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/// @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"
#if GLM_MESSAGES == GLM_ENABLE && !defined(GLM_EXT_INCLUDED)
# ifndef GLM_ENABLE_EXPERIMENTAL
# pragma message("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.")
# else
# pragma message("GLM: GLM_GTX_dual_quaternion extension included")
# endif
#endif
namespace glm
{
/// @addtogroup gtx_dual_quaternion
/// @{
template<typename T, qualifier Q = defaultp>
struct tdualquat
{
// -- Implementation detail --
typedef T value_type;
typedef qua<T, Q> part_type;
// -- Data --
qua<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;
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(qua<T, Q> const& real);
GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(qua<T, Q> const& orientation, vec<3, T, Q> const& translation);
GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(qua<T, Q> const& real, qua<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 GLM_CONSTEXPR tdualquat(mat<2, 4, T, Q> const& holder_mat);
GLM_FUNC_DECL GLM_EXPLICIT GLM_CONSTEXPR 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"
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