ACE3/extensions/common/glm/gtx/dual_quaternion.hpp

///////////////////////////////////////////////////////////////////////////////////
/// OpenGL Mathematics (glm.g-truc.net)
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/// @ref gtx_dual_quaternion
/// @file glm/gtx/dual_quaternion.hpp
/// @date 2013-02-10 / 2013-02-20
/// @author Maksim Vorobiev (msomeone@gmail.com)
///
/// @see core (dependence)
/// @see gtc_half_float (dependence)
/// @see gtc_constants (dependence)
/// @see gtc_quaternion (dependence)
///
/// @defgroup gtx_dual_quaternion GLM_GTX_dual_quaternion
/// @ingroup gtx
///
/// @brief Defines a templated dual-quaternion type and several dual-quaternion operations.
///
/// <glm/gtx/dual_quaternion.hpp> need to be included to use these functionalities.
///////////////////////////////////////////////////////////////////////////////////

#pragma once

// Dependency:
#include "../glm.hpp"
#include "../gtc/constants.hpp"
#include "../gtc/quaternion.hpp"

#if(defined(GLM_MESSAGES) && !defined(GLM_EXT_INCLUDED))
#    pragma message("GLM: GLM_GTX_dual_quaternion extension included")
#endif

namespace glm
{
    /// @addtogroup gtx_dual_quaternion
    /// @{

    template <typename T, precision P>
    struct tdualquat
    {
        typedef T value_type;
        typedef glm::tquat<T, P> part_type;
        
    public:
        glm::tquat<T, P> real, dual;
        
        //////////////////////////////////////
        // Component accesses

#        ifdef GLM_FORCE_SIZE_FUNC
            typedef size_t size_type;
            /// Return the count of components of a dual quaternion
            GLM_FUNC_DECL GLM_CONSTEXPR size_type size() const;

            GLM_FUNC_DECL part_type & operator[](size_type i);
            GLM_FUNC_DECL part_type const & operator[](size_type i) const;
#        else
            typedef length_t length_type;
            /// Return the count of components of a dual quaternion
            GLM_FUNC_DECL GLM_CONSTEXPR length_type length() const;

            GLM_FUNC_DECL part_type & operator[](length_type i);
            GLM_FUNC_DECL part_type const & operator[](length_type i) const;
#        endif//GLM_FORCE_SIZE_FUNC

        //////////////////////////////////////
        // Implicit basic constructors

        GLM_FUNC_DECL tdualquat();
        GLM_FUNC_DECL tdualquat(tdualquat<T, P> const & d);
        template <precision Q>
        GLM_FUNC_DECL tdualquat(tdualquat<T, Q> const & d);

        //////////////////////////////////////
        // Explicit basic constructors

        GLM_FUNC_DECL explicit tdualquat(ctor);
        GLM_FUNC_DECL explicit tdualquat(tquat<T, P> const & real);
        GLM_FUNC_DECL tdualquat(tquat<T, P> const & orientation, tvec3<T, P> const & translation);
        GLM_FUNC_DECL tdualquat(tquat<T, P> const & real, tquat<T, P> const & dual);

        //////////////////////////////////////////////////////////////
        // tdualquat conversions

#        ifdef GLM_FORCE_EXPLICIT_CTOR
            template <typename U, precision Q>
            GLM_FUNC_DECL explicit tdualquat(tdualquat<U, Q> const & q);
#        else
            template <typename U, precision Q>
            GLM_FUNC_DECL tdualquat(tdualquat<U, Q> const & q);
#        endif

        GLM_FUNC_DECL explicit tdualquat(tmat2x4<T, P> const & holder_mat);
        GLM_FUNC_DECL explicit tdualquat(tmat3x4<T, P> const & aug_mat);
        
        // Operators
        GLM_FUNC_DECL tdualquat<T, P> & operator=(tdualquat<T, P> const & m);

        template <typename U>
        GLM_FUNC_DECL tdualquat<T, P> & operator=(tdualquat<U, P> const & m);
        template <typename U>
        GLM_FUNC_DECL tdualquat<T, P> & operator*=(U s);
        template <typename U>
        GLM_FUNC_DECL tdualquat<T, P> & operator/=(U s);
    };
    
    template <typename T, precision P>
    GLM_FUNC_DECL tquat<T, P> operator- (
        tquat<T, P> const & q);
    
    template <typename T, precision P>
    GLM_FUNC_DECL tdualquat<T, P> operator+ (
        tdualquat<T, P> const & q,
        tdualquat<T, P> const & p);
    
    template <typename T, precision P>
    GLM_FUNC_DECL tdualquat<T, P> operator* (
        tdualquat<T, P> const & q,
        tdualquat<T, P> const & p);
    
    template <typename T, precision P>
    GLM_FUNC_DECL tvec3<T, P> operator* (
        tquat<T, P> const & q,
        tvec3<T, P> const & v);
    
    template <typename T, precision P>
    GLM_FUNC_DECL tvec3<T, P> operator* (
        tvec3<T, P> const & v,
        tquat<T, P> const & q);
    
    template <typename T, precision P>
    GLM_FUNC_DECL tvec4<T, P> operator* (
        tquat<T, P> const & q,
        tvec4<T, P> const & v);
    
    template <typename T, precision P>
    GLM_FUNC_DECL tvec4<T, P> operator* (
        tvec4<T, P> const & v,
        tquat<T, P> const & q);
    
    template <typename T, precision P>
    GLM_FUNC_DECL tdualquat<T, P> operator* (
        tdualquat<T, P> const & q,
        T const & s);
    
    template <typename T, precision P>
    GLM_FUNC_DECL tdualquat<T, P> operator* (
        T const & s,
        tdualquat<T, P> const & q);
    
    template <typename T, precision P>
    GLM_FUNC_DECL tdualquat<T, P> operator/ (
        tdualquat<T, P> const & q,
        T const & s);

    /// Returns the normalized quaternion.
    ///
    /// @see gtx_dual_quaternion
    template <typename T, precision P>
    GLM_FUNC_DECL tdualquat<T, P> normalize(
        tdualquat<T, P> const & q);

    /// Returns the linear interpolation of two dual quaternion.
    ///
    /// @see gtc_dual_quaternion
    template <typename T, precision P>
    GLM_FUNC_DECL tdualquat<T, P> lerp(
        tdualquat<T, P> const & x,
        tdualquat<T, P> const & y,
        T const & a);

    /// Returns the q inverse.
    ///
    /// @see gtx_dual_quaternion
    template <typename T, precision P>
    GLM_FUNC_DECL tdualquat<T, P> inverse(
        tdualquat<T, P> const & q);

    /// Converts a quaternion to a 2 * 4 matrix.
    ///
    /// @see gtx_dual_quaternion
    template <typename T, precision P>
    GLM_FUNC_DECL tmat2x4<T, P> mat2x4_cast(
        tdualquat<T, P> const & x);

    /// Converts a quaternion to a 3 * 4 matrix.
    ///
    /// @see gtx_dual_quaternion
    template <typename T, precision P>
    GLM_FUNC_DECL tmat3x4<T, P> mat3x4_cast(
        tdualquat<T, P> const & x);

    /// Converts a 2 * 4 matrix (matrix which holds real and dual parts) to a quaternion.
    ///
    /// @see gtx_dual_quaternion
    template <typename T, precision P>
    GLM_FUNC_DECL tdualquat<T, P> dualquat_cast(
        tmat2x4<T, P> const & x);

    /// Converts a 3 * 4 matrix (augmented matrix rotation + translation) to a quaternion.
    ///
    /// @see gtx_dual_quaternion
    template <typename T, precision P>
    GLM_FUNC_DECL tdualquat<T, P> dualquat_cast(
        tmat3x4<T, P> const & x);

    
    /// Dual-quaternion of low single-precision floating-point numbers.
    ///
    /// @see gtx_dual_quaternion
    typedef tdualquat<float, lowp>        lowp_dualquat;
    
    /// Dual-quaternion of medium single-precision floating-point numbers.
    ///
    /// @see gtx_dual_quaternion
    typedef tdualquat<float, mediump>    mediump_dualquat;
    
    /// Dual-quaternion of high single-precision floating-point numbers.
    ///
    /// @see gtx_dual_quaternion
    typedef tdualquat<float, highp>        highp_dualquat;


    /// Dual-quaternion of low single-precision floating-point numbers.
    ///
    /// @see gtx_dual_quaternion
    typedef tdualquat<float, lowp>        lowp_fdualquat;
    
    /// Dual-quaternion of medium single-precision floating-point numbers.
    ///
    /// @see gtx_dual_quaternion
    typedef tdualquat<float, mediump>    mediump_fdualquat;
    
    /// Dual-quaternion of high single-precision floating-point numbers.
    ///
    /// @see gtx_dual_quaternion
    typedef tdualquat<float, highp>        highp_fdualquat;
    
    
    /// Dual-quaternion of low double-precision floating-point numbers.
    ///
    /// @see gtx_dual_quaternion
    typedef tdualquat<double, lowp>        lowp_ddualquat;
    
    /// Dual-quaternion of medium double-precision floating-point numbers.
    ///
    /// @see gtx_dual_quaternion
    typedef tdualquat<double, mediump>    mediump_ddualquat;
    
    /// Dual-quaternion of high double-precision 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-precision 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-precision 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"