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<li class="navelem"><a class="el" href="dir_3a581ba30d25676e4b797b1f96d53b45.html">F:</a></li><li class="navelem"><a class="el" href="dir_9e5fe034a00e89334fd5186c3e7db156.html">G-Truc</a></li><li class="navelem"><a class="el" href="dir_d9496f0844b48bc7e53b5af8c99b9ab2.html">Source</a></li><li class="navelem"><a class="el" href="dir_a8bee7be44182a33f3820393ae0b105d.html">G-Truc</a></li><li class="navelem"><a class="el" href="dir_44e5e654415abd9ca6fdeaddaff8565e.html">glm</a></li><li class="navelem"><a class="el" href="dir_cef2d71d502cb69a9252bca2297d9549.html">glm</a></li><li class="navelem"><a class="el" href="dir_f35778ec600a1b9bbc4524e62e226aa2.html">gtx</a></li> </ul>
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<div class="title">dual_quaternion.hpp</div> </div>
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</div><!--header-->
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<div class="contents">
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<a href="a00022.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> </div>
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<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="preprocessor">#pragma once</span></div>
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<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> </div>
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<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment">// Dependency:</span></div>
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<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#include "../glm.hpp"</span></div>
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<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="preprocessor">#include "../gtc/constants.hpp"</span></div>
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<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="preprocessor">#include "../gtc/quaternion.hpp"</span></div>
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<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> </div>
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<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="preprocessor">#if GLM_MESSAGES == GLM_ENABLE && !defined(GLM_EXT_INCLUDED)</span></div>
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<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="preprocessor"># ifndef GLM_ENABLE_EXPERIMENTAL</span></div>
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<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="preprocessor"># pragma message("GLM: GLM_GTX_dual_quaternion is an experimental extension and may change in the future. Use #define GLM_ENABLE_EXPERIMENTAL before including it, if you really want to use it.")</span></div>
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<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="preprocessor"># else</span></div>
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<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="preprocessor"># pragma message("GLM: GLM_GTX_dual_quaternion extension included")</span></div>
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<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="preprocessor"># endif</span></div>
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<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="preprocessor">#endif</span></div>
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<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> </div>
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<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="keyword">namespace </span><a class="code" href="a00236.html">glm</a></div>
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<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> {</div>
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<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> </div>
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<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <span class="keyword">template</span><<span class="keyword">typename</span> T, qualifier Q = defaultp></div>
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<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <span class="keyword">struct </span>tdualquat</div>
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<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  {</div>
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<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <span class="comment">// -- Implementation detail --</span></div>
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<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> </div>
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<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <span class="keyword">typedef</span> T value_type;</div>
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<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="keyword">typedef</span> qua<T, Q> part_type;</div>
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<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> </div>
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<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="comment">// -- Data --</span></div>
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<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> </div>
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<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  qua<T, Q> real, dual;</div>
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<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> </div>
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<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="comment">// -- Component accesses --</span></div>
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<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> </div>
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<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="keyword">typedef</span> length_t length_type;</div>
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<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  GLM_FUNC_DECL <span class="keyword">static</span> GLM_CONSTEXPR length_type <a class="code" href="a00254.html#gab703732449be6c7199369b3f9a91ed38">length</a>(){<span class="keywordflow">return</span> 2;}</div>
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<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> </div>
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<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  GLM_FUNC_DECL part_type & operator[](length_type i);</div>
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<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  GLM_FUNC_DECL part_type <span class="keyword">const</span>& operator[](length_type i) <span class="keyword">const</span>;</div>
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<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> </div>
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<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="comment">// -- Implicit basic constructors --</span></div>
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<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> </div>
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<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  GLM_FUNC_DECL GLM_CONSTEXPR tdualquat() GLM_DEFAULT;</div>
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<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tdualquat<T, Q> const& d) GLM_DEFAULT;</div>
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<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  template<qualifier P></div>
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<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tdualquat<T, P> const& d);</div>
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<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> </div>
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<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <span class="comment">// -- Explicit basic constructors --</span></div>
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<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> </div>
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<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(qua<T, Q> const& real);</div>
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<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(qua<T, Q> const& <a class="code" href="a00356.html#ga1a32fceb71962e6160e8af295c91930a">orientation</a>, vec<3, T, Q> const& translation);</div>
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<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(qua<T, Q> const& real, qua<T, Q> const& dual);</div>
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<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> </div>
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<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="comment">// -- Conversion constructors --</span></div>
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<div class="line"><a name="l00071"></a><span class="lineno"> 71</span> </div>
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<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  template<typename U, qualifier P></div>
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<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  GLM_FUNC_DECL GLM_CONSTEXPR GLM_EXPLICIT tdualquat(tdualquat<U, P> const& q);</div>
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<div class="line"><a name="l00074"></a><span class="lineno"> 74</span> </div>
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<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  GLM_FUNC_DECL GLM_EXPLICIT GLM_CONSTEXPR tdualquat(mat<2, 4, T, Q> const& holder_mat);</div>
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<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  GLM_FUNC_DECL GLM_EXPLICIT GLM_CONSTEXPR tdualquat(mat<3, 4, T, Q> const& aug_mat);</div>
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<div class="line"><a name="l00077"></a><span class="lineno"> 77</span> </div>
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<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="comment">// -- Unary arithmetic operators --</span></div>
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<div class="line"><a name="l00079"></a><span class="lineno"> 79</span> </div>
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<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  GLM_FUNC_DECL tdualquat<T, Q> & operator=(tdualquat<T, Q> const& m) GLM_DEFAULT;</div>
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<div class="line"><a name="l00081"></a><span class="lineno"> 81</span> </div>
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<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  template<typename U></div>
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<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  GLM_FUNC_DECL tdualquat<T, Q> & operator=(tdualquat<U, Q> const& m);</div>
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<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  template<typename U></div>
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<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  GLM_FUNC_DECL tdualquat<T, Q> & operator*=(U s);</div>
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<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  template<typename U></div>
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<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  GLM_FUNC_DECL tdualquat<T, Q> & operator/=(U s);</div>
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<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  };</div>
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<div class="line"><a name="l00089"></a><span class="lineno"> 89</span> </div>
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<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="comment">// -- Unary bit operators --</span></div>
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<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> </div>
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<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  template<typename T, qualifier Q></div>
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<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  GLM_FUNC_DECL tdualquat<T, Q> operator+(tdualquat<T, Q> const& q);</div>
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<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> </div>
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<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  template<typename T, qualifier Q></div>
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<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  GLM_FUNC_DECL tdualquat<T, Q> operator-(tdualquat<T, Q> const& q);</div>
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<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> </div>
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<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="comment">// -- Binary operators --</span></div>
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<div class="line"><a name="l00099"></a><span class="lineno"> 99</span> </div>
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<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  template<typename T, qualifier Q></div>
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<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  GLM_FUNC_DECL tdualquat<T, Q> operator+(tdualquat<T, Q> const& q, tdualquat<T, Q> const& p);</div>
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<div class="line"><a name="l00102"></a><span class="lineno"> 102</span> </div>
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<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  template<typename T, qualifier Q></div>
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<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  GLM_FUNC_DECL tdualquat<T, Q> operator*(tdualquat<T, Q> const& q, tdualquat<T, Q> const& p);</div>
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<div class="line"><a name="l00105"></a><span class="lineno"> 105</span> </div>
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<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  template<typename T, qualifier Q></div>
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<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  GLM_FUNC_DECL vec<3, T, Q> operator*(tdualquat<T, Q> const& q, vec<3, T, Q> const& v);</div>
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<div class="line"><a name="l00108"></a><span class="lineno"> 108</span> </div>
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<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  template<typename T, qualifier Q></div>
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<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  GLM_FUNC_DECL vec<3, T, Q> operator*(vec<3, T, Q> const& v, tdualquat<T, Q> const& q);</div>
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<div class="line"><a name="l00111"></a><span class="lineno"> 111</span> </div>
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<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  template<typename T, qualifier Q></div>
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<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  GLM_FUNC_DECL vec<4, T, Q> operator*(tdualquat<T, Q> const& q, vec<4, T, Q> const& v);</div>
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<div class="line"><a name="l00114"></a><span class="lineno"> 114</span> </div>
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<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  template<typename T, qualifier Q></div>
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<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  GLM_FUNC_DECL vec<4, T, Q> operator*(vec<4, T, Q> const& v, tdualquat<T, Q> const& q);</div>
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<div class="line"><a name="l00117"></a><span class="lineno"> 117</span> </div>
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<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  template<typename T, qualifier Q></div>
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<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  GLM_FUNC_DECL tdualquat<T, Q> operator*(tdualquat<T, Q> const& q, T const& s);</div>
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<div class="line"><a name="l00120"></a><span class="lineno"> 120</span> </div>
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<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  template<typename T, qualifier Q></div>
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<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  GLM_FUNC_DECL tdualquat<T, Q> operator*(T const& s, tdualquat<T, Q> const& q);</div>
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<div class="line"><a name="l00123"></a><span class="lineno"> 123</span> </div>
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<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  template<typename T, qualifier Q></div>
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<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  GLM_FUNC_DECL tdualquat<T, Q> operator/(tdualquat<T, Q> const& q, T const& s);</div>
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<div class="line"><a name="l00126"></a><span class="lineno"> 126</span> </div>
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<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <span class="comment">// -- Boolean operators --</span></div>
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<div class="line"><a name="l00128"></a><span class="lineno"> 128</span> </div>
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<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  template<typename T, qualifier Q></div>
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<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  GLM_FUNC_DECL <span class="keywordtype">bool</span> operator==(tdualquat<T, Q> const& q1, tdualquat<T, Q> const& q2);</div>
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<div class="line"><a name="l00131"></a><span class="lineno"> 131</span> </div>
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<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  template<typename T, qualifier Q></div>
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<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  GLM_FUNC_DECL <span class="keywordtype">bool</span> operator!=(tdualquat<T, Q> const& q1, tdualquat<T, Q> const& q2);</div>
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<div class="line"><a name="l00134"></a><span class="lineno"> 134</span> </div>
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<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  template <typename T, qualifier Q></div>
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<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  GLM_FUNC_DECL tdualquat<T, Q> <a class="code" href="a00317.html#ga0b35c0e30df8a875dbaa751e0bd800e0">dual_quat_identity</a>();</div>
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<div class="line"><a name="l00140"></a><span class="lineno"> 140</span> </div>
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<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  template<typename T, qualifier Q></div>
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<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  GLM_FUNC_DECL tdualquat<T, Q> <a class="code" href="a00317.html#ga299b8641509606b1958ffa104a162cfe">normalize</a>(tdualquat<T, Q> const& q);</div>
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<div class="line"><a name="l00146"></a><span class="lineno"> 146</span> </div>
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<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  template<typename T, qualifier Q></div>
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<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  GLM_FUNC_DECL tdualquat<T, Q> <a class="code" href="a00317.html#gace8380112d16d33f520839cb35a4d173">lerp</a>(tdualquat<T, Q> const& x, tdualquat<T, Q> const& y, T const& a);</div>
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<div class="line"><a name="l00152"></a><span class="lineno"> 152</span> </div>
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<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  template<typename T, qualifier Q></div>
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<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  GLM_FUNC_DECL tdualquat<T, Q> <a class="code" href="a00317.html#ga070f521a953f6461af4ab4cf8ccbf27e">inverse</a>(tdualquat<T, Q> const& q);</div>
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<div class="line"><a name="l00158"></a><span class="lineno"> 158</span> </div>
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<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  template<typename T, qualifier Q></div>
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<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  GLM_FUNC_DECL mat<2, 4, T, Q> <a class="code" href="a00317.html#gae99d143b37f9cad4cd9285571aab685a">mat2x4_cast</a>(tdualquat<T, Q> const& x);</div>
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<div class="line"><a name="l00164"></a><span class="lineno"> 164</span> </div>
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<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  template<typename T, qualifier Q></div>
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<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  GLM_FUNC_DECL mat<3, 4, T, Q> <a class="code" href="a00317.html#gaf59f5bb69620d2891c3795c6f2639179">mat3x4_cast</a>(tdualquat<T, Q> const& x);</div>
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<div class="line"><a name="l00170"></a><span class="lineno"> 170</span> </div>
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<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  template<typename T, qualifier Q></div>
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<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  GLM_FUNC_DECL tdualquat<T, Q> <a class="code" href="a00317.html#ga91025ebdca0f4ea54da08497b00e8c84">dualquat_cast</a>(mat<2, 4, T, Q> const& x);</div>
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<div class="line"><a name="l00176"></a><span class="lineno"> 176</span> </div>
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<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  template<typename T, qualifier Q></div>
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<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  GLM_FUNC_DECL tdualquat<T, Q> <a class="code" href="a00317.html#ga91025ebdca0f4ea54da08497b00e8c84">dualquat_cast</a>(mat<3, 4, T, Q> const& x);</div>
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<div class="line"><a name="l00182"></a><span class="lineno"> 182</span> </div>
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<div class="line"><a name="l00183"></a><span class="lineno"> 183</span> </div>
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<div class="line"><a name="l00187"></a><span class="lineno"><a class="line" href="a00317.html#gade05d29ebd4deea0f883d0e1bb4169aa"> 187</a></span>  typedef tdualquat<<span class="keywordtype">float</span>, lowp> <a class="code" href="a00317.html#gade05d29ebd4deea0f883d0e1bb4169aa">lowp_dualquat</a>;</div>
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<div class="line"><a name="l00188"></a><span class="lineno"> 188</span> </div>
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<div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="a00317.html#gaa7aeb54c167712b38f2178a1be2360ad"> 192</a></span>  typedef tdualquat<<span class="keywordtype">float</span>, mediump> <a class="code" href="a00317.html#gaa7aeb54c167712b38f2178a1be2360ad">mediump_dualquat</a>;</div>
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<div class="line"><a name="l00193"></a><span class="lineno"> 193</span> </div>
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<div class="line"><a name="l00197"></a><span class="lineno"><a class="line" href="a00317.html#ga9ef5bf1da52a9d4932335a517086ceaf"> 197</a></span>  typedef tdualquat<<span class="keywordtype">float</span>, highp> <a class="code" href="a00317.html#ga9ef5bf1da52a9d4932335a517086ceaf">highp_dualquat</a>;</div>
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<div class="line"><a name="l00198"></a><span class="lineno"> 198</span> </div>
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<div class="line"><a name="l00199"></a><span class="lineno"> 199</span> </div>
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<div class="line"><a name="l00203"></a><span class="lineno"><a class="line" href="a00317.html#gaa38f671be25a7f3b136a452a8bb42860"> 203</a></span>  typedef tdualquat<<span class="keywordtype">float</span>, lowp> <a class="code" href="a00317.html#gaa38f671be25a7f3b136a452a8bb42860">lowp_fdualquat</a>;</div>
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<div class="line"><a name="l00204"></a><span class="lineno"> 204</span> </div>
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<div class="line"><a name="l00208"></a><span class="lineno"><a class="line" href="a00317.html#ga4a6b594ff7e81150d8143001367a9431"> 208</a></span>  typedef tdualquat<<span class="keywordtype">float</span>, mediump> <a class="code" href="a00317.html#ga4a6b594ff7e81150d8143001367a9431">mediump_fdualquat</a>;</div>
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<div class="line"><a name="l00209"></a><span class="lineno"> 209</span> </div>
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<div class="line"><a name="l00213"></a><span class="lineno"><a class="line" href="a00317.html#ga4c4e55e9c99dc57b299ed590968da564"> 213</a></span>  typedef tdualquat<<span class="keywordtype">float</span>, highp> <a class="code" href="a00317.html#ga4c4e55e9c99dc57b299ed590968da564">highp_fdualquat</a>;</div>
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<div class="line"><a name="l00214"></a><span class="lineno"> 214</span> </div>
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<div class="line"><a name="l00215"></a><span class="lineno"> 215</span> </div>
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<div class="line"><a name="l00219"></a><span class="lineno"><a class="line" href="a00317.html#gab4c5103338af3dac7e0fbc86895a3f1a"> 219</a></span>  typedef tdualquat<<span class="keywordtype">double</span>, lowp> <a class="code" href="a00317.html#gab4c5103338af3dac7e0fbc86895a3f1a">lowp_ddualquat</a>;</div>
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<div class="line"><a name="l00220"></a><span class="lineno"> 220</span> </div>
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<div class="line"><a name="l00224"></a><span class="lineno"><a class="line" href="a00317.html#ga0fb11e48e2d16348ccb06a25213641b4"> 224</a></span>  typedef tdualquat<<span class="keywordtype">double</span>, mediump> <a class="code" href="a00317.html#ga0fb11e48e2d16348ccb06a25213641b4">mediump_ddualquat</a>;</div>
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<div class="line"><a name="l00225"></a><span class="lineno"> 225</span> </div>
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<div class="line"><a name="l00229"></a><span class="lineno"><a class="line" href="a00317.html#ga8f67eafa7197d7a668dad5105a463d2a"> 229</a></span>  typedef tdualquat<<span class="keywordtype">double</span>, highp> <a class="code" href="a00317.html#ga8f67eafa7197d7a668dad5105a463d2a">highp_ddualquat</a>;</div>
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<div class="line"><a name="l00230"></a><span class="lineno"> 230</span> </div>
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<div class="line"><a name="l00231"></a><span class="lineno"> 231</span> </div>
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<div class="line"><a name="l00232"></a><span class="lineno"> 232</span> <span class="preprocessor">#if(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))</span></div>
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<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  <span class="keyword">typedef</span> highp_fdualquat <a class="code" href="a00317.html#gae93abee0c979902fbec6a7bee0f6fae1">dualquat</a>;</div>
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<div class="line"><a name="l00237"></a><span class="lineno"> 237</span> </div>
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<div class="line"><a name="l00241"></a><span class="lineno"><a class="line" href="a00317.html#ga237c2b9b42c9a930e49de5840ae0f930"> 241</a></span>  <span class="keyword">typedef</span> highp_fdualquat <a class="code" href="a00317.html#ga237c2b9b42c9a930e49de5840ae0f930">fdualquat</a>;</div>
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<div class="line"><a name="l00242"></a><span class="lineno"> 242</span> <span class="preprocessor">#elif(defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))</span></div>
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<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  <span class="keyword">typedef</span> highp_fdualquat <a class="code" href="a00317.html#gae93abee0c979902fbec6a7bee0f6fae1">dualquat</a>;</div>
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<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  <span class="keyword">typedef</span> highp_fdualquat <a class="code" href="a00317.html#ga237c2b9b42c9a930e49de5840ae0f930">fdualquat</a>;</div>
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<div class="line"><a name="l00245"></a><span class="lineno"> 245</span> <span class="preprocessor">#elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))</span></div>
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<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  <span class="keyword">typedef</span> mediump_fdualquat <a class="code" href="a00317.html#gae93abee0c979902fbec6a7bee0f6fae1">dualquat</a>;</div>
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<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  <span class="keyword">typedef</span> mediump_fdualquat <a class="code" href="a00317.html#ga237c2b9b42c9a930e49de5840ae0f930">fdualquat</a>;</div>
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<div class="line"><a name="l00248"></a><span class="lineno"> 248</span> <span class="preprocessor">#elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && defined(GLM_PRECISION_LOWP_FLOAT))</span></div>
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<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  <span class="keyword">typedef</span> lowp_fdualquat <a class="code" href="a00317.html#gae93abee0c979902fbec6a7bee0f6fae1">dualquat</a>;</div>
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<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  <span class="keyword">typedef</span> lowp_fdualquat <a class="code" href="a00317.html#ga237c2b9b42c9a930e49de5840ae0f930">fdualquat</a>;</div>
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<div class="line"><a name="l00251"></a><span class="lineno"> 251</span> <span class="preprocessor">#else</span></div>
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<div class="line"><a name="l00252"></a><span class="lineno"> 252</span> <span class="preprocessor"># error "GLM error: multiple default precision requested for single-precision floating-point types"</span></div>
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<div class="line"><a name="l00253"></a><span class="lineno"> 253</span> <span class="preprocessor">#endif</span></div>
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<div class="line"><a name="l00254"></a><span class="lineno"> 254</span> </div>
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<div class="line"><a name="l00255"></a><span class="lineno"> 255</span> </div>
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<div class="line"><a name="l00256"></a><span class="lineno"> 256</span> <span class="preprocessor">#if(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))</span></div>
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<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  <span class="keyword">typedef</span> highp_ddualquat <a class="code" href="a00317.html#ga3d71f98d84ba59dfe4e369fde4714cd6">ddualquat</a>;</div>
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<div class="line"><a name="l00261"></a><span class="lineno"> 261</span> <span class="preprocessor">#elif(defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))</span></div>
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<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  <span class="keyword">typedef</span> highp_ddualquat <a class="code" href="a00317.html#ga3d71f98d84ba59dfe4e369fde4714cd6">ddualquat</a>;</div>
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<div class="line"><a name="l00263"></a><span class="lineno"> 263</span> <span class="preprocessor">#elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))</span></div>
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<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  <span class="keyword">typedef</span> mediump_ddualquat <a class="code" href="a00317.html#ga3d71f98d84ba59dfe4e369fde4714cd6">ddualquat</a>;</div>
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<div class="line"><a name="l00265"></a><span class="lineno"> 265</span> <span class="preprocessor">#elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && defined(GLM_PRECISION_LOWP_DOUBLE))</span></div>
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<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  <span class="keyword">typedef</span> lowp_ddualquat <a class="code" href="a00317.html#ga3d71f98d84ba59dfe4e369fde4714cd6">ddualquat</a>;</div>
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<div class="line"><a name="l00267"></a><span class="lineno"> 267</span> <span class="preprocessor">#else</span></div>
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<div class="line"><a name="l00268"></a><span class="lineno"> 268</span> <span class="preprocessor"># error "GLM error: Multiple default precision requested for double-precision floating-point types"</span></div>
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<div class="line"><a name="l00269"></a><span class="lineno"> 269</span> <span class="preprocessor">#endif</span></div>
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<div class="line"><a name="l00270"></a><span class="lineno"> 270</span> </div>
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<div class="line"><a name="l00272"></a><span class="lineno"> 272</span> } <span class="comment">//namespace glm</span></div>
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<div class="line"><a name="l00273"></a><span class="lineno"> 273</span> </div>
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<div class="line"><a name="l00274"></a><span class="lineno"> 274</span> <span class="preprocessor">#include "dual_quaternion.inl"</span></div>
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<div class="ttc" id="a00317_html_ga3d71f98d84ba59dfe4e369fde4714cd6"><div class="ttname"><a href="a00317.html#ga3d71f98d84ba59dfe4e369fde4714cd6">glm::ddualquat</a></div><div class="ttdeci">highp_ddualquat ddualquat</div><div class="ttdoc">Dual-quaternion of default double-qualifier floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00022_source.html#l00260">dual_quaternion.hpp:260</a></div></div>
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<div class="ttc" id="a00317_html_ga237c2b9b42c9a930e49de5840ae0f930"><div class="ttname"><a href="a00317.html#ga237c2b9b42c9a930e49de5840ae0f930">glm::fdualquat</a></div><div class="ttdeci">highp_fdualquat fdualquat</div><div class="ttdoc">Dual-quaternion of single-qualifier floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00022_source.html#l00241">dual_quaternion.hpp:241</a></div></div>
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<div class="ttc" id="a00317_html_gae99d143b37f9cad4cd9285571aab685a"><div class="ttname"><a href="a00317.html#gae99d143b37f9cad4cd9285571aab685a">glm::mat2x4_cast</a></div><div class="ttdeci">GLM_FUNC_DECL mat< 2, 4, T, Q > mat2x4_cast(tdualquat< T, Q > const &x)</div><div class="ttdoc">Converts a quaternion to a 2 * 4 matrix. </div></div>
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<div class="ttc" id="a00317_html_ga8f67eafa7197d7a668dad5105a463d2a"><div class="ttname"><a href="a00317.html#ga8f67eafa7197d7a668dad5105a463d2a">glm::highp_ddualquat</a></div><div class="ttdeci">tdualquat< double, highp > highp_ddualquat</div><div class="ttdoc">Dual-quaternion of high double-qualifier floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00022_source.html#l00229">dual_quaternion.hpp:229</a></div></div>
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<div class="ttc" id="a00317_html_ga299b8641509606b1958ffa104a162cfe"><div class="ttname"><a href="a00317.html#ga299b8641509606b1958ffa104a162cfe">glm::normalize</a></div><div class="ttdeci">GLM_FUNC_DECL tdualquat< T, Q > normalize(tdualquat< T, Q > const &q)</div><div class="ttdoc">Returns the normalized quaternion. </div></div>
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<div class="ttc" id="a00317_html_ga0b35c0e30df8a875dbaa751e0bd800e0"><div class="ttname"><a href="a00317.html#ga0b35c0e30df8a875dbaa751e0bd800e0">glm::dual_quat_identity</a></div><div class="ttdeci">GLM_FUNC_DECL tdualquat< T, Q > dual_quat_identity()</div><div class="ttdoc">Creates an identity dual quaternion. </div></div>
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<div class="ttc" id="a00317_html_ga070f521a953f6461af4ab4cf8ccbf27e"><div class="ttname"><a href="a00317.html#ga070f521a953f6461af4ab4cf8ccbf27e">glm::inverse</a></div><div class="ttdeci">GLM_FUNC_DECL tdualquat< T, Q > inverse(tdualquat< T, Q > const &q)</div><div class="ttdoc">Returns the q inverse. </div></div>
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<div class="ttc" id="a00317_html_gace8380112d16d33f520839cb35a4d173"><div class="ttname"><a href="a00317.html#gace8380112d16d33f520839cb35a4d173">glm::lerp</a></div><div class="ttdeci">GLM_FUNC_DECL tdualquat< T, Q > lerp(tdualquat< T, Q > const &x, tdualquat< T, Q > const &y, T const &a)</div><div class="ttdoc">Returns the linear interpolation of two dual quaternion. </div></div>
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<div class="ttc" id="a00317_html_gade05d29ebd4deea0f883d0e1bb4169aa"><div class="ttname"><a href="a00317.html#gade05d29ebd4deea0f883d0e1bb4169aa">glm::lowp_dualquat</a></div><div class="ttdeci">tdualquat< float, lowp > lowp_dualquat</div><div class="ttdoc">Dual-quaternion of low single-qualifier floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00022_source.html#l00187">dual_quaternion.hpp:187</a></div></div>
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<div class="ttc" id="a00317_html_gaa38f671be25a7f3b136a452a8bb42860"><div class="ttname"><a href="a00317.html#gaa38f671be25a7f3b136a452a8bb42860">glm::lowp_fdualquat</a></div><div class="ttdeci">tdualquat< float, lowp > lowp_fdualquat</div><div class="ttdoc">Dual-quaternion of low single-qualifier floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00022_source.html#l00203">dual_quaternion.hpp:203</a></div></div>
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<div class="ttc" id="a00254_html_gab703732449be6c7199369b3f9a91ed38"><div class="ttname"><a href="a00254.html#gab703732449be6c7199369b3f9a91ed38">glm::length</a></div><div class="ttdeci">GLM_FUNC_DECL T length(qua< T, Q > const &q)</div><div class="ttdoc">Returns the norm of a quaternions. </div></div>
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<div class="ttc" id="a00317_html_gab4c5103338af3dac7e0fbc86895a3f1a"><div class="ttname"><a href="a00317.html#gab4c5103338af3dac7e0fbc86895a3f1a">glm::lowp_ddualquat</a></div><div class="ttdeci">tdualquat< double, lowp > lowp_ddualquat</div><div class="ttdoc">Dual-quaternion of low double-qualifier floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00022_source.html#l00219">dual_quaternion.hpp:219</a></div></div>
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<div class="ttc" id="a00317_html_gaf59f5bb69620d2891c3795c6f2639179"><div class="ttname"><a href="a00317.html#gaf59f5bb69620d2891c3795c6f2639179">glm::mat3x4_cast</a></div><div class="ttdeci">GLM_FUNC_DECL mat< 3, 4, T, Q > mat3x4_cast(tdualquat< T, Q > const &x)</div><div class="ttdoc">Converts a quaternion to a 3 * 4 matrix. </div></div>
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<div class="ttc" id="a00317_html_gae93abee0c979902fbec6a7bee0f6fae1"><div class="ttname"><a href="a00317.html#gae93abee0c979902fbec6a7bee0f6fae1">glm::dualquat</a></div><div class="ttdeci">highp_fdualquat dualquat</div><div class="ttdoc">Dual-quaternion of floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00022_source.html#l00236">dual_quaternion.hpp:236</a></div></div>
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<div class="ttc" id="a00317_html_ga4c4e55e9c99dc57b299ed590968da564"><div class="ttname"><a href="a00317.html#ga4c4e55e9c99dc57b299ed590968da564">glm::highp_fdualquat</a></div><div class="ttdeci">tdualquat< float, highp > highp_fdualquat</div><div class="ttdoc">Dual-quaternion of high single-qualifier floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00022_source.html#l00213">dual_quaternion.hpp:213</a></div></div>
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<div class="ttc" id="a00356_html_ga1a32fceb71962e6160e8af295c91930a"><div class="ttname"><a href="a00356.html#ga1a32fceb71962e6160e8af295c91930a">glm::orientation</a></div><div class="ttdeci">GLM_FUNC_DECL mat< 4, 4, T, Q > orientation(vec< 3, T, Q > const &Normal, vec< 3, T, Q > const &Up)</div><div class="ttdoc">Build a rotation matrix from a normal and a up vector. </div></div>
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<div class="ttc" id="a00317_html_gaa7aeb54c167712b38f2178a1be2360ad"><div class="ttname"><a href="a00317.html#gaa7aeb54c167712b38f2178a1be2360ad">glm::mediump_dualquat</a></div><div class="ttdeci">tdualquat< float, mediump > mediump_dualquat</div><div class="ttdoc">Dual-quaternion of medium single-qualifier floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00022_source.html#l00192">dual_quaternion.hpp:192</a></div></div>
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<div class="ttc" id="a00317_html_ga4a6b594ff7e81150d8143001367a9431"><div class="ttname"><a href="a00317.html#ga4a6b594ff7e81150d8143001367a9431">glm::mediump_fdualquat</a></div><div class="ttdeci">tdualquat< float, mediump > mediump_fdualquat</div><div class="ttdoc">Dual-quaternion of medium single-qualifier floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00022_source.html#l00208">dual_quaternion.hpp:208</a></div></div>
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<div class="ttc" id="a00317_html_ga0fb11e48e2d16348ccb06a25213641b4"><div class="ttname"><a href="a00317.html#ga0fb11e48e2d16348ccb06a25213641b4">glm::mediump_ddualquat</a></div><div class="ttdeci">tdualquat< double, mediump > mediump_ddualquat</div><div class="ttdoc">Dual-quaternion of medium double-qualifier floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00022_source.html#l00224">dual_quaternion.hpp:224</a></div></div>
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<div class="ttc" id="a00317_html_ga91025ebdca0f4ea54da08497b00e8c84"><div class="ttname"><a href="a00317.html#ga91025ebdca0f4ea54da08497b00e8c84">glm::dualquat_cast</a></div><div class="ttdeci">GLM_FUNC_DECL tdualquat< T, Q > dualquat_cast(mat< 3, 4, T, Q > const &x)</div><div class="ttdoc">Converts a 3 * 4 matrix (augmented matrix rotation + translation) to a quaternion. </div></div>
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<div class="ttc" id="a00317_html_ga9ef5bf1da52a9d4932335a517086ceaf"><div class="ttname"><a href="a00317.html#ga9ef5bf1da52a9d4932335a517086ceaf">glm::highp_dualquat</a></div><div class="ttdeci">tdualquat< float, highp > highp_dualquat</div><div class="ttdoc">Dual-quaternion of high single-qualifier floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00022_source.html#l00197">dual_quaternion.hpp:197</a></div></div>
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<div class="ttc" id="a00236_html"><div class="ttname"><a href="a00236.html">glm</a></div><div class="ttdef"><b>Definition:</b> <a href="a00015_source.html#l00020">common.hpp:20</a></div></div>
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