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+/****************************************************************************
+**
+** Copyright (C) 2009 Nokia Corporation and/or its subsidiary(-ies).
+** Contact: Nokia Corporation (qt-info@nokia.com)
+**
+** This file is part of the QtGui module 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 http://www.qtsoftware.com/contact.
+** $QT_END_LICENSE$
+**
+****************************************************************************/
+
+#ifndef QQUATERNION_H
+#define QQUATERNION_H
+
+#include <QtGui/qvector3d.h>
+#include <QtGui/qvector4d.h>
+
+QT_BEGIN_HEADER
+
+QT_BEGIN_NAMESPACE
+
+QT_MODULE(Gui)
+
+#ifndef QT_NO_QUATERNION
+
+class QMatrix4x4;
+
+class Q_GUI_EXPORT QQuaternion
+{
+public:
+ QQuaternion();
+ QQuaternion(qreal scalar, qreal xpos, qreal ypos, qreal zpos);
+#ifndef QT_NO_VECTOR3D
+ QQuaternion(qreal scalar, const QVector3D& vector);
+#endif
+#ifndef QT_NO_VECTOR4D
+ explicit QQuaternion(const QVector4D& vector);
+#endif
+
+ bool isNull() const;
+ bool isIdentity() const;
+
+#ifndef QT_NO_VECTOR3D
+ QVector3D vector() const;
+ void setVector(const QVector3D& vector);
+#endif
+ void setVector(qreal x, qreal y, qreal z);
+
+ qreal x() const;
+ qreal y() const;
+ qreal z() const;
+ qreal scalar() const;
+
+ void setX(qreal x);
+ void setY(qreal y);
+ void setZ(qreal z);
+ void setScalar(qreal scalar);
+
+ qreal length() const;
+ qreal lengthSquared() const;
+
+ QQuaternion normalized() const;
+ void normalize();
+
+ QQuaternion conjugate() const;
+
+ QVector3D rotateVector(const QVector3D& vector) const;
+
+ QQuaternion &operator+=(const QQuaternion &quaternion);
+ QQuaternion &operator-=(const QQuaternion &quaternion);
+ QQuaternion &operator*=(qreal factor);
+ QQuaternion &operator*=(const QQuaternion &quaternion);
+ QQuaternion &operator/=(qreal divisor);
+
+ friend inline bool operator==(const QQuaternion &q1, const QQuaternion &q2);
+ friend inline bool operator!=(const QQuaternion &q1, const QQuaternion &q2);
+ friend inline const QQuaternion operator+(const QQuaternion &q1, const QQuaternion &q2);
+ friend inline const QQuaternion operator-(const QQuaternion &q1, const QQuaternion &q2);
+ friend inline const QQuaternion operator*(qreal factor, const QQuaternion &quaternion);
+ friend inline const QQuaternion operator*(const QQuaternion &quaternion, qreal factor);
+ friend inline const QQuaternion operator*(const QQuaternion &q1, const QQuaternion& q2);
+ friend inline const QQuaternion operator-(const QQuaternion &quaternion);
+ friend inline const QQuaternion operator/(const QQuaternion &quaternion, qreal divisor);
+
+ friend inline bool qFuzzyCompare(const QQuaternion& q1, const QQuaternion& q2);
+
+#ifndef QT_NO_VECTOR4D
+ QVector4D toVector4D() const;
+#endif
+
+#ifndef QT_NO_VECTOR3D
+ static QQuaternion fromAxisAndAngle(const QVector3D& axis, qreal angle);
+#endif
+ static QQuaternion fromAxisAndAngle
+ (qreal x, qreal y, qreal z, qreal angle);
+
+ static QQuaternion slerp
+ (const QQuaternion& q1, const QQuaternion& q2, qreal t);
+ static QQuaternion nlerp
+ (const QQuaternion& q1, const QQuaternion& q2, qreal t);
+
+private:
+ float wp, xp, yp, zp;
+
+ friend class QMatrix4x4;
+
+ QQuaternion(float scalar, float xpos, float ypos, float zpos, int dummy);
+};
+
+inline QQuaternion::QQuaternion() : wp(1.0f), xp(0.0f), yp(0.0f), zp(0.0f) {}
+
+inline QQuaternion::QQuaternion(qreal scalar, qreal xpos, qreal ypos, qreal zpos) : wp(scalar), xp(xpos), yp(ypos), zp(zpos) {}
+
+
+inline QQuaternion::QQuaternion(float scalar, float xpos, float ypos, float zpos, int) : wp(scalar), xp(xpos), yp(ypos), zp(zpos) {}
+
+inline bool QQuaternion::isNull() const
+{
+ return qIsNull(xp) && qIsNull(yp) && qIsNull(zp) && qIsNull(wp);
+}
+
+inline bool QQuaternion::isIdentity() const
+{
+ return qIsNull(xp) && qIsNull(yp) && qIsNull(zp) && wp == 1.0f;
+}
+
+inline qreal QQuaternion::x() const { return qreal(xp); }
+inline qreal QQuaternion::y() const { return qreal(yp); }
+inline qreal QQuaternion::z() const { return qreal(zp); }
+inline qreal QQuaternion::scalar() const { return qreal(wp); }
+
+inline void QQuaternion::setX(qreal x) { xp = x; }
+inline void QQuaternion::setY(qreal y) { yp = y; }
+inline void QQuaternion::setZ(qreal z) { zp = z; }
+inline void QQuaternion::setScalar(qreal scalar) { wp = scalar; }
+
+inline QQuaternion QQuaternion::conjugate() const
+{
+ return QQuaternion(wp, -xp, -yp, -zp, 1);
+}
+
+inline QQuaternion &QQuaternion::operator+=(const QQuaternion &quaternion)
+{
+ xp += quaternion.xp;
+ yp += quaternion.yp;
+ zp += quaternion.zp;
+ wp += quaternion.wp;
+ return *this;
+}
+
+inline QQuaternion &QQuaternion::operator-=(const QQuaternion &quaternion)
+{
+ xp -= quaternion.xp;
+ yp -= quaternion.yp;
+ zp -= quaternion.zp;
+ wp -= quaternion.wp;
+ return *this;
+}
+
+inline QQuaternion &QQuaternion::operator*=(qreal factor)
+{
+ xp *= factor;
+ yp *= factor;
+ zp *= factor;
+ wp *= factor;
+ return *this;
+}
+
+inline const QQuaternion operator*(const QQuaternion &q1, const QQuaternion& q2)
+{
+ // Algorithm from:
+ // http://www.j3d.org/matrix_faq/matrfaq_latest.html#Q53
+ float x = q1.wp * q2.xp +
+ q1.xp * q2.wp +
+ q1.yp * q2.zp -
+ q1.zp * q2.yp;
+ float y = q1.wp * q2.yp +
+ q1.yp * q2.wp +
+ q1.zp * q2.xp -
+ q1.xp * q2.zp;
+ float z = q1.wp * q2.zp +
+ q1.zp * q2.wp +
+ q1.xp * q2.yp -
+ q1.yp * q2.xp;
+ float w = q1.wp * q2.wp -
+ q1.xp * q2.xp -
+ q1.yp * q2.yp -
+ q1.zp * q2.zp;
+ return QQuaternion(w, x, y, z, 1);
+}
+
+inline QQuaternion &QQuaternion::operator*=(const QQuaternion &quaternion)
+{
+ *this = *this * quaternion;
+ return *this;
+}
+
+inline QQuaternion &QQuaternion::operator/=(qreal divisor)
+{
+ xp /= divisor;
+ yp /= divisor;
+ zp /= divisor;
+ wp /= divisor;
+ return *this;
+}
+
+inline bool operator==(const QQuaternion &q1, const QQuaternion &q2)
+{
+ return q1.xp == q2.xp && q1.yp == q2.yp && q1.zp == q2.zp && q1.wp == q2.wp;
+}
+
+inline bool operator!=(const QQuaternion &q1, const QQuaternion &q2)
+{
+ return q1.xp != q2.xp || q1.yp != q2.yp || q1.zp != q2.zp || q1.wp != q2.wp;
+}
+
+inline const QQuaternion operator+(const QQuaternion &q1, const QQuaternion &q2)
+{
+ return QQuaternion(q1.wp + q2.wp, q1.xp + q2.xp, q1.yp + q2.yp, q1.zp + q2.zp, 1);
+}
+
+inline const QQuaternion operator-(const QQuaternion &q1, const QQuaternion &q2)
+{
+ return QQuaternion(q1.wp - q2.wp, q1.xp - q2.xp, q1.yp - q2.yp, q1.zp - q2.zp, 1);
+}
+
+inline const QQuaternion operator*(qreal factor, const QQuaternion &quaternion)
+{
+ return QQuaternion(quaternion.wp * factor, quaternion.xp * factor, quaternion.yp * factor, quaternion.zp * factor, 1);
+}
+
+inline const QQuaternion operator*(const QQuaternion &quaternion, qreal factor)
+{
+ return QQuaternion(quaternion.wp * factor, quaternion.xp * factor, quaternion.yp * factor, quaternion.zp * factor, 1);
+}
+
+inline const QQuaternion operator-(const QQuaternion &quaternion)
+{
+ return QQuaternion(-quaternion.wp, -quaternion.xp, -quaternion.yp, -quaternion.zp, 1);
+}
+
+inline const QQuaternion operator/(const QQuaternion &quaternion, qreal divisor)
+{
+ return QQuaternion(quaternion.wp / divisor, quaternion.xp / divisor, quaternion.yp / divisor, quaternion.zp / divisor, 1);
+}
+
+inline bool qFuzzyCompare(const QQuaternion& q1, const QQuaternion& q2)
+{
+ return qFuzzyCompare(q1.xp, q2.xp) &&
+ qFuzzyCompare(q1.yp, q2.yp) &&
+ qFuzzyCompare(q1.zp, q2.zp) &&
+ qFuzzyCompare(q1.wp, q2.wp);
+}
+
+#ifndef QT_NO_VECTOR3D
+
+inline QQuaternion::QQuaternion(qreal scalar, const QVector3D& vector)
+ : wp(scalar), xp(vector.xp), yp(vector.yp), zp(vector.zp) {}
+
+inline void QQuaternion::setVector(const QVector3D& vector)
+{
+ xp = vector.xp;
+ yp = vector.yp;
+ zp = vector.zp;
+}
+
+inline QVector3D QQuaternion::vector() const
+{
+ return QVector3D(xp, yp, zp, 1);
+}
+
+#endif
+
+inline void QQuaternion::setVector(qreal x, qreal y, qreal z)
+{
+ xp = x;
+ yp = y;
+ zp = z;
+}
+
+#ifndef QT_NO_VECTOR4D
+
+inline QQuaternion::QQuaternion(const QVector4D& vector)
+ : wp(vector.wp), xp(vector.xp), yp(vector.yp), zp(vector.zp) {}
+
+inline QVector4D QQuaternion::toVector4D() const
+{
+ return QVector4D(xp, yp, zp, wp, 1);
+}
+
+#endif
+
+#ifndef QT_NO_DEBUG_STREAM
+Q_GUI_EXPORT QDebug operator<<(QDebug dbg, const QQuaternion &q);
+#endif
+
+#ifndef QT_NO_DATASTREAM
+Q_GUI_EXPORT QDataStream &operator<<(QDataStream &, const QQuaternion &);
+Q_GUI_EXPORT QDataStream &operator>>(QDataStream &, QQuaternion &);
+#endif
+
+#endif
+
+QT_END_NAMESPACE
+
+QT_END_HEADER
+
+#endif
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