1b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/////////////////////////////////////////////////////////////////////////////////// 2b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// OpenGL Mathematics (glm.g-truc.net) 3b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// 4b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// Copyright (c) 2005 - 2014 G-Truc Creation (www.g-truc.net) 5b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// Permission is hereby granted, free of charge, to any person obtaining a copy 6b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// of this software and associated documentation files (the "Software"), to deal 7b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// in the Software without restriction, including without limitation the rights 8b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// copies of the Software, and to permit persons to whom the Software is 10b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// furnished to do so, subject to the following conditions: 11b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// 12b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// The above copyright notice and this permission notice shall be included in 13b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// all copies or substantial portions of the Software. 14b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// 15b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 21b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// THE SOFTWARE. 22b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// 23b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// @ref gtx_dual_quaternion 24b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// @file glm/gtx/dual_quaternion.hpp 25b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// @date 2013-02-10 / 2013-02-20 26b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// @author Maksim Vorobiev (msomeone@gmail.com) 27b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// 28b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// @see core (dependence) 29b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// @see gtc_half_float (dependence) 30b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// @see gtc_constants (dependence) 31b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// @see gtc_quaternion (dependence) 32b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// 33b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// @defgroup gtc_dual_quaternion GLM_GTX_dual_quaternion 34b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// @ingroup gtc 35b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// 36b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// @brief Defines a templated dual-quaternion type and several dual-quaternion operations. 37b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// 38b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/// <glm/gtx/dual_quaternion.hpp> need to be included to use these functionalities. 39b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG/////////////////////////////////////////////////////////////////////////////////// 40b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 41b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG#ifndef GLM_GTX_dual_quaternion 42b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG#define GLM_GTX_dual_quaternion 43b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 44b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG// Dependency: 45b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG#include "../glm.hpp" 46b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG#include "../gtc/constants.hpp" 47b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG#include "../gtc/quaternion.hpp" 48b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 49b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG#if(defined(GLM_MESSAGES) && !defined(GLM_EXT_INCLUDED)) 50b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG# pragma message("GLM: GLM_GTX_dual_quaternion extension included") 51b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG#endif 52b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 53b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarGnamespace glm{ 54b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarGnamespace detail 55b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG{ 56b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG template <typename T, precision P> 57b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG struct tdualquat 58b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG { 59b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG enum ctor{null}; 60b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 61b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG typedef glm::detail::tquat<T, P> part_type; 62b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 63b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG public: 64b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG glm::detail::tquat<T, P> real, dual; 65b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 66b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG GLM_FUNC_DECL GLM_CONSTEXPR int length() const; 67b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 68b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG // Constructors 69b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG GLM_FUNC_DECL tdualquat(); 70b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG GLM_FUNC_DECL explicit tdualquat(tquat<T, P> const & real); 71b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG GLM_FUNC_DECL tdualquat(tquat<T, P> const & real,tquat<T, P> const & dual); 72b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG GLM_FUNC_DECL tdualquat(tquat<T, P> const & orientation,tvec3<T, P> const& translation); 73b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 74b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG ////////////////////////////////////////////////////////////// 75b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG // tdualquat conversions 76b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG GLM_FUNC_DECL explicit tdualquat(tmat2x4<T, P> const & holder_mat); 77b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG GLM_FUNC_DECL explicit tdualquat(tmat3x4<T, P> const & aug_mat); 78b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 79b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG // Accesses 80b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG GLM_FUNC_DECL part_type & operator[](int i); 81b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG GLM_FUNC_DECL part_type const & operator[](int i) const; 82b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 83b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG // Operators 84b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG GLM_FUNC_DECL tdualquat<T, P> & operator*=(T const & s); 85b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG GLM_FUNC_DECL tdualquat<T, P> & operator/=(T const & s); 86b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG }; 87b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 88b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG template <typename T, precision P> 89b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG GLM_FUNC_DECL detail::tquat<T, P> operator- ( 90b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG detail::tquat<T, P> const & q); 91b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 92b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG template <typename T, precision P> 93b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG GLM_FUNC_DECL detail::tdualquat<T, P> operator+ ( 94b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG detail::tdualquat<T, P> const & q, 95b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG detail::tdualquat<T, P> const & p); 96b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 97b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG template <typename T, precision P> 98b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG GLM_FUNC_DECL detail::tdualquat<T, P> operator* ( 99b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG detail::tdualquat<T, P> const & q, 100b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG detail::tdualquat<T, P> const & p); 101b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 102b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG template <typename T, precision P> 103b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG GLM_FUNC_DECL detail::tvec3<T, P> operator* ( 104b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG detail::tquat<T, P> const & q, 105b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG detail::tvec3<T, P> const & v); 106b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 107b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG template <typename T, precision P> 108b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG GLM_FUNC_DECL detail::tvec3<T, P> operator* ( 109b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG detail::tvec3<T, P> const & v, 110b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG detail::tquat<T, P> const & q); 111b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 112b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG template <typename T, precision P> 113b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG GLM_FUNC_DECL detail::tvec4<T, P> operator* ( 114b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG detail::tquat<T, P> const & q, 115b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG detail::tvec4<T, P> const & v); 116b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 117b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG template <typename T, precision P> 118b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG GLM_FUNC_DECL detail::tvec4<T, P> operator* ( 119b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG detail::tvec4<T, P> const & v, 120b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG detail::tquat<T, P> const & q); 121b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 122b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG template <typename T, precision P> 123b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG GLM_FUNC_DECL detail::tdualquat<T, P> operator* ( 124b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG detail::tdualquat<T, P> const & q, 125b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG T const & s); 126b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 127b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG template <typename T, precision P> 128b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG GLM_FUNC_DECL detail::tdualquat<T, P> operator* ( 129b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG T const & s, 130b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG detail::tdualquat<T, P> const & q); 131b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 132b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG template <typename T, precision P> 133b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG GLM_FUNC_DECL detail::tdualquat<T, P> operator/ ( 134b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG detail::tdualquat<T, P> const & q, 135b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG T const & s); 136b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG} //namespace detail 137b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 138b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// @addtogroup gtc_dual_quaternion 139b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// @{ 140b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 141b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// Returns the normalized quaternion. 142b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// 143b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// @see gtc_dual_quaternion 144b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG template <typename T, precision P> 145b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG GLM_FUNC_DECL detail::tdualquat<T, P> normalize( 146b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG detail::tdualquat<T, P> const & q); 147b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 148b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// Returns the linear interpolation of two dual quaternion. 149b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// 150b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// @see gtc_dual_quaternion 151b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG template <typename T, precision P> 152b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG GLM_FUNC_DECL detail::tdualquat<T, P> lerp( 153b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG detail::tdualquat<T, P> const & x, 154b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG detail::tdualquat<T, P> const & y, 155b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG T const & a); 156b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 157b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// Returns the q inverse. 158b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// 159b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// @see gtc_dual_quaternion 160b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG template <typename T, precision P> 161b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG GLM_FUNC_DECL detail::tdualquat<T, P> inverse( 162b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG detail::tdualquat<T, P> const & q); 163b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 164b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /* 165b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// Extracts a rotation part from dual-quaternion to a 3 * 3 matrix. 166b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// TODO 167b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// 168b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// @see gtc_dual_quaternion 169b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG template <typename T, precision P> 170b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG detail::tmat3x3<T, P> mat3_cast( 171b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG detail::tdualquat<T, P> const & x); 172b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG */ 173b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 174b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// Converts a quaternion to a 2 * 4 matrix. 175b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// 176b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// @see gtc_dual_quaternion 177b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG template <typename T, precision P> 178b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG GLM_FUNC_DECL detail::tmat2x4<T, P> mat2x4_cast( 179b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG detail::tdualquat<T, P> const & x); 180b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 181b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// Converts a quaternion to a 3 * 4 matrix. 182b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// 183b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// @see gtc_dual_quaternion 184b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG template <typename T, precision P> 185b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG GLM_FUNC_DECL detail::tmat3x4<T, P> mat3x4_cast( 186b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG detail::tdualquat<T, P> const & x); 187b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 188b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// Converts a 2 * 4 matrix (matrix which holds real and dual parts) to a quaternion. 189b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// 190b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// @see gtc_dual_quaternion 191b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG template <typename T, precision P> 192b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG GLM_FUNC_DECL detail::tdualquat<T, P> dualquat_cast( 193b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG detail::tmat2x4<T, P> const & x); 194b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 195b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// Converts a 3 * 4 matrix (augmented matrix rotation + translation) to a quaternion. 196b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// 197b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// @see gtc_dual_quaternion 198b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG template <typename T, precision P> 199b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG GLM_FUNC_DECL detail::tdualquat<T, P> dualquat_cast( 200b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG detail::tmat3x4<T, P> const & x); 201b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 202b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 203b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// Dual-quaternion of low single-precision floating-point numbers. 204b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// 205b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// @see gtc_dual_quaternion 206b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG typedef detail::tdualquat<float, lowp> lowp_dualquat; 207b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 208b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// Dual-quaternion of medium single-precision floating-point numbers. 209b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// 210b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// @see gtc_dual_quaternion 211b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG typedef detail::tdualquat<float, mediump> mediump_dualquat; 212b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 213b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// Dual-quaternion of high single-precision floating-point numbers. 214b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// 215b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// @see gtc_dual_quaternion 216b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG typedef detail::tdualquat<float, highp> highp_dualquat; 217b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 218b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 219b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// Dual-quaternion of low single-precision floating-point numbers. 220b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// 221b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// @see gtc_dual_quaternion 222b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG typedef detail::tdualquat<float, lowp> lowp_fdualquat; 223b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 224b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// Dual-quaternion of medium single-precision floating-point numbers. 225b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// 226b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// @see gtc_dual_quaternion 227b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG typedef detail::tdualquat<float, mediump> mediump_fdualquat; 228b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 229b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// Dual-quaternion of high single-precision floating-point numbers. 230b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// 231b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// @see gtc_dual_quaternion 232b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG typedef detail::tdualquat<float, highp> highp_fdualquat; 233b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 234b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 235b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// Dual-quaternion of low double-precision floating-point numbers. 236b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// 237b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// @see gtc_dual_quaternion 238b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG typedef detail::tdualquat<double, lowp> lowp_ddualquat; 239b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 240b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// Dual-quaternion of medium double-precision floating-point numbers. 241b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// 242b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// @see gtc_dual_quaternion 243b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG typedef detail::tdualquat<double, mediump> mediump_ddualquat; 244b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 245b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// Dual-quaternion of high double-precision floating-point numbers. 246b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// 247b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// @see gtc_dual_quaternion 248b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG typedef detail::tdualquat<double, highp> highp_ddualquat; 249b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 250b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 251b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG#if(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT)) 252b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// Dual-quaternion of floating-point numbers. 253b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// 254b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// @see gtc_dual_quaternion 255b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG typedef highp_fdualquat dualquat; 256b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 257b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// Dual-quaternion of single-precision floating-point numbers. 258b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// 259b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// @see gtc_dual_quaternion 260b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG typedef highp_fdualquat fdualquat; 261b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG#elif(defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT)) 262b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG typedef highp_fdualquat dualquat; 263b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG typedef highp_fdualquat fdualquat; 264b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG#elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT)) 265b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG typedef mediump_fdualquat dualquat; 266b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG typedef mediump_fdualquat fdualquat; 267b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG#elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && defined(GLM_PRECISION_LOWP_FLOAT)) 268b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG typedef lowp_fdualquat dualquat; 269b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG typedef lowp_fdualquat fdualquat; 270b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG#else 271b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG# error "GLM error: multiple default precision requested for single-precision floating-point types" 272b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG#endif 273b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 274b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 275b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG#if(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE)) 276b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// Dual-quaternion of default double-precision floating-point numbers. 277b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// 278b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// @see gtc_dual_quaternion 279b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG typedef highp_ddualquat ddualquat; 280b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG#elif(defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE)) 281b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG typedef highp_ddualquat ddualquat; 282b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG#elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE)) 283b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG typedef mediump_ddualquat ddualquat; 284b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG#elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && defined(GLM_PRECISION_LOWP_DOUBLE)) 285b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG typedef lowp_ddualquat ddualquat; 286b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG#else 287b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG# error "GLM error: Multiple default precision requested for double-precision floating-point types" 288b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG#endif 289b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 290b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG /// @} 291b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG} //namespace glm 292b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 293b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG#include "dual_quaternion.inl" 294b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG 295b0b195df6c4343219e339ccb37978e8432a5f871Tony-LunarG#endif//GLM_GTX_dual_quaternion 296