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dual_quaternion.hpp
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1
16 #pragma once
17
18 // Dependency:
19 #include "../glm.hpp"
20 #include "../gtc/constants.hpp"
21 #include "../gtc/quaternion.hpp"
22
23 #ifndef GLM_ENABLE_EXPERIMENTAL
24 # 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."
25 #endif
26
27 #if GLM_MESSAGES == GLM_MESSAGES_ENABLED && !defined(GLM_EXT_INCLUDED)
28 # pragma message("GLM: GLM_GTX_dual_quaternion extension included")
29 #endif
30
31 namespace glm
32 {
35
36 template<typename T, qualifier Q = defaultp>
37 struct tdualquat
38 {
39 // -- Implementation detail --
40
41 typedef T value_type;
42 typedef glm::tquat<T, Q> part_type;
43
44 // -- Data --
45
46 glm::tquat<T, Q> real, dual;
47
48 // -- Component accesses --
49
50 typedef length_t length_type;
52 GLM_FUNC_DECL static GLM_CONSTEXPR length_type length(){return 2;}
53
54 GLM_FUNC_DECL part_type & operator[](length_type i);
55 GLM_FUNC_DECL part_type const& operator[](length_type i) const;
56
57 // -- Implicit basic constructors --
58
59 GLM_FUNC_DECL GLM_CONSTEXPR tdualquat() GLM_DEFAULT_CTOR;
60 GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tdualquat<T, Q> const& d) GLM_DEFAULT;
61 template<qualifier P>
62 GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tdualquat<T, P> const& d);
63
64 // -- Explicit basic constructors --
65
66 GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tquat<T, Q> const& real);
67 GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tquat<T, Q> const& orientation, vec<3, T, Q> const& translation);
68 GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tquat<T, Q> const& real, tquat<T, Q> const& dual);
69
70 // -- Conversion constructors --
71
72 template<typename U, qualifier P>
73 GLM_FUNC_DECL GLM_CONSTEXPR GLM_EXPLICIT tdualquat(tdualquat<U, P> const& q);
74
75 GLM_FUNC_DECL GLM_EXPLICIT tdualquat(mat<2, 4, T, Q> const& holder_mat);
76 GLM_FUNC_DECL GLM_EXPLICIT tdualquat(mat<3, 4, T, Q> const& aug_mat);
77
78 // -- Unary arithmetic operators --
79
80 GLM_FUNC_DECL tdualquat<T, Q> & operator=(tdualquat<T, Q> const& m) GLM_DEFAULT;
81
82 template<typename U>
83 GLM_FUNC_DECL tdualquat<T, Q> & operator=(tdualquat<U, Q> const& m);
84 template<typename U>
85 GLM_FUNC_DECL tdualquat<T, Q> & operator*=(U s);
86 template<typename U>
87 GLM_FUNC_DECL tdualquat<T, Q> & operator/=(U s);
88 };
89
90 // -- Unary bit operators --
91
92 template<typename T, qualifier Q>
93 GLM_FUNC_DECL tdualquat<T, Q> operator+(tdualquat<T, Q> const& q);
94
95 template<typename T, qualifier Q>
96 GLM_FUNC_DECL tdualquat<T, Q> operator-(tdualquat<T, Q> const& q);
97
98 // -- Binary operators --
99
100 template<typename T, qualifier Q>
101 GLM_FUNC_DECL tdualquat<T, Q> operator+(tdualquat<T, Q> const& q, tdualquat<T, Q> const& p);
102
103 template<typename T, qualifier Q>
104 GLM_FUNC_DECL tdualquat<T, Q> operator*(tdualquat<T, Q> const& q, tdualquat<T, Q> const& p);
105
106 template<typename T, qualifier Q>
107 GLM_FUNC_DECL vec<3, T, Q> operator*(tdualquat<T, Q> const& q, vec<3, T, Q> const& v);
108
109 template<typename T, qualifier Q>
110 GLM_FUNC_DECL vec<3, T, Q> operator*(vec<3, T, Q> const& v, tdualquat<T, Q> const& q);
111
112 template<typename T, qualifier Q>
113 GLM_FUNC_DECL vec<4, T, Q> operator*(tdualquat<T, Q> const& q, vec<4, T, Q> const& v);
114
115 template<typename T, qualifier Q>
116 GLM_FUNC_DECL vec<4, T, Q> operator*(vec<4, T, Q> const& v, tdualquat<T, Q> const& q);
117
118 template<typename T, qualifier Q>
119 GLM_FUNC_DECL tdualquat<T, Q> operator*(tdualquat<T, Q> const& q, T const& s);
120
121 template<typename T, qualifier Q>
122 GLM_FUNC_DECL tdualquat<T, Q> operator*(T const& s, tdualquat<T, Q> const& q);
123
124 template<typename T, qualifier Q>
125 GLM_FUNC_DECL tdualquat<T, Q> operator/(tdualquat<T, Q> const& q, T const& s);
126
127 // -- Boolean operators --
128
129 template<typename T, qualifier Q>
130 GLM_FUNC_DECL bool operator==(tdualquat<T, Q> const& q1, tdualquat<T, Q> const& q2);
131
132 template<typename T, qualifier Q>
133 GLM_FUNC_DECL bool operator!=(tdualquat<T, Q> const& q1, tdualquat<T, Q> const& q2);
134
138 template <typename T, qualifier Q>
139 GLM_FUNC_DECL tdualquat<T, Q> dual_quat_identity();
140
144 template<typename T, qualifier Q>
145 GLM_FUNC_DECL tdualquat<T, Q> normalize(tdualquat<T, Q> const& q);
146
150 template<typename T, qualifier Q>
151 GLM_FUNC_DECL tdualquat<T, Q> lerp(tdualquat<T, Q> const& x, tdualquat<T, Q> const& y, T const& a);
152
156 template<typename T, qualifier Q>
157 GLM_FUNC_DECL tdualquat<T, Q> inverse(tdualquat<T, Q> const& q);
158
162 template<typename T, qualifier Q>
163 GLM_FUNC_DECL mat<2, 4, T, Q> mat2x4_cast(tdualquat<T, Q> const& x);
164
168 template<typename T, qualifier Q>
169 GLM_FUNC_DECL mat<3, 4, T, Q> mat3x4_cast(tdualquat<T, Q> const& x);
170
174 template<typename T, qualifier Q>
175 GLM_FUNC_DECL tdualquat<T, Q> dualquat_cast(mat<2, 4, T, Q> const& x);
176
180 template<typename T, qualifier Q>
181 GLM_FUNC_DECL tdualquat<T, Q> dualquat_cast(mat<3, 4, T, Q> const& x);
182
183
187 typedef tdualquat<float, lowp> lowp_dualquat;
188
192 typedef tdualquat<float, mediump> mediump_dualquat;
193
197 typedef tdualquat<float, highp> highp_dualquat;
198
199
203 typedef tdualquat<float, lowp> lowp_fdualquat;
204
208 typedef tdualquat<float, mediump> mediump_fdualquat;
209
213 typedef tdualquat<float, highp> highp_fdualquat;
214
215
219 typedef tdualquat<double, lowp> lowp_ddualquat;
220
224 typedef tdualquat<double, mediump> mediump_ddualquat;
225
229 typedef tdualquat<double, highp> highp_ddualquat;
230
231
232 #if(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
233 typedef highp_fdualquat dualquat;
237
241 typedef highp_fdualquat fdualquat;
242 #elif(defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
243 typedef highp_fdualquat dualquat;
244 typedef highp_fdualquat fdualquat;
245 #elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
246 typedef mediump_fdualquat dualquat;
247 typedef mediump_fdualquat fdualquat;
248 #elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && defined(GLM_PRECISION_LOWP_FLOAT))
249 typedef lowp_fdualquat dualquat;
250 typedef lowp_fdualquat fdualquat;
251 #else
252 # error "GLM error: multiple default precision requested for single-precision floating-point types"
253 #endif
254
255
256 #if(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
257 typedef highp_ddualquat ddualquat;
261 #elif(defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
262 typedef highp_ddualquat ddualquat;
263 #elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
264 typedef mediump_ddualquat ddualquat;
265 #elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && defined(GLM_PRECISION_LOWP_DOUBLE))
266 typedef lowp_ddualquat ddualquat;
267 #else
268 # error "GLM error: Multiple default precision requested for double-precision floating-point types"
269 #endif
270
272 } //namespace glm
273
274 #include "dual_quaternion.inl"
glm::highp_dualquat
tdualquat< float, highp > highp_dualquat
Dual-quaternion of high single-qualifier floating-point numbers.
Definition: dual_quaternion.hpp:197
glm::mediump_fdualquat
tdualquat< float, mediump > mediump_fdualquat
Dual-quaternion of medium single-qualifier floating-point numbers.
Definition: dual_quaternion.hpp:208
glm::orientation
GLM_FUNC_DECL mat< 4, 4, T, Q > orientation(vec< 3, T, Q > const &Normal, vec< 3, T, Q > const &Up)
Build a rotation matrix from a normal and a up vector.
glm::lerp
GLM_FUNC_DECL tdualquat< T, Q > lerp(tdualquat< T, Q > const &x, tdualquat< T, Q > const &y, T const &a)
Returns the linear interpolation of two dual quaternion.
glm::mediump_dualquat
tdualquat< float, mediump > mediump_dualquat
Dual-quaternion of medium single-qualifier floating-point numbers.
Definition: dual_quaternion.hpp:192
glm::fdualquat
highp_fdualquat fdualquat
Dual-quaternion of single-qualifier floating-point numbers.
Definition: dual_quaternion.hpp:241
glm::lowp_dualquat
tdualquat< float, lowp > lowp_dualquat
Dual-quaternion of low single-qualifier floating-point numbers.
Definition: dual_quaternion.hpp:187
glm::mediump_ddualquat
tdualquat< double, mediump > mediump_ddualquat
Dual-quaternion of medium double-qualifier floating-point numbers.
Definition: dual_quaternion.hpp:224
glm
Definition: common.hpp:20
glm::normalize
GLM_FUNC_DECL tdualquat< T, Q > normalize(tdualquat< T, Q > const &q)
Returns the normalized quaternion.
glm::lowp_ddualquat
tdualquat< double, lowp > lowp_ddualquat
Dual-quaternion of low double-qualifier floating-point numbers.
Definition: dual_quaternion.hpp:219
glm::mat3x4_cast
GLM_FUNC_DECL mat< 3, 4, T, Q > mat3x4_cast(tdualquat< T, Q > const &x)
Converts a quaternion to a 3 * 4 matrix.
glm::highp_ddualquat
tdualquat< double, highp > highp_ddualquat
Dual-quaternion of high double-qualifier floating-point numbers.
Definition: dual_quaternion.hpp:229
glm::length
GLM_FUNC_DECL T length(vec< L, T, Q > const &x)
Returns the length of x, i.e., sqrt(x * x).
glm::ddualquat
highp_ddualquat ddualquat
Dual-quaternion of default double-qualifier floating-point numbers.
Definition: dual_quaternion.hpp:260
glm::inverse
GLM_FUNC_DECL tdualquat< T, Q > inverse(tdualquat< T, Q > const &q)
Returns the q inverse.
glm::dual_quat_identity
GLM_FUNC_DECL tdualquat< T, Q > dual_quat_identity()
Creates an identity dual quaternion.
glm::mat2x4_cast
GLM_FUNC_DECL mat< 2, 4, T, Q > mat2x4_cast(tdualquat< T, Q > const &x)
Converts a quaternion to a 2 * 4 matrix.
glm::lowp_fdualquat
tdualquat< float, lowp > lowp_fdualquat
Dual-quaternion of low single-qualifier floating-point numbers.
Definition: dual_quaternion.hpp:203
glm::highp_fdualquat
tdualquat< float, highp > highp_fdualquat
Dual-quaternion of high single-qualifier floating-point numbers.
Definition: dual_quaternion.hpp:213
glm::dualquat
highp_fdualquat dualquat
Dual-quaternion of floating-point numbers.
Definition: dual_quaternion.hpp:236
glm::dualquat_cast
GLM_FUNC_DECL tdualquat< T, Q > dualquat_cast(mat< 3, 4, T, Q > const &x)
Converts a 3 * 4 matrix (augmented matrix rotation + translation) to a quaternion.