summaryrefslogtreecommitdiffstats
path: root/src/gui/math3d/qquaternion.h
blob: af60b614b96e7dcee8881e1e0e47f1249ef9fe92 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
/****************************************************************************
**
** 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://qt.nokia.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 QVariant;

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

    operator QVariant() const;

#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)
{
    float ww = (q1.zp + q1.xp) * (q2.xp + q2.yp);
    float yy = (q1.wp - q1.yp) * (q2.wp + q2.zp);
    float zz = (q1.wp + q1.yp) * (q2.wp - q2.zp);
    float xx = ww + yy + zz;
    float qq = 0.5 * (xx + (q1.zp - q1.xp) * (q2.xp - q2.yp));

    float w = qq - ww + (q1.zp - q1.yp) * (q2.yp - q2.zp);
    float x = qq - xx + (q1.xp + q1.wp) * (q2.xp + q2.wp);
    float y = qq - yy + (q1.wp - q1.xp) * (q2.yp + q2.zp);
    float z = qq - zz + (q1.zp + q1.yp) * (q2.wp - q2.xp);

    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