/// @ref gtx_dual_quaternion
/// @file glm/gtx/dual_quaternion.hpp
/// @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 GLM_MESSAGES == GLM_MESSAGES_ENABLED && !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 = defaultp>
struct tdualquat
{
// -- Implementation detail --
typedef T value_type;
typedef glm::tquat<T, P> part_type;
// -- Data --
glm::tquat<T, P> real, dual;
// -- Component accesses --
typedef length_t length_type;
/// Return the count of components of a dual quaternion
GLM_FUNC_DECL static 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_CTOR;
GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tdualquat<T, P> const & d) GLM_DEFAULT;
template <precision Q>
GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tdualquat<T, Q> const & d);
// -- Explicit basic constructors --
GLM_FUNC_DECL GLM_CONSTEXPR_CTOR explicit tdualquat(ctor);
GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tquat<T, P> const & real);
GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tquat<T, P> const & orientation, tvec3<T, P> const & translation);
GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tquat<T, P> const & real, tquat<T, P> const & dual);
// -- Conversion constructors --
template <typename U, precision Q>
GLM_FUNC_DECL GLM_CONSTEXPR GLM_EXPLICIT tdualquat(tdualquat<U, Q> const & q);
GLM_FUNC_DECL GLM_EXPLICIT tdualquat(tmat2x4<T, P> const & holder_mat);
GLM_FUNC_DECL GLM_EXPLICIT tdualquat(tmat3x4<T, P> const & aug_mat);
// -- Unary arithmetic operators --
GLM_FUNC_DECL tdualquat<T, P> & operator=(tdualquat<T, P> const & m) GLM_DEFAULT;
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);
};
// -- Unary bit operators --
template <typename T, precision P>
GLM_FUNC_DECL tdualquat<T, P> operator+(tdualquat<T, P> const & q);
template <typename T, precision P>
GLM_FUNC_DECL tdualquat<T, P> operator-(tdualquat<T, P> const & q);
// -- Binary operators --
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*(tdualquat<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, tdualquat<T, P> const & q);
template <typename T, precision P>
GLM_FUNC_DECL tvec4<T, P> operator*(tdualquat<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, 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);
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);
// -- Boolean operators --
template <typename T, precision P>
GLM_FUNC_DECL bool operator==(tdualquat<T, P> const & q1, tdualquat<T, P> const & q2);
template <typename T, precision P>
GLM_FUNC_DECL bool operator!=(tdualquat<T, P> const & q1, tdualquat<T, P> const & q2);
/// 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"
