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/// @ref ext_quaternion_common
/// @file glm/ext/quaternion_common.hpp
///
/// @defgroup ext_quaternion_common GLM_EXT_quaternion_common
/// @ingroup ext
///
/// Provides common functions for quaternion types
///
/// Include <glm/ext/quaternion_common.hpp> to use the features of this extension.
///
/// @see ext_scalar_common
/// @see ext_vector_common
/// @see ext_quaternion_float
/// @see ext_quaternion_double
/// @see ext_quaternion_exponential
/// @see ext_quaternion_geometric
/// @see ext_quaternion_relational
/// @see ext_quaternion_trigonometric
/// @see ext_quaternion_transform
#pragma once
// Dependency:
#include "../ext/scalar_constants.hpp"
#include "../ext/quaternion_geometric.hpp"
#include "../common.hpp"
#include "../trigonometric.hpp"
#include "../exponential.hpp"
#include <limits>
#if GLM_MESSAGES == GLM_ENABLE && !defined(GLM_EXT_INCLUDED)
# pragma message("GLM: GLM_EXT_quaternion_common extension included")
#endif
namespace glm
{
/// @addtogroup ext_quaternion_common
/// @{
/// Spherical linear interpolation of two quaternions.
/// The interpolation is oriented and the rotation is performed at constant speed.
/// For short path spherical linear interpolation, use the slerp function.
///
/// @param x A quaternion
/// @param y A quaternion
/// @param a Interpolation factor. The interpolation is defined beyond the range [0, 1].
///
/// @tparam T A floating-point scalar type
/// @tparam Q A value from qualifier enum
///
/// @see - slerp(qua<T, Q> const& x, qua<T, Q> const& y, T const& a)
template<typename T, qualifier Q>
GLM_FUNC_DECL qua<T, Q> mix(qua<T, Q> const& x, qua<T, Q> const& y, T a);
/// Linear interpolation of two quaternions.
/// The interpolation is oriented.
///
/// @param x A quaternion
/// @param y A quaternion
/// @param a Interpolation factor. The interpolation is defined in the range [0, 1].
///
/// @tparam T A floating-point scalar type
/// @tparam Q A value from qualifier enum
template<typename T, qualifier Q>
GLM_FUNC_DECL qua<T, Q> lerp(qua<T, Q> const& x, qua<T, Q> const& y, T a);
/// Spherical linear interpolation of two quaternions.
/// The interpolation always take the short path and the rotation is performed at constant speed.
///
/// @param x A quaternion
/// @param y A quaternion
/// @param a Interpolation factor. The interpolation is defined beyond the range [0, 1].
///
/// @tparam T A floating-point scalar type
/// @tparam Q A value from qualifier enum
template<typename T, qualifier Q>
GLM_FUNC_DECL qua<T, Q> slerp(qua<T, Q> const& x, qua<T, Q> const& y, T a);
/// Spherical linear interpolation of two quaternions with multiple spins over rotation axis.
/// The interpolation always take the short path when the spin count is positive and long path
/// when count is negative. Rotation is performed at constant speed.
///
/// @param x A quaternion
/// @param y A quaternion
/// @param a Interpolation factor. The interpolation is defined beyond the range [0, 1].
/// @param k Additional spin count. If Value is negative interpolation will be on "long" path.
///
/// @tparam T A floating-point scalar type
/// @tparam S An integer scalar type
/// @tparam Q A value from qualifier enum
template<typename T, typename S, qualifier Q>
GLM_FUNC_DECL qua<T, Q> slerp(qua<T, Q> const& x, qua<T, Q> const& y, T a, S k);
/// Returns the q conjugate.
///
/// @tparam T A floating-point scalar type
/// @tparam Q A value from qualifier enum
template<typename T, qualifier Q>
GLM_FUNC_DECL qua<T, Q> conjugate(qua<T, Q> const& q);
/// Returns the q inverse.
///
/// @tparam T A floating-point scalar type
/// @tparam Q A value from qualifier enum
template<typename T, qualifier Q>
GLM_FUNC_DECL qua<T, Q> inverse(qua<T, Q> const& q);
/// Returns true if x holds a NaN (not a number)
/// representation in the underlying implementation's set of
/// floating point representations. Returns false otherwise,
/// including for implementations with no NaN
/// representations.
///
/// /!\ When using compiler fast math, this function may fail.
///
/// @tparam T A floating-point scalar type
/// @tparam Q A value from qualifier enum
template<typename T, qualifier Q>
GLM_FUNC_DECL vec<4, bool, Q> isnan(qua<T, Q> const& x);
/// Returns true if x holds a positive infinity or negative
/// infinity representation in the underlying implementation's
/// set of floating point representations. Returns false
/// otherwise, including for implementations with no infinity
/// representations.
///
/// @tparam T A floating-point scalar type
/// @tparam Q A value from qualifier enum
template<typename T, qualifier Q>
GLM_FUNC_DECL vec<4, bool, Q> isinf(qua<T, Q> const& x);
/// @}
} //namespace glm
#include "quaternion_common.inl"
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