From 38be0d13830efd2d98281c645c3a60afe05ffece Mon Sep 17 00:00:00 2001 From: Qt by Nokia Date: Wed, 27 Apr 2011 12:05:43 +0200 Subject: Initial import from the monolithic Qt. This is the beginning of revision history for this module. If you want to look at revision history older than this, please refer to the Qt Git wiki for how to use Git history grafting. At the time of writing, this wiki is located here: http://qt.gitorious.org/qt/pages/GitIntroductionWithQt If you have already performed the grafting and you don't see any history beyond this commit, try running "git log" with the "--follow" argument. Branched from the monolithic repo, Qt master branch, at commit 896db169ea224deb96c59ce8af800d019de63f12 --- src/gui/math3d/qquaternion.h | 330 +++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 330 insertions(+) create mode 100644 src/gui/math3d/qquaternion.h (limited to 'src/gui/math3d/qquaternion.h') diff --git a/src/gui/math3d/qquaternion.h b/src/gui/math3d/qquaternion.h new file mode 100644 index 0000000000..24c41a01ea --- /dev/null +++ b/src/gui/math3d/qquaternion.h @@ -0,0 +1,330 @@ +/**************************************************************************** +** +** Copyright (C) 2011 Nokia Corporation and/or its subsidiary(-ies). +** All rights reserved. +** 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 Technology Preview License Agreement accompanying +** this package. +** +** 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 1.1, included in the file LGPL_EXCEPTION.txt in this package. +** +** If you have questions regarding the use of this file, please contact +** Nokia at qt-info@nokia.com. +** +** +** +** +** +** +** +** +** $QT_END_LICENSE$ +** +****************************************************************************/ + +#ifndef QQUATERNION_H +#define QQUATERNION_H + +#include +#include + +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 rotatedVector(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: + qreal wp, xp, yp, zp; +}; + +Q_DECLARE_TYPEINFO(QQuaternion, Q_MOVABLE_TYPE); + +inline QQuaternion::QQuaternion() : wp(1.0f), xp(0.0f), yp(0.0f), zp(0.0f) {} + +inline QQuaternion::QQuaternion(qreal aScalar, qreal xpos, qreal ypos, qreal zpos) : wp(aScalar), 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 aX) { xp = aX; } +inline void QQuaternion::setY(qreal aY) { yp = aY; } +inline void QQuaternion::setZ(qreal aZ) { zp = aZ; } +inline void QQuaternion::setScalar(qreal aScalar) { wp = aScalar; } + +inline QQuaternion QQuaternion::conjugate() const +{ + return QQuaternion(wp, -xp, -yp, -zp); +} + +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) +{ + qreal ww = (q1.zp + q1.xp) * (q2.xp + q2.yp); + qreal yy = (q1.wp - q1.yp) * (q2.wp + q2.zp); + qreal zz = (q1.wp + q1.yp) * (q2.wp - q2.zp); + qreal xx = ww + yy + zz; + qreal qq = 0.5 * (xx + (q1.zp - q1.xp) * (q2.xp - q2.yp)); + + qreal w = qq - ww + (q1.zp - q1.yp) * (q2.yp - q2.zp); + qreal x = qq - xx + (q1.xp + q1.wp) * (q2.xp + q2.wp); + qreal y = qq - yy + (q1.wp - q1.xp) * (q2.yp + q2.zp); + qreal z = qq - zz + (q1.zp + q1.yp) * (q2.wp - q2.xp); + + return QQuaternion(w, x, y, z); +} + +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); +} + +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); +} + +inline const QQuaternion operator*(qreal factor, const QQuaternion &quaternion) +{ + return QQuaternion(quaternion.wp * factor, quaternion.xp * factor, quaternion.yp * factor, quaternion.zp * factor); +} + +inline const QQuaternion operator*(const QQuaternion &quaternion, qreal factor) +{ + return QQuaternion(quaternion.wp * factor, quaternion.xp * factor, quaternion.yp * factor, quaternion.zp * factor); +} + +inline const QQuaternion operator-(const QQuaternion &quaternion) +{ + return QQuaternion(-quaternion.wp, -quaternion.xp, -quaternion.yp, -quaternion.zp); +} + +inline const QQuaternion operator/(const QQuaternion &quaternion, qreal divisor) +{ + return QQuaternion(quaternion.wp / divisor, quaternion.xp / divisor, quaternion.yp / divisor, quaternion.zp / divisor); +} + +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 aScalar, const QVector3D& aVector) + : wp(aScalar), xp(aVector.x()), yp(aVector.y()), zp(aVector.z()) {} + +inline void QQuaternion::setVector(const QVector3D& aVector) +{ + xp = aVector.x(); + yp = aVector.y(); + zp = aVector.z(); +} + +inline QVector3D QQuaternion::vector() const +{ + return QVector3D(xp, yp, zp); +} + +#endif + +inline void QQuaternion::setVector(qreal aX, qreal aY, qreal aZ) +{ + xp = aX; + yp = aY; + zp = aZ; +} + +#ifndef QT_NO_VECTOR4D + +inline QQuaternion::QQuaternion(const QVector4D& aVector) + : wp(aVector.w()), xp(aVector.x()), yp(aVector.y()), zp(aVector.z()) {} + +inline QVector4D QQuaternion::toVector4D() const +{ + return QVector4D(xp, yp, zp, wp); +} + +#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 -- cgit v1.2.3