///////////////////////////////////////////////////////////////////////////////////
/// OpenGL Mathematics (glm.g-truc.net)
///
/// Copyright (c) 2005 - 2012 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: Extented quaternion types and functions
/// @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.
//! From GLM_GTX_quaternion extension.
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.
//! From GLM_GTX_quaternion extension.
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.
//! From GLM_GTX_quaternion extension.
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.
//! From GLM_GTX_quaternion extension.
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.
//! From GLM_GTX_quaternion extension.
template<typename valType>
detail::tquat<valType> exp(
  detail::tquat<valType> const & q,
  valType const & exponent);

//! Returns a log of a quaternion.
//! From GLM_GTX_quaternion extension.
template<typename valType>
detail::tquat<valType> log(
  detail::tquat<valType> const & q);

//! Returns x raised to the y power.
//! From GLM_GTX_quaternion extension.
template<typename valType>
detail::tquat<valType> pow(
  detail::tquat<valType> const & x,
  valType const & y);

//! Returns quarternion square root.
//! From GLM_GTX_quaternion extension.
//template <typename valType>
//detail::tquat<valType> sqrt(
//	detail::tquat<valType> const & q);

//! Rotates a 3 components vector by a quaternion.
//! From GLM_GTX_transform extension.
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.
//! From GLM_GTX_transform extension.
template<typename valType>
detail::tvec4<valType> rotate(
  detail::tquat<valType> const & q,
  detail::tvec4<valType> const & v);

//! Returns the quaternion rotation angle.
//! From GLM_GTX_quaternion extension.
template<typename valType>
valType angle(
  detail::tquat<valType> const & x);

//! Returns the q rotation axis.
//! From GLM_GTX_quaternion extension.
template<typename valType>
detail::tvec3<valType> axis(
  detail::tquat<valType> const & x);

//! Build a quaternion from an angle and a normalized axis.
//! From GLM_GTX_quaternion extension.
template<typename valType>
detail::tquat<valType> angleAxis(
  valType const & angle,
  valType const & x,
  valType const & y,
  valType const & z);

//! Build a quaternion from an angle and a normalized axis.
//! From GLM_GTX_quaternion extension.
template<typename valType>
detail::tquat<valType> angleAxis(
  valType const & angle,
  detail::tvec3<valType> const & axis);

//! Extract the real component of a quaternion.
//! From GLM_GTX_quaternion extension.
template<typename valType>
valType extractRealComponent(
  detail::tquat<valType> const & q);

//! Returns roll value of euler angles in degrees.
//! From GLM_GTX_quaternion extension.
template<typename valType>
valType roll(
  detail::tquat<valType> const & x);

//! Returns pitch value of euler angles in degrees.
//! From GLM_GTX_quaternion extension.
template<typename valType>
valType pitch(
  detail::tquat<valType> const & x);

//! Returns yaw value of euler angles in degrees.
//! From GLM_GTX_quaternion extension.
template<typename valType>
valType yaw(
  detail::tquat<valType> const & x);

//! Converts a quaternion to a 3 * 3 matrix.
//! From GLM_GTX_quaternion extension.
template<typename valType>
detail::tmat3x3<valType> toMat3(
  detail::tquat<valType> const & x)
{
    return mat3_cast(x);
}

//! Converts a quaternion to a 4 * 4 matrix.
//! From GLM_GTX_quaternion extension.
template<typename valType>
detail::tmat4x4<valType> toMat4(
  detail::tquat<valType> const & x)
{
    return mat4_cast(x);
}

//! Converts a 3 * 3 matrix to a quaternion.
//! From GLM_GTX_quaternion extension.
template<typename valType>
detail::tquat<valType> toQuat(
  detail::tmat3x3<valType> const & x)
{
    return quat_cast(x);
}

//! Converts a 4 * 4 matrix to a quaternion.
//! From GLM_GTX_quaternion extension.
template<typename valType>
detail::tquat<valType> toQuat(
  detail::tmat4x4<valType> const & x)
{
    return quat_cast(x);
}

//! Quaternion interpolation using the rotation short path.
//! From GLM_GTX_quaternion extension.
template<typename T>
detail::tquat<T> shortMix(
  detail::tquat<T> const & x,
  detail::tquat<T> const & y,
  T const & a);

//! Quaternion normalized linear interpolation.
//! From GLM_GTX_quaternion extension.
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
