Initial import of statemachine branch from the old kinetic repository

1 files changed, 602 insertions, 0 deletions

diff --git a/demos/boxes/vector.h b/demos/boxes/vector.h
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+/****************************************************************************
+**
+** Copyright (C) 2009 Nokia Corporation and/or its subsidiary(-ies).
+** Contact: Qt Software Information (qt-info@nokia.com)
+**
+** This file is part of the demonstration applications of the Qt Toolkit.
+**
+** $QT_BEGIN_LICENSE:LGPL$
+** No Commercial Usage
+** This file contains pre-release code and may not be distributed.
+** You may use this file in accordance with the terms and conditions
+** contained in the either Technology Preview License Agreement or the
+** Beta Release License Agreement.
+**
+** GNU Lesser General Public License Usage
+** Alternatively, this file may be used under the terms of the GNU Lesser
+** General Public License version 2.1 as published by the Free Software
+** Foundation and appearing in the file LICENSE.LGPL included in the
+** packaging of this file.  Please review the following information to
+** ensure the GNU Lesser General Public License version 2.1 requirements
+** will be met: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html.
+**
+** In addition, as a special exception, Nokia gives you certain
+** additional rights. These rights are described in the Nokia Qt LGPL
+** Exception version 1.0, included in the file LGPL_EXCEPTION.txt in this
+** package.
+**
+** GNU General Public License Usage
+** Alternatively, this file may be used under the terms of the GNU
+** General Public License version 3.0 as published by the Free Software
+** Foundation and appearing in the file LICENSE.GPL included in the
+** packaging of this file.  Please review the following information to
+** ensure the GNU General Public License version 3.0 requirements will be
+** met: http://www.gnu.org/copyleft/gpl.html.
+**
+** If you are unsure which license is appropriate for your use, please
+** contact the sales department at qt-sales@nokia.com.
+** $QT_END_LICENSE$
+**
+****************************************************************************/
+
+#ifndef VECTOR_H
+#define VECTOR_H
+
+#include <cassert>
+#include <cmath>
+#include <iostream>
+
+namespace gfx
+{
+
+template<class T, int n>
+struct Vector
+{
+    // Keep the Vector struct a plain old data (POD) struct by avoiding constructors
+
+    static Vector vector(T x)
+    {
+        Vector result;
+        for (int i = 0; i < n; ++i)
+            result.v[i] = x;
+        return result;
+    }
+
+    // Use only for 2D vectors
+    static Vector vector(T x, T y)
+    {
+        assert(n == 2);
+        Vector result;
+        result.v[0] = x;
+        result.v[1] = y;
+        return result;
+    }
+
+    // Use only for 3D vectors
+    static Vector vector(T x, T y, T z)
+    {
+        assert(n == 3);
+        Vector result;
+        result.v[0] = x;
+        result.v[1] = y;
+        result.v[2] = z;
+        return result;
+    }
+
+    // Use only for 4D vectors
+    static Vector vector(T x, T y, T z, T w)
+    {
+        assert(n == 4);
+        Vector result;
+        result.v[0] = x;
+        result.v[1] = y;
+        result.v[2] = z;
+        result.v[3] = w;
+        return result;
+    }
+
+    // Pass 'n' arguments to this function.
+    static Vector vector(T *v)
+    {
+        Vector result;
+        for (int i = 0; i < n; ++i)
+            result.v[i] = v[i];
+        return result;
+    }
+
+    T &operator [] (int i) {return v[i];}
+    T operator [] (int i) const {return v[i];}
+
+#define VECTOR_BINARY_OP(op, arg, rhs)      \
+    Vector operator op (arg) const          \
+    {                                       \
+        Vector result;                      \
+        for (int i = 0; i < n; ++i)         \
+            result.v[i] = v[i] op rhs;      \
+        return result;                      \
+    }
+
+    VECTOR_BINARY_OP(+, const Vector &u, u.v[i])
+    VECTOR_BINARY_OP(-, const Vector &u, u.v[i])
+    VECTOR_BINARY_OP(*, const Vector &u, u.v[i])
+    VECTOR_BINARY_OP(/, const Vector &u, u.v[i])
+    VECTOR_BINARY_OP(+, T s, s)
+    VECTOR_BINARY_OP(-, T s, s)
+    VECTOR_BINARY_OP(*, T s, s)
+    VECTOR_BINARY_OP(/, T s, s)
+#undef VECTOR_BINARY_OP
+
+    Vector operator - () const
+    {
+        Vector result;
+        for (int i = 0; i < n; ++i)
+            result.v[i] = -v[i];
+        return result;
+    }
+
+#define VECTOR_ASSIGN_OP(op, arg, rhs)      \
+    Vector &operator op (arg)               \
+    {                                       \
+        for (int i = 0; i < n; ++i)         \
+            v[i] op rhs;                    \
+        return *this;                       \
+    }
+
+    VECTOR_ASSIGN_OP(+=, const Vector &u, u.v[i])
+    VECTOR_ASSIGN_OP(-=, const Vector &u, u.v[i])
+    VECTOR_ASSIGN_OP(=, T s, s)
+    VECTOR_ASSIGN_OP(*=, T s, s)
+    VECTOR_ASSIGN_OP(/=, T s, s)
+#undef VECTOR_ASSIGN_OP
+
+    static T dot(const Vector &u, const Vector &v)
+    {
+        T sum(0);
+        for (int i = 0; i < n; ++i)
+            sum += u.v[i] * v.v[i];
+        return sum;
+    }
+
+    static Vector cross(const Vector &u, const Vector &v)
+    {
+        assert(n == 3);
+        return vector(u.v[1] * v.v[2] - u.v[2] * v.v[1],
+                      u.v[2] * v.v[0] - u.v[0] * v.v[2],
+                      u.v[0] * v.v[1] - u.v[1] * v.v[0]);
+    }
+
+    T sqrNorm() const
+    {
+        return dot(*this, *this);
+    }
+
+    // requires floating point type T
+    void normalize()
+    {
+        T s = sqrNorm();
+        if (s != 0)
+            *this /= sqrt(s);
+    }
+
+    // requires floating point type T
+    Vector normalized() const
+    {
+        T s = sqrNorm();
+        if (s == 0)
+            return *this;
+        return *this / sqrt(s);
+    }
+
+    T *bits() {return v;}
+    const T *bits() const {return v;}
+
+    T v[n];
+};
+
+#define SCALAR_VECTOR_BINARY_OP(op)                     \
+template<class T, int n>                                \
+Vector<T, n> operator op (T s, const Vector<T, n>& u)   \
+{                                                       \
+    Vector<T, n> result;                                \
+    for (int i = 0; i < n; ++i)                         \
+        result[i] = s op u[i];                          \
+    return result;                                      \
+}
+
+SCALAR_VECTOR_BINARY_OP(+)
+SCALAR_VECTOR_BINARY_OP(-)
+SCALAR_VECTOR_BINARY_OP(*)
+SCALAR_VECTOR_BINARY_OP(/)
+#undef SCALAR_VECTOR_BINARY_OP
+
+template<class T, int n>
+std::ostream &operator << (std::ostream &os, const Vector<T, n> &v)
+{
+    assert(n > 0);
+    os << "[" << v[0];
+    for (int i = 1; i < n; ++i)
+        os << ", " << v[i];
+    os << "]";
+    return os;
+}
+
+typedef Vector<float, 2> Vector2f;
+typedef Vector<float, 3> Vector3f;
+typedef Vector<float, 4> Vector4f;
+
+template<class T, int rows, int cols>
+struct Matrix
+{
+    // Keep the Matrix struct a plain old data (POD) struct by avoiding constructors
+
+    static Matrix matrix(T x)
+    {
+        Matrix result;
+        for (int i = 0; i < rows; ++i) {
+            for (int j = 0; j < cols; ++j)
+                result.v[i][j] = x;
+        }
+        return result;
+    }
+
+    static Matrix matrix(T *m)
+    {
+        Matrix result;
+        for (int i = 0; i < rows; ++i) {
+            for (int j = 0; j < cols; ++j) {
+                result.v[i][j] = *m;
+                ++m;
+            }
+        }
+        return result;
+    }
+
+    T &operator () (int i, int j) {return v[i][j];}
+    T operator () (int i, int j) const {return v[i][j];}
+    Vector<T, cols> &operator [] (int i) {return v[i];}
+    const Vector<T, cols> &operator [] (int i) const {return v[i];}
+
+    // TODO: operators, methods
+
+    Vector<T, rows> operator * (const Vector<T, cols> &u) const
+    {
+        Vector<T, rows> result;
+        for (int i = 0; i < rows; ++i)
+            result[i] = Vector<T, cols>::dot(v[i], u);
+        return result;
+    }
+
+    template<int k>
+    Matrix<T, rows, k> operator * (const Matrix<T, cols, k> &m)
+    {
+        Matrix<T, rows, k> result;
+        for (int i = 0; i < rows; ++i)
+            result[i] = v[i] * m;
+        return result;
+    }
+
+    T* bits() {return reinterpret_cast<T *>(this);}
+    const T* bits() const {return reinterpret_cast<const T *>(this);}
+
+    // Simple Gauss elimination.
+    // TODO: Optimize and improve stability.
+    Matrix inverse(bool *ok = 0) const
+    {
+        assert(rows == cols);
+        Matrix rhs = identity();
+        Matrix lhs(*this);
+        T temp;
+        // Down
+        for (int i = 0; i < rows; ++i) {
+            // Pivoting
+            int pivot = i;
+            for (int j = i; j < rows; ++j) {
+                if (qAbs(lhs(j, i)) > lhs(pivot, i))
+                    pivot = j;
+            }
+			// TODO: fuzzy compare.
+            if (lhs(pivot, i) == T(0)) {
+                if (ok)
+                    *ok = false;
+                return rhs;
+            }
+            if (pivot != i) {
+                for (int j = i; j < cols; ++j) {
+                    temp = lhs(pivot, j);
+                    lhs(pivot, j) = lhs(i, j);
+                    lhs(i, j) = temp;
+                }
+                for (int j = 0; j < cols; ++j) {
+                    temp = rhs(pivot, j);
+                    rhs(pivot, j) = rhs(i, j);
+                    rhs(i, j) = temp;
+                }
+            }
+
+            // Normalize i-th row
+            rhs[i] /= lhs(i, i);
+            for (int j = cols - 1; j > i; --j)
+                lhs(i, j) /= lhs(i, i);
+
+			// Eliminate non-zeros in i-th column below the i-th row.
+            for (int j = i + 1; j < rows; ++j) {
+                rhs[j] -= lhs(j, i) * rhs[i];
+                for (int k = i + 1; k < cols; ++k)
+                    lhs(j, k) -= lhs(j, i) * lhs(i, k);
+            }
+        }
+        // Up
+        for (int i = rows - 1; i > 0; --i) {
+            for (int j = i - 1; j >= 0; --j)
+                rhs[j] -= lhs(j, i) * rhs[i];
+        }
+        if (ok)
+            *ok = true;
+        return rhs;
+    }
+
+    Matrix<T, cols, rows> transpose() const
+    {
+        Matrix<T, cols, rows> result;
+        for (int i = 0; i < rows; ++i) {
+            for (int j = 0; j < cols; ++j)
+                result.v[j][i] = v[i][j];
+        }
+        return result;
+    }
+
+    static Matrix identity()
+    {
+        Matrix result = matrix(T(0));
+        for (int i = 0; i < rows && i < cols; ++i)
+            result.v[i][i] = T(1);
+        return result;
+    }
+
+    Vector<T, cols> v[rows];
+};
+
+template<class T, int rows, int cols>
+Vector<T, cols> operator * (const Vector<T, rows> &u, const Matrix<T, rows, cols> &m)
+{
+    Vector<T, cols> result = Vector<T, cols>::vector(T(0));
+    for (int i = 0; i < rows; ++i)
+        result += m[i] * u[i];
+    return result;
+}
+
+template<class T, int rows, int cols>
+std::ostream &operator << (std::ostream &os, const Matrix<T, rows, cols> &m)
+{
+    assert(rows > 0);
+    os << "[" << m[0];
+    for (int i = 1; i < rows; ++i)
+        os << ", " << m[i];
+    os << "]";
+    return os;
+}
+
+
+typedef Matrix<float, 2, 2> Matrix2x2f;
+typedef Matrix<float, 3, 3> Matrix3x3f;
+typedef Matrix<float, 4, 4> Matrix4x4f;
+
+template<class T>
+struct Quaternion
+{
+    // Keep the Quaternion struct a plain old data (POD) struct by avoiding constructors
+
+    static Quaternion quaternion(T s, T x, T y, T z)
+    {
+        Quaternion result;
+        result.scalar = s;
+        result.vector[0] = x;
+        result.vector[1] = y;
+        result.vector[2] = z;
+        return result;
+    }
+
+    static Quaternion quaternion(T s, const Vector<T, 3> &v)
+    {
+        Quaternion result;
+        result.scalar = s;
+        result.vector = v;
+        return result;
+    }
+
+    static Quaternion identity()
+    {
+        return quaternion(T(1), T(0), T(0), T(0));
+    }
+
+    // assumes that all the elements are packed tightly
+    T& operator [] (int i) {return reinterpret_cast<T *>(this)[i];}
+    T operator [] (int i) const {return reinterpret_cast<const T *>(this)[i];}
+
+#define QUATERNION_BINARY_OP(op, arg, rhs)  \
+    Quaternion operator op (arg) const      \
+    {                                       \
+        Quaternion result;                  \
+        for (int i = 0; i < 4; ++i)         \
+            result[i] = (*this)[i] op rhs;  \
+        return result;                      \
+    }
+
+    QUATERNION_BINARY_OP(+, const Quaternion &q, q[i])
+    QUATERNION_BINARY_OP(-, const Quaternion &q, q[i])
+    QUATERNION_BINARY_OP(*, T s, s)
+    QUATERNION_BINARY_OP(/, T s, s)
+#undef QUATERNION_BINARY_OP
+
+    Quaternion operator - () const
+    {
+        return Quaternion(-scalar, -vector);
+    }
+
+    Quaternion operator * (const Quaternion &q) const
+    {
+        Quaternion result;
+        result.scalar = scalar * q.scalar - Vector<T, 3>::dot(vector, q.vector);
+        result.vector = scalar * q.vector + vector * q.scalar + Vector<T, 3>::cross(vector, q.vector);
+        return result;
+    }
+
+    Quaternion operator * (const Vector<T, 3> &v) const
+    {
+        Quaternion result;
+        result.scalar = -Vector<T, 3>::dot(vector, v);
+        result.vector = scalar * v + Vector<T, 3>::cross(vector, v);
+        return result;
+    }
+
+    friend Quaternion operator * (const Vector<T, 3> &v, const Quaternion &q)
+    {
+        Quaternion result;
+        result.scalar = -Vector<T, 3>::dot(v, q.vector);
+        result.vector = v * q.scalar + Vector<T, 3>::cross(v, q.vector);
+        return result;
+    }
+
+#define QUATERNION_ASSIGN_OP(op, arg, rhs)  \
+    Quaternion &operator op (arg)           \
+    {                                       \
+        for (int i = 0; i < 4; ++i)         \
+            (*this)[i] op rhs;              \
+        return *this;                       \
+    }
+
+    QUATERNION_ASSIGN_OP(+=, const Quaternion &q, q[i])
+    QUATERNION_ASSIGN_OP(-=, const Quaternion &q, q[i])
+    QUATERNION_ASSIGN_OP(=, T s, s)
+    QUATERNION_ASSIGN_OP(*=, T s, s)
+    QUATERNION_ASSIGN_OP(/=, T s, s)
+#undef QUATERNION_ASSIGN_OP
+
+    Quaternion& operator *= (const Quaternion &q)
+    {
+        Quaternion result;
+        result.scalar = scalar * q.scalar - Vector<T, 3>::dot(vector, q.vector);
+        result.vector = scalar * q.vector + vector * q.scalar + Vector<T, 3>::cross(vector, q.vector);
+        return (*this = result);
+    }
+
+    Quaternion& operator *= (const Vector<T, 3> &v)
+    {
+        Quaternion result;
+        result.scalar = -Vector<T, 3>::dot(vector, v);
+        result.vector = scalar * v + Vector<T, 3>::cross(vector, v);
+        return (*this = result);
+    }
+
+    Quaternion conjugate() const
+    {
+        return quaternion(scalar, -vector);
+    }
+
+    T sqrNorm() const
+    {
+        return scalar * scalar + vector.sqrNorm();
+    }
+
+    Quaternion inverse() const
+    {
+        return conjugate() / sqrNorm();
+    }
+
+    // requires floating point type T
+    Quaternion normalized() const
+    {
+        T s = sqrNorm();
+        if (s == 0)
+            return *this;
+        return *this / sqrt(s);
+    }
+
+    void matrix(Matrix<T, 3, 3>& m) const
+    {
+        T bb = vector[0] * vector[0];
+        T cc = vector[1] * vector[1];
+        T dd = vector[2] * vector[2];
+        T diag = scalar * scalar - bb - cc - dd;
+        T ab = scalar * vector[0];
+        T ac = scalar * vector[1];
+        T ad = scalar * vector[2];
+        T bc = vector[0] * vector[1];
+        T cd = vector[1] * vector[2];
+        T bd = vector[2] * vector[0];
+        m(0, 0) = diag + 2 * bb;
+        m(0, 1) = 2 * (bc - ad);
+        m(0, 2) = 2 * (ac + bd);
+        m(1, 0) = 2 * (ad + bc);
+        m(1, 1) = diag + 2 * cc;
+        m(1, 2) = 2 * (cd - ab);
+        m(2, 0) = 2 * (bd - ac);
+        m(2, 1) = 2 * (ab + cd);
+        m(2, 2) = diag + 2 * dd;
+    }
+
+    void matrix(Matrix<T, 4, 4>& m) const
+    {
+        T bb = vector[0] * vector[0];
+        T cc = vector[1] * vector[1];
+        T dd = vector[2] * vector[2];
+        T diag = scalar * scalar - bb - cc - dd;
+        T ab = scalar * vector[0];
+        T ac = scalar * vector[1];
+        T ad = scalar * vector[2];
+        T bc = vector[0] * vector[1];
+        T cd = vector[1] * vector[2];
+        T bd = vector[2] * vector[0];
+        m(0, 0) = diag + 2 * bb;
+        m(0, 1) = 2 * (bc - ad);
+        m(0, 2) = 2 * (ac + bd);
+        m(0, 3) = 0;
+        m(1, 0) = 2 * (ad + bc);
+        m(1, 1) = diag + 2 * cc;
+        m(1, 2) = 2 * (cd - ab);
+        m(1, 3) = 0;
+        m(2, 0) = 2 * (bd - ac);
+        m(2, 1) = 2 * (ab + cd);
+        m(2, 2) = diag + 2 * dd;
+        m(2, 3) = 0;
+        m(3, 0) = 0;
+        m(3, 1) = 0;
+        m(3, 2) = 0;
+        m(3, 3) = 1;
+    }
+
+    // assumes that 'this' is normalized
+    Vector<T, 3> transform(const Vector<T, 3> &v) const
+    {
+        Matrix<T, 3, 3> m;
+        matrix(m);
+        return v * m;
+    }
+
+    // assumes that all the elements are packed tightly
+    T* bits() {return reinterpret_cast<T *>(this);}
+    const T* bits() const {return reinterpret_cast<const T *>(this);}
+
+    // requires floating point type T
+    static Quaternion rotation(T angle, const Vector<T, 3> &unitAxis)
+    {
+        T s = sin(angle / 2);
+        T c = cos(angle / 2);
+        return quaternion(c, unitAxis * s);
+    }
+
+    T scalar;
+    Vector<T, 3> vector;
+};
+
+template<class T>
+Quaternion<T> operator * (T s, const Quaternion<T>& q)
+{
+    return Quaternion<T>::quaternion(s * q.scalar, s * q.vector);
+}
+
+typedef Quaternion<float> Quaternionf;
+
+} // end namespace gfx
+
+#endif