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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 $MODULE$ of the Qt Toolkit.
**
** $TROLLTECH_DUAL_LICENSE$
**
****************************************************************************/
#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);
QQuaternion(int scalar, int xpos, int ypos, int 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 interpolate
(const QQuaternion& q1, const QQuaternion& q2, qreal t);
private:
qrealinner wp, xp, yp, zp;
friend class QMatrix4x4;
QQuaternion(qrealinner scalar, qrealinner xpos, qrealinner ypos, qrealinner 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(qrealinner scalar, qrealinner xpos, qrealinner ypos, qrealinner zpos, int) : wp(scalar), xp(xpos), yp(ypos), zp(zpos) {}
inline QQuaternion::QQuaternion(int scalar, int xpos, int ypos, int zpos) : 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 qt_math3d_convert<qreal, qrealinner>(xp); }
inline qreal QQuaternion::y() const { return qt_math3d_convert<qreal, qrealinner>(yp); }
inline qreal QQuaternion::z() const { return qt_math3d_convert<qreal, qrealinner>(zp); }
inline qreal QQuaternion::scalar() const { return qt_math3d_convert<qreal, qrealinner>(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)
{
qrealinner f(factor);
xp *= f;
yp *= f;
zp *= f;
wp *= f;
return *this;
}
inline const QQuaternion operator*(const QQuaternion &q1, const QQuaternion& q2)
{
// Algorithm from:
// http://www.j3d.org/matrix_faq/matrfaq_latest.html#Q53
qrealinner x = q1.wp * q2.xp +
q1.xp * q2.wp +
q1.yp * q2.zp -
q1.zp * q2.yp;
qrealinner y = q1.wp * q2.yp +
q1.yp * q2.wp +
q1.zp * q2.xp -
q1.xp * q2.zp;
qrealinner z = q1.wp * q2.zp +
q1.zp * q2.wp +
q1.xp * q2.yp -
q1.yp * q2.xp;
qrealinner 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)
{
qrealinner d(divisor);
xp /= d;
yp /= d;
zp /= d;
wp /= d;
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)
{
qrealinner f(factor);
return QQuaternion(quaternion.wp * f, quaternion.xp * f, quaternion.yp * f, quaternion.zp * f, 1);
}
inline const QQuaternion operator*(const QQuaternion &quaternion, qreal factor)
{
qrealinner f(factor);
return QQuaternion(quaternion.wp * f, quaternion.xp * f, quaternion.yp * f, quaternion.zp * f, 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)
{
qrealinner d(divisor);
return QQuaternion(quaternion.wp / d, quaternion.xp / d, quaternion.yp / d, quaternion.zp / d, 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
#endif
QT_END_NAMESPACE
#ifndef QT_NO_QUATERNION
Q_DECLARE_METATYPE(QQuaternion)
#endif
QT_END_HEADER
#endif
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