diff options
Diffstat (limited to 'src/gui/math3d/qquaternion.h')
-rw-r--r-- | src/gui/math3d/qquaternion.h | 14 |
1 files changed, 14 insertions, 0 deletions
diff --git a/src/gui/math3d/qquaternion.h b/src/gui/math3d/qquaternion.h index e0e52cefdd..2bef926b76 100644 --- a/src/gui/math3d/qquaternion.h +++ b/src/gui/math3d/qquaternion.h @@ -82,6 +82,8 @@ public: QQuaternion normalized() const; void normalize(); + inline QQuaternion inverted() const; + QQuaternion conjugate() const; QVector3D rotatedVector(const QVector3D& vector) const; @@ -152,6 +154,18 @@ inline void QQuaternion::setY(float aY) { yp = aY; } inline void QQuaternion::setZ(float aZ) { zp = aZ; } inline void QQuaternion::setScalar(float aScalar) { wp = aScalar; } +inline QQuaternion QQuaternion::inverted() const +{ + // Need some extra precision if the length is very small. + double len = double(xp) * double(xp) + + double(yp) * double(yp) + + double(zp) * double(zp) + + double(wp) * double(wp); + if (!qFuzzyIsNull(len)) + return QQuaternion(wp / len, -xp / len, -yp / len, -zp / len); + return QQuaternion(0.0f, 0.0f, 0.0f, 0.0f); +} + inline QQuaternion QQuaternion::conjugate() const { return QQuaternion(wp, -xp, -yp, -zp); |