers.
Definition: dual_quaternion.hpp:281
glm::length
GLM_FUNC_DECL T length(vecType< T, P > const &x)
Returns the length of x, i.e., sqrt(x * x).
glm::mediump_ddualquat
tdualquat< double, mediump > mediump_ddualquat
Dual-quaternion of medium double-precision floating-point numbers.
Definition: dual_quaternion.hpp:264
glm::mat3x4_cast
GLM_FUNC_DECL tmat3x4< T, P > mat3x4_cast(tdualquat< T, P > const &x)
Converts a quaternion to a 3 * 4 matrix.
glm::highp_fdualquat
tdualquat< float, highp > highp_fdualquat
Dual-quaternion of high single-precision floating-point numbers.
Definition: dual_quaternion.hpp:253
glm::inverse
GLM_FUNC_DECL tdualquat< T, P > inverse(tdualquat< T, P > const &q)
Returns the q inverse.
glm
Definition: _noise.hpp:39
glm::orientation
GLM_FUNC_DECL tmat4x4< T, P > orientation(tvec3< T, P > const &Normal, tvec3< T, P > const &Up)
Build a rotation matrix from a normal and a up vector.
glm::normalize
GLM_FUNC_DECL tdualquat< T, P > normalize(tdualquat< T, P > const &q)
Returns the normalized quaternion.
glm::mediump_fdualquat
tdualquat< float, mediump > mediump_fdualquat
Dual-quaternion of medium single-precision floating-point numbers.
Definition: dual_quaternion.hpp:248