1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
|
/// @ref gtx_dual_quaternion
/// @file glm/gtx/dual_quaternion.hpp
/// @author Maksim Vorobiev (msomeone@gmail.com)
///
/// @see core (dependence)
/// @see gtc_constants (dependence)
/// @see gtc_quaternion (dependence)
///
/// @defgroup gtx_dual_quaternion GLM_GTX_dual_quaternion
/// @ingroup gtx
///
/// Include <glm/gtx/dual_quaternion.hpp> to use the features of this extension.
///
/// Defines a templated dual-quaternion type and several dual-quaternion operations.
#pragma once
// Dependency:
#include "../glm.hpp"
#include "../gtc/constants.hpp"
#include "../gtc/quaternion.hpp"
#ifndef GLM_ENABLE_EXPERIMENTAL
# 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."
#endif
#if GLM_MESSAGES == GLM_MESSAGES_ENABLED && !defined(GLM_EXT_INCLUDED)
# pragma message("GLM: GLM_GTX_dual_quaternion extension included")
#endif
namespace glm
{
/// @addtogroup gtx_dual_quaternion
/// @{
template<typename T, qualifier Q = defaultp>
struct tdualquat
{
// -- Implementation detail --
typedef T value_type;
typedef glm::tquat<T, Q> part_type;
// -- Data --
glm::tquat<T, Q> real, dual;
// -- Component accesses --
typedef length_t length_type;
/// Return the count of components of a dual quaternion
GLM_FUNC_DECL static GLM_CONSTEXPR length_type length(){return 2;}
GLM_FUNC_DECL part_type & operator[](length_type i);
GLM_FUNC_DECL part_type const& operator[](length_type i) const;
// -- Implicit basic constructors --
GLM_FUNC_DECL GLM_CONSTEXPR tdualquat() GLM_DEFAULT_CTOR;
GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tdualquat<T, Q> const& d) GLM_DEFAULT;
template<qualifier P>
GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tdualquat<T, P> const& d);
// -- Explicit basic constructors --
GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tquat<T, Q> const& real);
GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tquat<T, Q> const& orientation, vec<3, T, Q> const& translation);
GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tquat<T, Q> const& real, tquat<T, Q> const& dual);
// -- Conversion constructors --
template<typename U, qualifier P>
GLM_FUNC_DECL GLM_CONSTEXPR GLM_EXPLICIT tdualquat(tdualquat<U, P> const& q);
GLM_FUNC_DECL GLM_EXPLICIT tdualquat(mat<2, 4, T, Q> const& holder_mat);
GLM_FUNC_DECL GLM_EXPLICIT tdualquat(mat<3, 4, T, Q> const& aug_mat);
// -- Unary arithmetic operators --
GLM_FUNC_DECL tdualquat<T, Q> & operator=(tdualquat<T, Q> const& m) GLM_DEFAULT;
template<typename U>
GLM_FUNC_DECL tdualquat<T, Q> & operator=(tdualquat<U, Q> const& m);
template<typename U>
GLM_FUNC_DECL tdualquat<T, Q> & operator*=(U s);
template<typename U>
GLM_FUNC_DECL tdualquat<T, Q> & operator/=(U s);
};
// -- Unary bit operators --
template<typename T, qualifier Q>
GLM_FUNC_DECL tdualquat<T, Q> operator+(tdualquat<T, Q> const& q);
template<typename T, qualifier Q>
GLM_FUNC_DECL tdualquat<T, Q> operator-(tdualquat<T, Q> const& q);
// -- Binary operators --
template<typename T, qualifier Q>
GLM_FUNC_DECL tdualquat<T, Q> operator+(tdualquat<T, Q> const& q, tdualquat<T, Q> const& p);
template<typename T, qualifier Q>
GLM_FUNC_DECL tdualquat<T, Q> operator*(tdualquat<T, Q> const& q, tdualquat<T, Q> const& p);
template<typename T, qualifier Q>
GLM_FUNC_DECL vec<3, T, Q> operator*(tdualquat<T, Q> const& q, vec<3, T, Q> const& v);
template<typename T, qualifier Q>
GLM_FUNC_DECL vec<3, T, Q> operator*(vec<3, T, Q> const& v, tdualquat<T, Q> const& q);
template<typename T, qualifier Q>
GLM_FUNC_DECL vec<4, T, Q> operator*(tdualquat<T, Q> const& q, vec<4, T, Q> const& v);
template<typename T, qualifier Q>
GLM_FUNC_DECL vec<4, T, Q> operator*(vec<4, T, Q> const& v, tdualquat<T, Q> const& q);
template<typename T, qualifier Q>
GLM_FUNC_DECL tdualquat<T, Q> operator*(tdualquat<T, Q> const& q, T const& s);
template<typename T, qualifier Q>
GLM_FUNC_DECL tdualquat<T, Q> operator*(T const& s, tdualquat<T, Q> const& q);
template<typename T, qualifier Q>
GLM_FUNC_DECL tdualquat<T, Q> operator/(tdualquat<T, Q> const& q, T const& s);
// -- Boolean operators --
template<typename T, qualifier Q>
GLM_FUNC_DECL bool operator==(tdualquat<T, Q> const& q1, tdualquat<T, Q> const& q2);
template<typename T, qualifier Q>
GLM_FUNC_DECL bool operator!=(tdualquat<T, Q> const& q1, tdualquat<T, Q> const& q2);
/// Creates an identity dual quaternion.
///
/// @see gtx_dual_quaternion
template <typename T, qualifier Q>
GLM_FUNC_DECL tdualquat<T, Q> dual_quat_identity();
/// Returns the normalized quaternion.
///
/// @see gtx_dual_quaternion
template<typename T, qualifier Q>
GLM_FUNC_DECL tdualquat<T, Q> normalize(tdualquat<T, Q> const& q);
/// Returns the linear interpolation of two dual quaternion.
///
/// @see gtc_dual_quaternion
template<typename T, qualifier Q>
GLM_FUNC_DECL tdualquat<T, Q> lerp(tdualquat<T, Q> const& x, tdualquat<T, Q> const& y, T const& a);
/// Returns the q inverse.
///
/// @see gtx_dual_quaternion
template<typename T, qualifier Q>
GLM_FUNC_DECL tdualquat<T, Q> inverse(tdualquat<T, Q> const& q);
/// Converts a quaternion to a 2 * 4 matrix.
///
/// @see gtx_dual_quaternion
template<typename T, qualifier Q>
GLM_FUNC_DECL mat<2, 4, T, Q> mat2x4_cast(tdualquat<T, Q> const& x);
/// Converts a quaternion to a 3 * 4 matrix.
///
/// @see gtx_dual_quaternion
template<typename T, qualifier Q>
GLM_FUNC_DECL mat<3, 4, T, Q> mat3x4_cast(tdualquat<T, Q> const& x);
/// Converts a 2 * 4 matrix (matrix which holds real and dual parts) to a quaternion.
///
/// @see gtx_dual_quaternion
template<typename T, qualifier Q>
GLM_FUNC_DECL tdualquat<T, Q> dualquat_cast(mat<2, 4, T, Q> const& x);
/// Converts a 3 * 4 matrix (augmented matrix rotation + translation) to a quaternion.
///
/// @see gtx_dual_quaternion
template<typename T, qualifier Q>
GLM_FUNC_DECL tdualquat<T, Q> dualquat_cast(mat<3, 4, T, Q> const& x);
/// Dual-quaternion of low single-qualifier floating-point numbers.
///
/// @see gtx_dual_quaternion
typedef tdualquat<float, lowp> lowp_dualquat;
/// Dual-quaternion of medium single-qualifier floating-point numbers.
///
/// @see gtx_dual_quaternion
typedef tdualquat<float, mediump> mediump_dualquat;
/// Dual-quaternion of high single-qualifier floating-point numbers.
///
/// @see gtx_dual_quaternion
typedef tdualquat<float, highp> highp_dualquat;
/// Dual-quaternion of low single-qualifier floating-point numbers.
///
/// @see gtx_dual_quaternion
typedef tdualquat<float, lowp> lowp_fdualquat;
/// Dual-quaternion of medium single-qualifier floating-point numbers.
///
/// @see gtx_dual_quaternion
typedef tdualquat<float, mediump> mediump_fdualquat;
/// Dual-quaternion of high single-qualifier floating-point numbers.
///
/// @see gtx_dual_quaternion
typedef tdualquat<float, highp> highp_fdualquat;
/// Dual-quaternion of low double-qualifier floating-point numbers.
///
/// @see gtx_dual_quaternion
typedef tdualquat<double, lowp> lowp_ddualquat;
/// Dual-quaternion of medium double-qualifier floating-point numbers.
///
/// @see gtx_dual_quaternion
typedef tdualquat<double, mediump> mediump_ddualquat;
/// Dual-quaternion of high double-qualifier floating-point numbers.
///
/// @see gtx_dual_quaternion
typedef tdualquat<double, highp> highp_ddualquat;
#if(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
/// Dual-quaternion of floating-point numbers.
///
/// @see gtx_dual_quaternion
typedef highp_fdualquat dualquat;
/// Dual-quaternion of single-qualifier floating-point numbers.
///
/// @see gtx_dual_quaternion
typedef highp_fdualquat fdualquat;
#elif(defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
typedef highp_fdualquat dualquat;
typedef highp_fdualquat fdualquat;
#elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
typedef mediump_fdualquat dualquat;
typedef mediump_fdualquat fdualquat;
#elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && defined(GLM_PRECISION_LOWP_FLOAT))
typedef lowp_fdualquat dualquat;
typedef lowp_fdualquat fdualquat;
#else
# error "GLM error: multiple default precision requested for single-precision floating-point types"
#endif
#if(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
/// Dual-quaternion of default double-qualifier floating-point numbers.
///
/// @see gtx_dual_quaternion
typedef highp_ddualquat ddualquat;
#elif(defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
typedef highp_ddualquat ddualquat;
#elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
typedef mediump_ddualquat ddualquat;
#elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && defined(GLM_PRECISION_LOWP_DOUBLE))
typedef lowp_ddualquat ddualquat;
#else
# error "GLM error: Multiple default precision requested for double-precision floating-point types"
#endif
/// @}
} //namespace glm
#include "dual_quaternion.inl"
|
