GraphicsAPI_2020C
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 #if GLM_MESSAGES == GLM_ENABLE && !defined(GLM_EXT_INCLUDED)
24 # ifndef GLM_ENABLE_EXPERIMENTAL
25 # pragma message("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.")
26 # else
27 # pragma message("GLM: GLM_GTX_dual_quaternion extension included")
28 # endif
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 qua<T, Q> part_type;
43 
44  // -- Data --
45 
46  qua<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;
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(qua<T, Q> const& real);
67  GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(qua<T, Q> const& orientation, vec<3, T, Q> const& translation);
68  GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(qua<T, Q> const& real, qua<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 GLM_CONSTEXPR tdualquat(mat<2, 4, T, Q> const& holder_mat);
76  GLM_FUNC_DECL GLM_EXPLICIT GLM_CONSTEXPR 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::vec< 3, T, Q >
Definition: type_vec3.hpp:17
glm::qua
Definition: qualifier.hpp:37
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::ddualquat
highp_ddualquat ddualquat
Dual-quaternion of default double-qualifier floating-point numbers.
Definition: dual_quaternion.hpp:260
glm::dualquat_cast
GLM_FUNC_DECL tdualquat< T, Q > dualquat_cast(mat< 2, 4, T, Q > const &x)
Converts a 2 * 4 matrix (matrix which holds real and dual parts) to a quaternion. ...
Definition: dual_quaternion.inl:295
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.
Definition: dual_quaternion.inl:253
glm
Core features
Definition: common.hpp:20
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::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::tdualquat::length
static GLM_FUNC_DECL GLM_CONSTEXPR length_type length()
Return the count of components of a dual quaternion.
Definition: dual_quaternion.hpp:52
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.
Definition: rotate_vector.inl:174
glm::mediump_dualquat
tdualquat< float, mediump > mediump_dualquat
Dual-quaternion of medium single-qualifier floating-point numbers.
Definition: dual_quaternion.hpp:192
glm::vec< 4, T, Q >
Definition: type_vec4.hpp:17
glm::mat< 2, 4, T, Q >
Definition: type_mat2x4.hpp:14
glm::mat< 3, 4, T, Q >
Definition: type_mat3x4.hpp:14
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.
Definition: dual_quaternion.inl:259
glm::highp_ddualquat
tdualquat< double, highp > highp_ddualquat
Dual-quaternion of high double-qualifier floating-point numbers.
Definition: dual_quaternion.hpp:229
glm::lowp_ddualquat
tdualquat< double, lowp > lowp_ddualquat
Dual-quaternion of low double-qualifier floating-point numbers.
Definition: dual_quaternion.hpp:219
glm::lerp
GLM_FUNC_DECL qua< T, Q > lerp(qua< T, Q > const &x, qua< T, Q > const &y, T a)
Linear interpolation of two quaternions.
Definition: quaternion_common.inl:29
glm::inverse
GLM_FUNC_QUALIFIER mat< C, R, T, Q > inverse(mat< C, R, T, Q > const &m)
Return the inverse of a squared matrix.
Definition: func_matrix.inl:388
glm::tdualquat
Definition: dual_quaternion.hpp:37
glm::normalize
GLM_FUNC_QUALIFIER vec< L, T, Q > normalize(vec< L, T, Q > const &x)
Returns a vector in the same direction as x but with length of 1.
Definition: func_geometric.inl:190
glm::mediump_ddualquat
tdualquat< double, mediump > mediump_ddualquat
Dual-quaternion of medium double-qualifier floating-point numbers.
Definition: dual_quaternion.hpp:224
glm::lowp_fdualquat
tdualquat< float, lowp > lowp_fdualquat
Dual-quaternion of low single-qualifier floating-point numbers.
Definition: dual_quaternion.hpp:203
glm::dual_quat_identity
GLM_FUNC_DECL tdualquat< T, Q > dual_quat_identity()
Creates an identity dual quaternion.
Definition: dual_quaternion.inl:219
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