///////////////////////////////////////////////////////////////////////////////////
/// 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();
                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*=(T const & s);
                GLM_FUNC_DECL tdualquat<T, P> & operator/=(T const & 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"