diff options
| -rw-r--r-- | src/gui/math3d/qquaternion.cpp | 32 | ||||
| -rw-r--r-- | src/gui/math3d/qquaternion.h | 2 | ||||
| -rw-r--r-- | tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp | 60 |
3 files changed, 94 insertions, 0 deletions
diff --git a/src/gui/math3d/qquaternion.cpp b/src/gui/math3d/qquaternion.cpp index d367f74e25..90d90448e0 100644 --- a/src/gui/math3d/qquaternion.cpp +++ b/src/gui/math3d/qquaternion.cpp @@ -717,6 +717,38 @@ QQuaternion QQuaternion::fromAxes(const QVector3D &xAxis, const QVector3D &yAxis return QQuaternion::fromRotationMatrix(rot3x3); } +/*! + \since 5.5 + + Returns the shortest arc quaternion to rotate from the direction described by the vector \a from + to the direction described by the vector \a to. +*/ +QQuaternion QQuaternion::rotationTo(const QVector3D &from, const QVector3D &to) +{ + // Based on Stan Melax's article in Game Programming Gems + + const QVector3D v0(from.normalized()); + const QVector3D v1(to.normalized()); + + float d = QVector3D::dotProduct(v0, v1) + 1.0f; + + // if dest vector is close to the inverse of source vector, ANY axis of rotation is valid + if (qFuzzyIsNull(d)) { + QVector3D axis = QVector3D::crossProduct(QVector3D(1.0f, 0.0f, 0.0f), v0); + if (qFuzzyIsNull(axis.lengthSquared())) + axis = QVector3D::crossProduct(QVector3D(0.0f, 1.0f, 0.0f), v0); + axis.normalize(); + + // same as QQuaternion::fromAxisAndAngle(axis, 180.0f) + return QQuaternion(0.0f, axis.x(), axis.y(), axis.z()); + } + + d = std::sqrt(2.0f * d); + const QVector3D axis(QVector3D::crossProduct(v0, v1) / d); + + return QQuaternion(d * 0.5f, axis).normalized(); +} + #endif // QT_NO_VECTOR3D /*! diff --git a/src/gui/math3d/qquaternion.h b/src/gui/math3d/qquaternion.h index 6ce3979bbe..c3918645d4 100644 --- a/src/gui/math3d/qquaternion.h +++ b/src/gui/math3d/qquaternion.h @@ -137,6 +137,8 @@ public: #ifndef QT_NO_VECTOR3D void getAxes(QVector3D *xAxis, QVector3D *yAxis, QVector3D *zAxis) const; static QQuaternion fromAxes(const QVector3D &xAxis, const QVector3D &yAxis, const QVector3D &zAxis); + + static QQuaternion rotationTo(const QVector3D &from, const QVector3D &to); #endif static QQuaternion slerp diff --git a/tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp b/tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp index 6b8eeeaca5..2c38e4c111 100644 --- a/tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp +++ b/tests/auto/gui/math3d/qquaternion/tst_qquaternion.cpp @@ -138,6 +138,9 @@ private slots: void fromAxes_data(); void fromAxes(); + void rotationTo_data(); + void rotationTo(); + void fromEulerAngles_data(); void fromEulerAngles(); @@ -929,6 +932,63 @@ void tst_QQuaternion::fromAxes() QVERIFY(qFuzzyCompare(answer, result) || qFuzzyCompare(-answer, result)); } +// Test shortest arc quaternion. +void tst_QQuaternion::rotationTo_data() +{ + QTest::addColumn<QVector3D>("from"); + QTest::addColumn<QVector3D>("to"); + + // same + QTest::newRow("+X -> +X") << QVector3D(10.0f, 0.0f, 0.0f) << QVector3D(10.0f, 0.0f, 0.0f); + QTest::newRow("-X -> -X") << QVector3D(-10.0f, 0.0f, 0.0f) << QVector3D(-10.0f, 0.0f, 0.0f); + QTest::newRow("+Y -> +Y") << QVector3D(0.0f, 10.0f, 0.0f) << QVector3D(0.0f, 10.0f, 0.0f); + QTest::newRow("-Y -> -Y") << QVector3D(0.0f, -10.0f, 0.0f) << QVector3D(0.0f, -10.0f, 0.0f); + QTest::newRow("+Z -> +Z") << QVector3D(0.0f, 0.0f, 10.0f) << QVector3D(0.0f, 0.0f, 10.0f); + QTest::newRow("-Z -> -Z") << QVector3D(0.0f, 0.0f, -10.0f) << QVector3D(0.0f, 0.0f, -10.0f); + QTest::newRow("+X+Y+Z -> +X+Y+Z") << QVector3D(10.0f, 10.0f, 10.0f) << QVector3D(10.0f, 10.0f, 10.0f); + QTest::newRow("-X-Y-Z -> -X-Y-Z") << QVector3D(-10.0f, -10.0f, -10.0f) << QVector3D(-10.0f, -10.0f, -10.0f); + + // arbitrary + QTest::newRow("+Z -> +X") << QVector3D(0.0f, 0.0f, 10.0f) << QVector3D(10.0f, 0.0f, 0.0f); + QTest::newRow("+Z -> -X") << QVector3D(0.0f, 0.0f, 10.0f) << QVector3D(-10.0f, 0.0f, 0.0f); + QTest::newRow("+Z -> +Y") << QVector3D(0.0f, 0.0f, 10.0f) << QVector3D(0.0f, 10.0f, 0.0f); + QTest::newRow("+Z -> -Y") << QVector3D(0.0f, 0.0f, 10.0f) << QVector3D(0.0f, -10.0f, 0.0f); + QTest::newRow("-Z -> +X") << QVector3D(0.0f, 0.0f, -10.0f) << QVector3D(10.0f, 0.0f, 0.0f); + QTest::newRow("-Z -> -X") << QVector3D(0.0f, 0.0f, -10.0f) << QVector3D(-10.0f, 0.0f, 0.0f); + QTest::newRow("-Z -> +Y") << QVector3D(0.0f, 0.0f, -10.0f) << QVector3D(0.0f, 10.0f, 0.0f); + QTest::newRow("-Z -> -Y") << QVector3D(0.0f, 0.0f, -10.0f) << QVector3D(0.0f, -10.0f, 0.0f); + QTest::newRow("+X -> +Y") << QVector3D(10.0f, 0.0f, 0.0f) << QVector3D(0.0f, 10.0f, 0.0f); + QTest::newRow("+X -> -Y") << QVector3D(10.0f, 0.0f, 0.0f) << QVector3D(0.0f, -10.0f, 0.0f); + QTest::newRow("-X -> +Y") << QVector3D(-10.0f, 0.0f, 0.0f) << QVector3D(0.0f, 10.0f, 0.0f); + QTest::newRow("-X -> -Y") << QVector3D(-10.0f, 0.0f, 0.0f) << QVector3D(0.0f, -10.0f, 0.0f); + QTest::newRow("+X+Y+Z -> +X-Y-Z") << QVector3D(10.0f, 10.0f, 10.0f) << QVector3D(10.0f, -10.0f, -10.0f); + QTest::newRow("-X-Y+Z -> -X+Y-Z") << QVector3D(-10.0f, -10.0f, 10.0f) << QVector3D(-10.0f, 10.0f, -10.0f); + QTest::newRow("+X+Y+Z -> +Z") << QVector3D(10.0f, 10.0f, 10.0f) << QVector3D(0.0f, 0.0f, 10.0f); + + // collinear + QTest::newRow("+X -> -X") << QVector3D(10.0f, 0.0f, 0.0f) << QVector3D(-10.0f, 0.0f, 0.0f); + QTest::newRow("+Y -> -Y") << QVector3D(0.0f, 10.0f, 0.0f) << QVector3D(0.0f, -10.0f, 0.0f); + QTest::newRow("+Z -> -Z") << QVector3D(0.0f, 0.0f, 10.0f) << QVector3D(0.0f, 0.0f, -10.0f); + QTest::newRow("+X+Y+Z -> -X-Y-Z") << QVector3D(10.0f, 10.0f, 10.0f) << QVector3D(-10.0f, -10.0f, -10.0f); +} +void tst_QQuaternion::rotationTo() +{ + QFETCH(QVector3D, from); + QFETCH(QVector3D, to); + + QQuaternion q1 = QQuaternion::rotationTo(from, to); + QVERIFY(myFuzzyCompare(q1, q1.normalized())); + QVector3D vec1(q1 * from); + vec1 *= (to.length() / from.length()); // discard rotated length + QVERIFY(myFuzzyCompare(vec1, to)); + + QQuaternion q2 = QQuaternion::rotationTo(to, from); + QVERIFY(myFuzzyCompare(q2, q2.normalized())); + QVector3D vec2(q2 * to); + vec2 *= (from.length() / to.length()); // discard rotated length + QVERIFY(myFuzzyCompare(vec2, from)); +} + // Test quaternion creation from an axis and an angle. void tst_QQuaternion::fromEulerAngles_data() { |