# 0.9.9 API documenation: quaternion.hpp Source File

gtc/quaternion.hpp
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#pragma once
// Dependency:
#include "../mat3x3.hpp"
#include "../mat4x4.hpp"
#include "../vec3.hpp"
#include "../vec4.hpp"
#include "../gtc/constants.hpp"
#if GLM_MESSAGES == GLM_MESSAGES_ENABLED && !defined(GLM_EXT_INCLUDED)
# pragma message("GLM: GLM_GTC_quaternion extension included")
#endif
namespace glm
{
template<typename T, qualifier Q = defaultp>
struct tquat
{
// -- Implementation detail --
typedef tquat<T, Q> type;
typedef T value_type;
// -- Data --
# if GLM_HAS_ALIGNED_TYPE
# if GLM_COMPILER & GLM_COMPILER_GCC
# pragma GCC diagnostic push
# pragma GCC diagnostic ignored "-Wpedantic"
# endif
# if GLM_COMPILER & GLM_COMPILER_CLANG
# pragma clang diagnostic push
# pragma clang diagnostic ignored "-Wgnu-anonymous-struct"
# pragma clang diagnostic ignored "-Wnested-anon-types"
# endif
union
{
struct { T x, y, z, w;};
typename detail::storage<T, sizeof(T) * 4, detail::is_aligned<Q>::value>::type data;
};
# if GLM_COMPILER & GLM_COMPILER_CLANG
# pragma clang diagnostic pop
# endif
# if GLM_COMPILER & GLM_COMPILER_GCC
# pragma GCC diagnostic pop
# endif
# else
T x, y, z, w;
# endif
// -- Component accesses --
typedef length_t length_type;
GLM_FUNC_DECL static GLM_CONSTEXPR length_type length(){return 4;}
GLM_FUNC_DECL T & operator[](length_type i);
GLM_FUNC_DECL T const& operator[](length_type i) const;
// -- Implicit basic constructors --
GLM_FUNC_DECL GLM_CONSTEXPR tquat() GLM_DEFAULT_CTOR;
GLM_FUNC_DECL GLM_CONSTEXPR tquat(tquat<T, Q> const& q) GLM_DEFAULT;
template<qualifier P>
GLM_FUNC_DECL GLM_CONSTEXPR tquat(tquat<T, P> const& q);
// -- Explicit basic constructors --
GLM_FUNC_DECL GLM_CONSTEXPR tquat(T s, vec<3, T, Q> const& v);
GLM_FUNC_DECL GLM_CONSTEXPR tquat(T w, T x, T y, T z);
// -- Conversion constructors --
template<typename U, qualifier P>
GLM_FUNC_DECL GLM_CONSTEXPR GLM_EXPLICIT tquat(tquat<U, P> const& q);
# 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
GLM_FUNC_DECL tquat(vec<3, T, Q> const& u, vec<3, T, Q> const& v);
GLM_FUNC_DECL GLM_EXPLICIT tquat(vec<3, T, Q> const& eulerAngles);
GLM_FUNC_DECL GLM_EXPLICIT tquat(mat<3, 3, T, Q> const& q);
GLM_FUNC_DECL GLM_EXPLICIT tquat(mat<4, 4, T, Q> const& q);
// -- Unary arithmetic operators --
GLM_FUNC_DECL tquat<T, Q> & operator=(tquat<T, Q> const& q) GLM_DEFAULT;
template<typename U>
GLM_FUNC_DECL tquat<T, Q> & operator=(tquat<U, Q> const& q);
template<typename U>
GLM_FUNC_DECL tquat<T, Q> & operator+=(tquat<U, Q> const& q);
template<typename U>
GLM_FUNC_DECL tquat<T, Q> & operator-=(tquat<U, Q> const& q);
template<typename U>
GLM_FUNC_DECL tquat<T, Q> & operator*=(tquat<U, Q> const& q);
template<typename U>
GLM_FUNC_DECL tquat<T, Q> & operator*=(U s);
template<typename U>
GLM_FUNC_DECL tquat<T, Q> & operator/=(U s);
};
// -- Unary bit operators --
template<typename T, qualifier Q>
GLM_FUNC_DECL tquat<T, Q> operator+(tquat<T, Q> const& q);
template<typename T, qualifier Q>
GLM_FUNC_DECL tquat<T, Q> operator-(tquat<T, Q> const& q);
// -- Binary operators --
template<typename T, qualifier Q>
GLM_FUNC_DECL tquat<T, Q> operator+(tquat<T, Q> const& q, tquat<T, Q> const& p);
template<typename T, qualifier Q>
GLM_FUNC_DECL tquat<T, Q> operator-(tquat<T, Q> const& q, tquat<T, Q> const& p);
template<typename T, qualifier Q>
GLM_FUNC_DECL tquat<T, Q> operator*(tquat<T, Q> const& q, tquat<T, Q> const& p);
template<typename T, qualifier Q>
GLM_FUNC_DECL vec<3, T, Q> operator*(tquat<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, tquat<T, Q> const& q);
template<typename T, qualifier Q>
GLM_FUNC_DECL vec<4, T, Q> operator*(tquat<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, tquat<T, Q> const& q);
template<typename T, qualifier Q>
GLM_FUNC_DECL tquat<T, Q> operator*(tquat<T, Q> const& q, T const& s);
template<typename T, qualifier Q>
GLM_FUNC_DECL tquat<T, Q> operator*(T const& s, tquat<T, Q> const& q);
template<typename T, qualifier Q>
GLM_FUNC_DECL tquat<T, Q> operator/(tquat<T, Q> const& q, T const& s);
// -- Boolean operators --
template<typename T, qualifier Q>
GLM_FUNC_DECL bool operator==(tquat<T, Q> const& q1, tquat<T, Q> const& q2);
template<typename T, qualifier Q>
GLM_FUNC_DECL bool operator!=(tquat<T, Q> const& q1, tquat<T, Q> const& q2);
template<typename T, qualifier Q>
GLM_FUNC_DECL T length(tquat<T, Q> const& q);
template<typename T, qualifier Q>
GLM_FUNC_DECL tquat<T, Q> normalize(tquat<T, Q> const& q);
template<typename T, qualifier Q>
GLM_FUNC_DECL T dot(tquat<T, Q> const& x, tquat<T, Q> const& y);
template<typename T, qualifier Q>
GLM_FUNC_DECL tquat<T, Q> mix(tquat<T, Q> const& x, tquat<T, Q> const& y, T a);
template<typename T, qualifier Q>
GLM_FUNC_DECL tquat<T, Q> lerp(tquat<T, Q> const& x, tquat<T, Q> const& y, T a);
template<typename T, qualifier Q>
GLM_FUNC_DECL tquat<T, Q> slerp(tquat<T, Q> const& x, tquat<T, Q> const& y, T a);
template<typename T, qualifier Q>
GLM_FUNC_DECL tquat<T, Q> conjugate(tquat<T, Q> const& q);
template<typename T, qualifier Q>
GLM_FUNC_DECL tquat<T, Q> inverse(tquat<T, Q> const& q);
template<typename T, qualifier Q>
GLM_FUNC_DECL tquat<T, Q> rotate(tquat<T, Q> const& q, T const& angle, vec<3, T, Q> const& axis);
template<typename T, qualifier Q>
GLM_FUNC_DECL vec<3, T, Q> eulerAngles(tquat<T, Q> const& x);
template<typename T, qualifier Q>
GLM_FUNC_DECL T roll(tquat<T, Q> const& x);
template<typename T, qualifier Q>
GLM_FUNC_DECL T pitch(tquat<T, Q> const& x);
template<typename T, qualifier Q>
GLM_FUNC_DECL T yaw(tquat<T, Q> const& x);
template<typename T, qualifier Q>
GLM_FUNC_DECL mat<3, 3, T, Q> mat3_cast(tquat<T, Q> const& x);
template<typename T, qualifier Q>
GLM_FUNC_DECL mat<4, 4, T, Q> mat4_cast(tquat<T, Q> const& x);
template<typename T, qualifier Q>
GLM_FUNC_DECL tquat<T, Q> quat_cast(mat<3, 3, T, Q> const& x);
template<typename T, qualifier Q>
GLM_FUNC_DECL tquat<T, Q> quat_cast(mat<4, 4, T, Q> const& x);
template<typename T, qualifier Q>
GLM_FUNC_DECL T angle(tquat<T, Q> const& x);
template<typename T, qualifier Q>
GLM_FUNC_DECL vec<3, T, Q> axis(tquat<T, Q> const& x);
template<typename T, qualifier Q>
GLM_FUNC_DECL tquat<T, Q> angleAxis(T const& angle, vec<3, T, Q> const& axis);
template<typename T, qualifier Q>
GLM_FUNC_DECL vec<4, bool, Q> lessThan(tquat<T, Q> const& x, tquat<T, Q> const& y);
template<typename T, qualifier Q>
GLM_FUNC_DECL vec<4, bool, Q> lessThanEqual(tquat<T, Q> const& x, tquat<T, Q> const& y);
template<typename T, qualifier Q>
GLM_FUNC_DECL vec<4, bool, Q> greaterThan(tquat<T, Q> const& x, tquat<T, Q> const& y);
template<typename T, qualifier Q>
GLM_FUNC_DECL vec<4, bool, Q> greaterThanEqual(tquat<T, Q> const& x, tquat<T, Q> const& y);
template<typename T, qualifier Q>
GLM_FUNC_DECL vec<4, bool, Q> equal(tquat<T, Q> const& x, tquat<T, Q> const& y);
template<typename T, qualifier Q>
GLM_FUNC_DECL vec<4, bool, Q> notEqual(tquat<T, Q> const& x, tquat<T, Q> const& y);
template<typename T, qualifier Q>
GLM_FUNC_DECL vec<4, bool, Q> isnan(tquat<T, Q> const& x);
template<typename T, qualifier Q>
GLM_FUNC_DECL vec<4, bool, Q> isinf(tquat<T, Q> const& x);
} //namespace glm
#include "quaternion.inl"
glm::lessThan
GLM_FUNC_DECL vec< 4, bool, Q > lessThan(tquat< T, Q > const &x, tquat< T, Q > const &y)
Returns the component-wise comparison result of x < y.
glm::angle
GLM_FUNC_DECL T angle(tquat< T, Q > const &x)
Returns the quaternion rotation angle.
glm::mix
GLM_FUNC_DECL tquat< T, Q > mix(tquat< T, Q > const &x, tquat< T, Q > const &y, T a)
Spherical linear interpolation of two quaternions.
glm::isinf
GLM_FUNC_DECL vec< 4, bool, Q > isinf(tquat< T, Q > const &x)
Returns true if x holds a positive infinity or negative infinity representation in the underlying imp...
glm::axis
GLM_FUNC_DECL vec< 3, T, Q > axis(tquat< T, Q > const &x)
Returns the q rotation axis.
glm::conjugate
GLM_FUNC_DECL tquat< T, Q > conjugate(tquat< T, Q > const &q)
Returns the q conjugate.
glm::pitch
GLM_FUNC_DECL T pitch(tquat< T, Q > const &x)
Returns pitch value of euler angles expressed in radians.
glm::rotate
GLM_FUNC_DECL tquat< T, Q > rotate(tquat< T, Q > const &q, T const &angle, vec< 3, T, Q > const &axis)
Rotates a quaternion from a vector of 3 components axis and an angle.
glm::yaw
GLM_FUNC_DECL T yaw(tquat< T, Q > const &x)
Returns yaw value of euler angles expressed in radians.
glm::equal
GLM_FUNC_DECL vec< 4, bool, Q > equal(tquat< T, Q > const &x, tquat< T, Q > const &y)
Returns the component-wise comparison of result x == y.
glm::quat_cast
GLM_FUNC_DECL tquat< T, Q > quat_cast(mat< 4, 4, T, Q > const &x)
Converts a pure rotation 4 * 4 matrix to a quaternion.
glm
Definition: common.hpp:20
glm::eulerAngles
GLM_FUNC_DECL vec< 3, T, Q > eulerAngles(tquat< T, Q > const &x)
Returns euler angles, pitch as x, yaw as y, roll as z.
glm::length
GLM_FUNC_DECL T length(tquat< T, Q > const &q)
Returns the length of the quaternion.
glm::lessThanEqual
GLM_FUNC_DECL vec< 4, bool, Q > lessThanEqual(tquat< T, Q > const &x, tquat< T, Q > const &y)
Returns the component-wise comparison of result x <= y.
glm::dot
GLM_FUNC_DECL T dot(tquat< T, Q > const &x, tquat< T, Q > const &y)
Returns dot product of q1 and q2, i.e., q1[0] * q2[0] + q1[1] * q2[1] + ...
glm::notEqual
GLM_FUNC_DECL vec< 4, bool, Q > notEqual(tquat< T, Q > const &x, tquat< T, Q > const &y)
Returns the component-wise comparison of result x != y.
glm::mat3_cast
GLM_FUNC_DECL mat< 3, 3, T, Q > mat3_cast(tquat< T, Q > const &x)
Converts a quaternion to a 3 * 3 matrix.
glm::slerp
GLM_FUNC_DECL tquat< T, Q > slerp(tquat< T, Q > const &x, tquat< T, Q > const &y, T a)
Spherical linear interpolation of two quaternions.
glm::isnan
GLM_FUNC_DECL vec< 4, bool, Q > isnan(tquat< T, Q > const &x)
Returns true if x holds a NaN (not a number) representation in the underlying implementation's set of...
glm::lerp
GLM_FUNC_DECL tquat< T, Q > lerp(tquat< T, Q > const &x, tquat< T, Q > const &y, T a)
Linear interpolation of two quaternions.
glm::roll
GLM_FUNC_DECL T roll(tquat< T, Q > const &x)
Returns roll value of euler angles expressed in radians.
glm::inverse
GLM_FUNC_DECL tquat< T, Q > inverse(tquat< T, Q > const &q)
Returns the q inverse.
glm::angleAxis
GLM_FUNC_DECL tquat< T, Q > angleAxis(T const &angle, vec< 3, T, Q > const &axis)
Build a quaternion from an angle and a normalized axis.
glm::normalize
GLM_FUNC_DECL tquat< T, Q > normalize(tquat< T, Q > const &q)
Returns the normalized quaternion.
glm::greaterThanEqual
GLM_FUNC_DECL vec< 4, bool, Q > greaterThanEqual(tquat< T, Q > const &x, tquat< T, Q > const &y)
Returns the component-wise comparison of result x >= y.
glm::mat4_cast
GLM_FUNC_DECL mat< 4, 4, T, Q > mat4_cast(tquat< T, Q > const &x)
Converts a quaternion to a 4 * 4 matrix.
glm::greaterThan
GLM_FUNC_DECL vec< 4, bool, Q > greaterThan(tquat< T, Q > const &x, tquat< T, Q > const &y)
Returns the component-wise comparison of result x > y.