20 #include "../gtc/constants.hpp"
21 #include "../gtc/quaternion.hpp"
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.")
27 # pragma message("GLM: GLM_GTX_dual_quaternion extension included")
36 template<
typename T, qualifier Q = defaultp>
42 typedef qua<T, Q> part_type;
50 typedef length_t length_type;
52 GLM_FUNC_DECL
static GLM_CONSTEXPR length_type
length(){
return 2;}
54 GLM_FUNC_DECL part_type & operator[](length_type i);
55 GLM_FUNC_DECL part_type
const& operator[](length_type i)
const;
59 GLM_FUNC_DECL GLM_CONSTEXPR tdualquat() GLM_DEFAULT;
60 GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tdualquat<T, Q> const& d) GLM_DEFAULT;
62 GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tdualquat<T, P> const& d);
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);
72 template<typename U, qualifier P>
73 GLM_FUNC_DECL GLM_CONSTEXPR GLM_EXPLICIT tdualquat(tdualquat<U, P> const& q);
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);
80 GLM_FUNC_DECL tdualquat<T, Q> & operator=(tdualquat<T, Q> const& m) GLM_DEFAULT;
83 GLM_FUNC_DECL tdualquat<T, Q> & operator=(tdualquat<U, Q> const& m);
85 GLM_FUNC_DECL tdualquat<T, Q> & operator*=(U s);
87 GLM_FUNC_DECL tdualquat<T, Q> & operator/=(U s);
92 template<typename T, qualifier Q>
93 GLM_FUNC_DECL tdualquat<T, Q> operator+(tdualquat<T, Q> const& q);
95 template<typename T, qualifier Q>
96 GLM_FUNC_DECL tdualquat<T, Q> operator-(tdualquat<T, Q> const& q);
100 template<typename T, qualifier Q>
101 GLM_FUNC_DECL tdualquat<T, Q> operator+(tdualquat<T, Q> const& q, tdualquat<T, Q> const& p);
103 template<typename T, qualifier Q>
104 GLM_FUNC_DECL tdualquat<T, Q> operator*(tdualquat<T, Q> const& q, tdualquat<T, Q> const& p);
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);
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);
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);
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);
118 template<typename T, qualifier Q>
119 GLM_FUNC_DECL tdualquat<T, Q> operator*(tdualquat<T, Q> const& q, T const& s);
121 template<typename T, qualifier Q>
122 GLM_FUNC_DECL tdualquat<T, Q> operator*(T const& s, tdualquat<T, Q> const& q);
124 template<typename T, qualifier Q>
125 GLM_FUNC_DECL tdualquat<T, Q> operator/(tdualquat<T, Q> const& q, T const& s);
129 template<typename T, qualifier Q>
130 GLM_FUNC_DECL
bool operator==(tdualquat<T, Q> const& q1, tdualquat<T, Q> const& q2);
132 template<typename T, qualifier Q>
133 GLM_FUNC_DECL
bool operator!=(tdualquat<T, Q> const& q1, tdualquat<T, Q> const& q2);
138 template <typename T, qualifier Q>
144 template<typename T, qualifier Q>
145 GLM_FUNC_DECL tdualquat<T, Q>
normalize(tdualquat<T, Q> const& q);
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);
156 template<typename T, qualifier Q>
157 GLM_FUNC_DECL tdualquat<T, Q>
inverse(tdualquat<T, Q> const& q);
162 template<typename T, qualifier Q>
163 GLM_FUNC_DECL mat<2, 4, T, Q>
mat2x4_cast(tdualquat<T, Q> const& x);
168 template<typename T, qualifier Q>
169 GLM_FUNC_DECL mat<3, 4, T, Q>
mat3x4_cast(tdualquat<T, Q> const& x);
174 template<typename T, qualifier Q>
175 GLM_FUNC_DECL tdualquat<T, Q>
dualquat_cast(mat<2, 4, T, Q> const& x);
180 template<typename T, qualifier Q>
181 GLM_FUNC_DECL tdualquat<T, Q>
dualquat_cast(mat<3, 4, T, Q> const& x);
232 #if(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
242 #elif(defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
245 #elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
248 #elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && defined(GLM_PRECISION_LOWP_FLOAT))
252 # error "GLM error: multiple default precision requested for single-precision floating-point types"
256 #if(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
261 #elif(defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
263 #elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
265 #elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && defined(GLM_PRECISION_LOWP_DOUBLE))
268 # error "GLM error: Multiple default precision requested for double-precision floating-point types"
274 #include "dual_quaternion.inl"
highp_ddualquat ddualquat
Dual-quaternion of default double-qualifier floating-point numbers.
highp_fdualquat fdualquat
Dual-quaternion of single-qualifier floating-point numbers.
GLM_FUNC_DECL mat< 2, 4, T, Q > mat2x4_cast(tdualquat< T, Q > const &x)
Converts a quaternion to a 2 * 4 matrix.
tdualquat< double, highp > highp_ddualquat
Dual-quaternion of high double-qualifier floating-point numbers.
GLM_FUNC_DECL tdualquat< T, Q > normalize(tdualquat< T, Q > const &q)
Returns the normalized quaternion.
GLM_FUNC_DECL tdualquat< T, Q > dual_quat_identity()
Creates an identity dual quaternion.
GLM_FUNC_DECL tdualquat< T, Q > inverse(tdualquat< T, Q > const &q)
Returns the q inverse.
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.
tdualquat< float, lowp > lowp_dualquat
Dual-quaternion of low single-qualifier floating-point numbers.
tdualquat< float, lowp > lowp_fdualquat
Dual-quaternion of low single-qualifier floating-point numbers.
GLM_FUNC_DECL T length(qua< T, Q > const &q)
Returns the norm of a quaternions.
tdualquat< double, lowp > lowp_ddualquat
Dual-quaternion of low double-qualifier floating-point numbers.
GLM_FUNC_DECL mat< 3, 4, T, Q > mat3x4_cast(tdualquat< T, Q > const &x)
Converts a quaternion to a 3 * 4 matrix.
highp_fdualquat dualquat
Dual-quaternion of floating-point numbers.
tdualquat< float, highp > highp_fdualquat
Dual-quaternion of high single-qualifier floating-point numbers.
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.
tdualquat< float, mediump > mediump_dualquat
Dual-quaternion of medium single-qualifier floating-point numbers.
tdualquat< float, mediump > mediump_fdualquat
Dual-quaternion of medium single-qualifier floating-point numbers.
tdualquat< double, mediump > mediump_ddualquat
Dual-quaternion of medium double-qualifier floating-point numbers.
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.
tdualquat< float, highp > highp_dualquat
Dual-quaternion of high single-qualifier floating-point numbers.