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///////////////////////////////////////////////////////////////////////////////////
/// OpenGL Mathematics (glm.g-truc.net)
///
/// Copyright (c) 2005 - 2013 G-Truc Creation (www.g-truc.net)
/// Permission is hereby granted, free of charge, to any person obtaining a copy
/// of this software and associated documentation files (the "Software"), to deal
/// in the Software without restriction, including without limitation the rights
/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
/// copies of the Software, and to permit persons to whom the Software is
/// furnished to do so, subject to the following conditions:
///
/// The above copyright notice and this permission notice shall be included in
/// all copies or substantial portions of the Software.
///
/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
/// THE SOFTWARE.
///
/// @ref gtx_quaternion
/// @file glm/gtx/quaternion.hpp
/// @date 2005-12-21 / 2011-06-07
/// @author Christophe Riccio
///
/// @see core (dependence)
/// @see gtx_extented_min_max (dependence)
///
/// @defgroup gtx_quaternion GLM_GTX_quaternion
/// @ingroup gtx
///
/// @brief Extented quaternion types and functions
///
/// <glm/gtx/quaternion.hpp> need to be included to use these functionalities.
///////////////////////////////////////////////////////////////////////////////////
#ifndef GLM_GTX_quaternion
#define GLM_GTX_quaternion GLM_VERSION
// Dependency:
#include "../glm.hpp"
#include "../gtc/quaternion.hpp"
#if(defined(GLM_MESSAGES) && !defined(glm_ext))
# pragma message("GLM: GLM_GTX_quaternion extension included")
#endif
namespace glm
{
/// @addtogroup gtx_quaternion
/// @{
//! Compute a cross product between a quaternion and a vector.
///
/// @see gtx_quaternion
template <typename valType>
detail::tvec3<valType> cross(
detail::tquat<valType> const & q,
detail::tvec3<valType> const & v);
//! Compute a cross product between a vector and a quaternion.
///
/// @see gtx_quaternion
template <typename valType>
detail::tvec3<valType> cross(
detail::tvec3<valType> const & v,
detail::tquat<valType> 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 valType>
detail::tquat<valType> squad(
detail::tquat<valType> const & q1,
detail::tquat<valType> const & q2,
detail::tquat<valType> const & s1,
detail::tquat<valType> const & s2,
valType const & h);
//! Returns an intermediate control point for squad interpolation.
///
/// @see gtx_quaternion
template <typename valType>
detail::tquat<valType> intermediate(
detail::tquat<valType> const & prev,
detail::tquat<valType> const & curr,
detail::tquat<valType> const & next);
//! Returns a exp of a quaternion.
///
/// @see gtx_quaternion
template <typename valType>
detail::tquat<valType> exp(
detail::tquat<valType> const & q);
//! Returns a log of a quaternion.
///
/// @see gtx_quaternion
template <typename valType>
detail::tquat<valType> log(
detail::tquat<valType> const & q);
/// Returns x raised to the y power.
///
/// @see gtx_quaternion
template <typename valType>
detail::tquat<valType> pow(
detail::tquat<valType> const & x,
valType const & y);
//! Returns quarternion square root.
///
/// @see gtx_quaternion
//template <typename valType>
//detail::tquat<valType> sqrt(
// detail::tquat<valType> const & q);
//! Rotates a 3 components vector by a quaternion.
///
/// @see gtx_quaternion
template <typename valType>
detail::tvec3<valType> rotate(
detail::tquat<valType> const & q,
detail::tvec3<valType> const & v);
/// Rotates a 4 components vector by a quaternion.
///
/// @see gtx_quaternion
template <typename valType>
detail::tvec4<valType> rotate(
detail::tquat<valType> const & q,
detail::tvec4<valType> const & v);
/// Extract the real component of a quaternion.
///
/// @see gtx_quaternion
template <typename valType>
valType extractRealComponent(
detail::tquat<valType> const & q);
/// Converts a quaternion to a 3 * 3 matrix.
///
/// @see gtx_quaternion
template <typename valType>
detail::tmat3x3<valType> toMat3(
detail::tquat<valType> const & x){return mat3_cast(x);}
/// Converts a quaternion to a 4 * 4 matrix.
///
/// @see gtx_quaternion
template <typename valType>
detail::tmat4x4<valType> toMat4(
detail::tquat<valType> const & x){return mat4_cast(x);}
/// Converts a 3 * 3 matrix to a quaternion.
///
/// @see gtx_quaternion
template <typename valType>
detail::tquat<valType> toQuat(
detail::tmat3x3<valType> const & x){return quat_cast(x);}
/// Converts a 4 * 4 matrix to a quaternion.
///
/// @see gtx_quaternion
template <typename valType>
detail::tquat<valType> toQuat(
detail::tmat4x4<valType> const & x){return quat_cast(x);}
/// Quaternion interpolation using the rotation short path.
///
/// @see gtx_quaternion
template <typename T>
detail::tquat<T> shortMix(
detail::tquat<T> const & x,
detail::tquat<T> const & y,
T const & a);
/// Quaternion normalized linear interpolation.
///
/// @see gtx_quaternion
template <typename T>
detail::tquat<T> fastMix(
detail::tquat<T> const & x,
detail::tquat<T> const & y,
T const & a);
/// @}
}//namespace glm
#include "quaternion.inl"
#endif//GLM_GTX_quaternion
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