/// @ref gtc_quaternion /// @file glm/gtc/quaternion.hpp /// /// @see core (dependence) /// @see gtc_constants (dependence) /// /// @defgroup gtc_quaternion GLM_GTC_quaternion /// @ingroup gtc /// /// Include to use the features of this extension. /// /// Defines a templated quaternion type and several quaternion operations. #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 { /// @addtogroup gtc_quaternion /// @{ template struct qua { // -- Implementation detail -- typedef qua 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 { struct { T x, y, z, w;}; typename detail::storage<4, T, detail::is_aligned::value>::type data; }; # else T x, y, z, w; # 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 const& q) GLM_DEFAULT; template GLM_FUNC_DECL GLM_CONSTEXPR qua(qua 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 GLM_FUNC_DECL GLM_CONSTEXPR GLM_EXPLICIT qua(qua const& q); /// Explicit conversion operators # if GLM_HAS_EXPLICIT_CONVERSION_OPERATORS GLM_FUNC_DECL explicit operator mat<3, 3, T, Q>(); GLM_FUNC_DECL explicit operator mat<4, 4, T, Q>(); # 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_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 qua& operator=(qua const& q) GLM_DEFAULT; template GLM_FUNC_DECL qua& operator=(qua const& q); template GLM_FUNC_DECL qua& operator+=(qua const& q); template GLM_FUNC_DECL qua& operator-=(qua const& q); template GLM_FUNC_DECL qua& operator*=(qua const& q); template GLM_FUNC_DECL qua& operator*=(U s); template GLM_FUNC_DECL qua& operator/=(U s); }; // -- Unary bit operators -- template GLM_FUNC_DECL qua operator+(qua const& q); template GLM_FUNC_DECL qua operator-(qua const& q); // -- Binary operators -- template GLM_FUNC_DECL qua operator+(qua const& q, qua const& p); template GLM_FUNC_DECL qua operator-(qua const& q, qua const& p); template GLM_FUNC_DECL qua operator*(qua const& q, qua const& p); template GLM_FUNC_DECL vec<3, T, Q> operator*(qua const& q, vec<3, T, Q> const& v); template GLM_FUNC_DECL vec<3, T, Q> operator*(vec<3, T, Q> const& v, qua const& q); template GLM_FUNC_DECL vec<4, T, Q> operator*(qua const& q, vec<4, T, Q> const& v); template GLM_FUNC_DECL vec<4, T, Q> operator*(vec<4, T, Q> const& v, qua const& q); template GLM_FUNC_DECL qua operator*(qua const& q, T const& s); template GLM_FUNC_DECL qua operator*(T const& s, qua const& q); template GLM_FUNC_DECL qua operator/(qua const& q, T const& s); // -- Boolean operators -- template GLM_FUNC_DECL GLM_CONSTEXPR bool operator==(qua const& q1, qua const& q2); template GLM_FUNC_DECL GLM_CONSTEXPR bool operator!=(qua const& q1, qua const& q2); /// @} } //namespace glm #include "type_quat.inl"