diff options
Diffstat (limited to 'src/gui/math3d/qquaternion.cpp')
| -rw-r--r-- | src/gui/math3d/qquaternion.cpp | 33 |
1 files changed, 18 insertions, 15 deletions
diff --git a/src/gui/math3d/qquaternion.cpp b/src/gui/math3d/qquaternion.cpp index 121ff51..efde362 100644 --- a/src/gui/math3d/qquaternion.cpp +++ b/src/gui/math3d/qquaternion.cpp @@ -40,8 +40,8 @@ ****************************************************************************/ #include "qquaternion.h" -#include "qmath3dutil_p.h" #include <QtCore/qmath.h> +#include <QtCore/qdebug.h> QT_BEGIN_NAMESPACE @@ -223,8 +223,7 @@ QT_BEGIN_NAMESPACE */ qreal QQuaternion::length() const { - return qvtsqrt64(qvtmul64(xp, xp) + qvtmul64(yp, yp) + - qvtmul64(zp, zp) + qvtmul64(wp, wp)); + return qSqrt(xp * xp + yp * yp + zp * zp + wp * wp); } /*! @@ -234,8 +233,7 @@ qreal QQuaternion::length() const */ qreal QQuaternion::lengthSquared() const { - return qvtdot64(qvtmul64(xp, xp) + qvtmul64(yp, yp) + - qvtmul64(zp, zp) + qvtmul64(wp, wp)); + return xp * xp + yp * yp + zp * zp + wp * wp; } /*! @@ -342,6 +340,10 @@ QVector3D QQuaternion::rotateVector(const QVector3D& vector) const \sa operator*=() */ +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + #ifndef QT_NO_VECTOR3D /*! @@ -354,9 +356,10 @@ QQuaternion QQuaternion::fromAxisAndAngle(const QVector3D& axis, qreal angle) // http://www.j3d.org/matrix_faq/matrfaq_latest.html#Q56 // We normalize the result just in case the values are close // to zero, as suggested in the above FAQ. - qrealinner s, c; + qreal a = (angle / 2.0f) * M_PI / 180.0f; + qreal s = qSin(a); + qreal c = qCos(a); QVector3D ax = axis.normalized(); - qt_math3d_sincos(angle / 2.0f, &s, &c); return QQuaternion(c, ax.xp * s, ax.yp * s, ax.zp * s, 1).normalized(); } @@ -369,17 +372,18 @@ QQuaternion QQuaternion::fromAxisAndAngle(const QVector3D& axis, qreal angle) QQuaternion QQuaternion::fromAxisAndAngle (qreal x, qreal y, qreal z, qreal angle) { - qrealinner xp = x; - qrealinner yp = y; - qrealinner zp = z; - qrealinner s, c; - qreal length = qvtsqrt(xp * xp + yp * yp + zp * zp); + float xp = x; + float yp = y; + float zp = z; + qreal length = qSqrt(xp * xp + yp * yp + zp * zp); if (!qIsNull(length)) { xp /= length; yp /= length; zp /= length; } - qt_math3d_sincos(angle / 2.0f, &s, &c); + qreal a = (angle / 2.0f) * M_PI / 180.0f; + qreal s = qSin(a); + qreal c = qCos(a); return QQuaternion(c, xp * s, yp * s, zp * s, 1).normalized(); } @@ -500,8 +504,7 @@ QQuaternion QQuaternion::interpolate // Determine the angle between the two quaternions. QQuaternion q2b; qreal dot; - dot = qvtdot64(qvtmul64(q1.xp, q2.xp) + qvtmul64(q1.yp, q2.yp) + - qvtmul64(q1.zp, q2.zp) + qvtmul64(q1.wp, q2.wp)); + dot = q1.xp * q2.xp + q1.yp * q2.yp + q1.zp * q2.zp + q1.wp * q2.wp; if (dot >= 0.0f) { q2b = q2; } else { |