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- /// @ref core
- /// @file glm/detail/type_quat.hpp
- #pragma once
- // Dependency:
- #include "../detail/type_mat3x3.hpp"
- #include "../detail/type_mat4x4.hpp"
- #include "../detail/type_vec3.hpp"
- #include "../detail/type_vec4.hpp"
- #include "../ext/vector_relational.hpp"
- #include "../ext/quaternion_relational.hpp"
- #include "../gtc/constants.hpp"
- #include "../gtc/matrix_transform.hpp"
- namespace glm
- {
- template<typename T, qualifier Q>
- struct qua
- {
- // -- Implementation detail --
- typedef qua<T, Q> type;
- typedef T value_type;
- // -- Data --
- # if GLM_SILENT_WARNINGS == GLM_ENABLE
- # if GLM_COMPILER & GLM_COMPILER_GCC
- # pragma GCC diagnostic push
- # pragma GCC diagnostic ignored "-Wpedantic"
- # elif GLM_COMPILER & GLM_COMPILER_CLANG
- # pragma clang diagnostic push
- # pragma clang diagnostic ignored "-Wgnu-anonymous-struct"
- # pragma clang diagnostic ignored "-Wnested-anon-types"
- # elif GLM_COMPILER & GLM_COMPILER_VC
- # pragma warning(push)
- # pragma warning(disable: 4201) // nonstandard extension used : nameless struct/union
- # endif
- # endif
- # if GLM_LANG & GLM_LANG_CXXMS_FLAG
- union
- {
- # ifdef GLM_FORCE_QUAT_DATA_WXYZ
- struct { T w, x, y, z; };
- # else
- struct { T x, y, z, w; };
- # endif
- typename detail::storage<4, T, detail::is_aligned<Q>::value>::type data;
- };
- # else
- # ifdef GLM_FORCE_QUAT_DATA_WXYZ
- T w, x, y, z;
- # else
- T x, y, z, w;
- # endif
- # endif
- # if GLM_SILENT_WARNINGS == GLM_ENABLE
- # if GLM_COMPILER & GLM_COMPILER_CLANG
- # pragma clang diagnostic pop
- # elif GLM_COMPILER & GLM_COMPILER_GCC
- # pragma GCC diagnostic pop
- # elif GLM_COMPILER & GLM_COMPILER_VC
- # pragma warning(pop)
- # endif
- # endif
- // -- Component accesses --
- typedef length_t length_type;
- /// Return the count of components of a quaternion
- GLM_FUNC_DECL static GLM_CONSTEXPR length_type length(){return 4;}
- GLM_FUNC_DECL GLM_CONSTEXPR T & operator[](length_type i);
- GLM_FUNC_DECL GLM_CONSTEXPR T const& operator[](length_type i) const;
- // -- Implicit basic constructors --
- GLM_FUNC_DECL GLM_CONSTEXPR qua() GLM_DEFAULT;
- GLM_FUNC_DECL GLM_CONSTEXPR qua(qua<T, Q> const& q) GLM_DEFAULT;
- template<qualifier P>
- GLM_FUNC_DECL GLM_CONSTEXPR qua(qua<T, P> const& q);
- // -- Explicit basic constructors --
- GLM_FUNC_DECL GLM_CONSTEXPR qua(T s, vec<3, T, Q> const& v);
- GLM_FUNC_DECL GLM_CONSTEXPR qua(T w, T x, T y, T z);
- // -- Conversion constructors --
- template<typename U, qualifier P>
- GLM_FUNC_DECL GLM_CONSTEXPR GLM_EXPLICIT qua(qua<U, P> const& q);
- /// Explicit conversion operators
- # if GLM_HAS_EXPLICIT_CONVERSION_OPERATORS
- GLM_FUNC_DECL explicit operator mat<3, 3, T, Q>() const;
- GLM_FUNC_DECL explicit operator mat<4, 4, T, Q>() const;
- # endif
- /// Create a quaternion from two normalized axis
- ///
- /// @param u A first normalized axis
- /// @param v A second normalized axis
- /// @see gtc_quaternion
- /// @see http://lolengine.net/blog/2013/09/18/beautiful-maths-quaternion-from-vectors
- GLM_FUNC_DECL qua(vec<3, T, Q> const& u, vec<3, T, Q> const& v);
- /// Build a quaternion from euler angles (pitch, yaw, roll), in radians.
- GLM_FUNC_DECL GLM_CONSTEXPR GLM_EXPLICIT qua(vec<3, T, Q> const& eulerAngles);
- GLM_FUNC_DECL GLM_EXPLICIT qua(mat<3, 3, T, Q> const& q);
- GLM_FUNC_DECL GLM_EXPLICIT qua(mat<4, 4, T, Q> const& q);
- // -- Unary arithmetic operators --
- GLM_FUNC_DECL GLM_CONSTEXPR qua<T, Q>& operator=(qua<T, Q> const& q) GLM_DEFAULT;
- template<typename U>
- GLM_FUNC_DECL GLM_CONSTEXPR qua<T, Q>& operator=(qua<U, Q> const& q);
- template<typename U>
- GLM_FUNC_DECL GLM_CONSTEXPR qua<T, Q>& operator+=(qua<U, Q> const& q);
- template<typename U>
- GLM_FUNC_DECL GLM_CONSTEXPR qua<T, Q>& operator-=(qua<U, Q> const& q);
- template<typename U>
- GLM_FUNC_DECL GLM_CONSTEXPR qua<T, Q>& operator*=(qua<U, Q> const& q);
- template<typename U>
- GLM_FUNC_DECL GLM_CONSTEXPR qua<T, Q>& operator*=(U s);
- template<typename U>
- GLM_FUNC_DECL GLM_CONSTEXPR qua<T, Q>& operator/=(U s);
- };
- // -- Unary bit operators --
- template<typename T, qualifier Q>
- GLM_FUNC_DECL GLM_CONSTEXPR qua<T, Q> operator+(qua<T, Q> const& q);
- template<typename T, qualifier Q>
- GLM_FUNC_DECL GLM_CONSTEXPR qua<T, Q> operator-(qua<T, Q> const& q);
- // -- Binary operators --
- template<typename T, qualifier Q>
- GLM_FUNC_DECL GLM_CONSTEXPR qua<T, Q> operator+(qua<T, Q> const& q, qua<T, Q> const& p);
- template<typename T, qualifier Q>
- GLM_FUNC_DECL GLM_CONSTEXPR qua<T, Q> operator-(qua<T, Q> const& q, qua<T, Q> const& p);
- template<typename T, qualifier Q>
- GLM_FUNC_DECL GLM_CONSTEXPR qua<T, Q> operator*(qua<T, Q> const& q, qua<T, Q> const& p);
- template<typename T, qualifier Q>
- GLM_FUNC_DECL GLM_CONSTEXPR vec<3, T, Q> operator*(qua<T, Q> const& q, vec<3, T, Q> const& v);
- template<typename T, qualifier Q>
- GLM_FUNC_DECL GLM_CONSTEXPR vec<3, T, Q> operator*(vec<3, T, Q> const& v, qua<T, Q> const& q);
- template<typename T, qualifier Q>
- GLM_FUNC_DECL GLM_CONSTEXPR vec<4, T, Q> operator*(qua<T, Q> const& q, vec<4, T, Q> const& v);
- template<typename T, qualifier Q>
- GLM_FUNC_DECL GLM_CONSTEXPR vec<4, T, Q> operator*(vec<4, T, Q> const& v, qua<T, Q> const& q);
- template<typename T, qualifier Q>
- GLM_FUNC_DECL GLM_CONSTEXPR qua<T, Q> operator*(qua<T, Q> const& q, T const& s);
- template<typename T, qualifier Q>
- GLM_FUNC_DECL GLM_CONSTEXPR qua<T, Q> operator*(T const& s, qua<T, Q> const& q);
- template<typename T, qualifier Q>
- GLM_FUNC_DECL GLM_CONSTEXPR qua<T, Q> operator/(qua<T, Q> const& q, T const& s);
- // -- Boolean operators --
- template<typename T, qualifier Q>
- GLM_FUNC_DECL GLM_CONSTEXPR bool operator==(qua<T, Q> const& q1, qua<T, Q> const& q2);
- template<typename T, qualifier Q>
- GLM_FUNC_DECL GLM_CONSTEXPR bool operator!=(qua<T, Q> const& q1, qua<T, Q> const& q2);
- } //namespace glm
- #ifndef GLM_EXTERNAL_TEMPLATE
- #include "type_quat.inl"
- #endif//GLM_EXTERNAL_TEMPLATE
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