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/// @ref gtx_quaternion
/// @file glm/gtx/quaternion.hpp
///
/// @see core (dependence)
/// @see gtx_extented_min_max (dependence)
///
/// @defgroup gtx_quaternion GLM_GTX_quaternion
/// @ingroup gtx
///
/// Include <glm/gtx/quaternion.hpp> to use the features of this extension.
///
/// Extented quaternion types and functions
#pragma once
// Dependency:
#include "../glm.hpp"
#include "../gtc/constants.hpp"
#include "../gtc/quaternion.hpp"
#include "../ext/quaternion_exponential.hpp"
#include "../gtx/norm.hpp"
#if GLM_MESSAGES == GLM_ENABLE && !defined(GLM_EXT_INCLUDED)
# ifndef GLM_ENABLE_EXPERIMENTAL
# pragma message("GLM: GLM_GTX_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_quaternion extension included")
# endif
#endif
namespace glm
{
/// @addtogroup gtx_quaternion
/// @{
/// Create an identity quaternion.
///
/// @see gtx_quaternion
template<typename T, qualifier Q>
GLM_FUNC_DECL GLM_CONSTEXPR qua<T, Q> quat_identity();
/// Compute a cross product between a quaternion and a vector.
///
/// @see gtx_quaternion
template<typename T, qualifier Q>
GLM_FUNC_DECL vec<3, T, Q> cross(
qua<T, Q> const& q,
vec<3, T, Q> const& v);
//! Compute a cross product between a vector and a quaternion.
///
/// @see gtx_quaternion
template<typename T, qualifier Q>
GLM_FUNC_DECL vec<3, T, Q> cross(
vec<3, T, Q> const& v,
qua<T, Q> const& q);
//! Compute a point on a path according squad equation.
//! q1 and q2 are control points; s1 and s2 are intermediate control points.
///
/// @see gtx_quaternion
template<typename T, qualifier Q>
GLM_FUNC_DECL qua<T, Q> squad(
qua<T, Q> const& q1,
qua<T, Q> const& q2,
qua<T, Q> const& s1,
qua<T, Q> const& s2,
T const& h);
//! Returns an intermediate control point for squad interpolation.
///
/// @see gtx_quaternion
template<typename T, qualifier Q>
GLM_FUNC_DECL qua<T, Q> intermediate(
qua<T, Q> const& prev,
qua<T, Q> const& curr,
qua<T, Q> const& next);
//! Returns quarternion square root.
///
/// @see gtx_quaternion
//template<typename T, qualifier Q>
//qua<T, Q> sqrt(
// qua<T, Q> const& q);
//! Rotates a 3 components vector by a quaternion.
///
/// @see gtx_quaternion
template<typename T, qualifier Q>
GLM_FUNC_DECL vec<3, T, Q> rotate(
qua<T, Q> const& q,
vec<3, T, Q> const& v);
/// Rotates a 4 components vector by a quaternion.
///
/// @see gtx_quaternion
template<typename T, qualifier Q>
GLM_FUNC_DECL vec<4, T, Q> rotate(
qua<T, Q> const& q,
vec<4, T, Q> const& v);
/// Extract the real component of a quaternion.
///
/// @see gtx_quaternion
template<typename T, qualifier Q>
GLM_FUNC_DECL T extractRealComponent(
qua<T, Q> const& q);
/// Converts a quaternion to a 3 * 3 matrix.
///
/// @see gtx_quaternion
template<typename T, qualifier Q>
GLM_FUNC_DECL mat<3, 3, T, Q> toMat3(
qua<T, Q> const& x){return mat3_cast(x);}
/// Converts a quaternion to a 4 * 4 matrix.
///
/// @see gtx_quaternion
template<typename T, qualifier Q>
GLM_FUNC_DECL mat<4, 4, T, Q> toMat4(
qua<T, Q> const& x){return mat4_cast(x);}
/// Converts a 3 * 3 matrix to a quaternion.
///
/// @see gtx_quaternion
template<typename T, qualifier Q>
GLM_FUNC_DECL qua<T, Q> toQuat(
mat<3, 3, T, Q> const& x){return quat_cast(x);}
/// Converts a 4 * 4 matrix to a quaternion.
///
/// @see gtx_quaternion
template<typename T, qualifier Q>
GLM_FUNC_DECL qua<T, Q> toQuat(
mat<4, 4, T, Q> const& x){return quat_cast(x);}
/// Quaternion interpolation using the rotation short path.
///
/// @see gtx_quaternion
template<typename T, qualifier Q>
GLM_FUNC_DECL qua<T, Q> shortMix(
qua<T, Q> const& x,
qua<T, Q> const& y,
T const& a);
/// Quaternion normalized linear interpolation.
///
/// @see gtx_quaternion
template<typename T, qualifier Q>
GLM_FUNC_DECL qua<T, Q> fastMix(
qua<T, Q> const& x,
qua<T, Q> const& y,
T const& a);
/// Compute the rotation between two vectors.
/// @param orig vector, needs to be normalized
/// @param dest vector, needs to be normalized
///
/// @see gtx_quaternion
template<typename T, qualifier Q>
GLM_FUNC_DECL qua<T, Q> rotation(
vec<3, T, Q> const& orig,
vec<3, T, Q> const& dest);
/// Returns the squared length of x.
///
/// @see gtx_quaternion
template<typename T, qualifier Q>
GLM_FUNC_DECL GLM_CONSTEXPR T length2(qua<T, Q> const& q);
/// @}
}//namespace glm
#include "quaternion.inl"
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