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Diffstat (limited to 'src/foundation/Qt3DSQuat.h')
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diff --git a/src/foundation/Qt3DSQuat.h b/src/foundation/Qt3DSQuat.h new file mode 100644 index 0000000..2792f97 --- /dev/null +++ b/src/foundation/Qt3DSQuat.h @@ -0,0 +1,381 @@ +/**************************************************************************** +** +** Copyright (C) 2008-2012 NVIDIA Corporation. +** Copyright (C) 2017 The Qt Company Ltd. +** Contact: https://www.qt.io/licensing/ +** +** This file is part of Qt 3D Studio. +** +** $QT_BEGIN_LICENSE:GPL$ +** Commercial License Usage +** Licensees holding valid commercial Qt licenses may use this file in +** accordance with the commercial license agreement provided with the +** Software or, alternatively, in accordance with the terms contained in +** a written agreement between you and The Qt Company. For licensing terms +** and conditions see https://www.qt.io/terms-conditions. For further +** information use the contact form at https://www.qt.io/contact-us. +** +** GNU General Public License Usage +** Alternatively, this file may be used under the terms of the GNU +** General Public License version 3 or (at your option) any later version +** approved by the KDE Free Qt Foundation. The licenses are as published by +** the Free Software Foundation and appearing in the file LICENSE.GPL3 +** included in the packaging of this file. Please review the following +** information to ensure the GNU General Public License requirements will +** be met: https://www.gnu.org/licenses/gpl-3.0.html. +** +** $QT_END_LICENSE$ +** +****************************************************************************/ + +#ifndef QT3DS_FOUNDATION_QT3DS_QUAT_H +#define QT3DS_FOUNDATION_QT3DS_QUAT_H + +/** \addtogroup foundation +@{ +*/ + +#include "foundation/Qt3DSVec3.h" + +#ifndef QT3DS_DOXYGEN +namespace qt3ds { +#endif + +/** +\brief This is a quaternion class. For more information on quaternion mathematics +consult a mathematics source on complex numbers. + +*/ + +class QT3DSQuat +{ +public: + /** + \brief Default constructor, does not do any initialization. + */ + QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE QT3DSQuat() {} + + /** + \brief Constructor. Take note of the order of the elements! + */ + QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE QT3DSQuat(NVReal nx, NVReal ny, NVReal nz, NVReal nw) + : x(nx) + , y(ny) + , z(nz) + , w(nw) + { + } + + /** + \brief Creates from angle-axis representation. + + Axis must be normalized! + + Angle is in radians! + + <b>Unit:</b> Radians + */ + QT3DS_CUDA_CALLABLE QT3DS_INLINE QT3DSQuat(NVReal angleRadians, const QT3DSVec3 &unitAxis) + { + QT3DS_ASSERT(NVAbs(1.0f - unitAxis.magnitude()) < 1e-3f); + const NVReal a = angleRadians * 0.5f; + const NVReal s = NVSin(a); + w = NVCos(a); + x = unitAxis.x * s; + y = unitAxis.y * s; + z = unitAxis.z * s; + } + + /** + \brief Copy ctor. + */ + QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE QT3DSQuat(const QT3DSQuat &v) + : x(v.x) + , y(v.y) + , z(v.z) + , w(v.w) + { + } + + /** + \brief Creates from orientation matrix. + + \param[in] m Rotation matrix to extract quaternion from. + */ + QT3DS_CUDA_CALLABLE QT3DS_INLINE explicit QT3DSQuat(const QT3DSMat33 &m); /* defined in Qt3DSMat33.h */ + + /** + \brief returns true if all elements are finite (not NAN or INF, etc.) + */ + QT3DS_CUDA_CALLABLE bool isFinite() const + { + return NVIsFinite(x) && NVIsFinite(y) && NVIsFinite(z) && NVIsFinite(w); + } + + /** + \brief returns true if finite and magnitude is close to unit + */ + + QT3DS_CUDA_CALLABLE bool isUnit() const + { + const NVReal unitTolerance = NVReal(1e-4); + return isFinite() && NVAbs(magnitude() - 1) < unitTolerance; + } + + /** + \brief returns true if finite and magnitude is reasonably close to unit to allow for some + accumulation of error vs isValid + */ + + QT3DS_CUDA_CALLABLE bool isSane() const + { + const NVReal unitTolerance = NVReal(1e-2); + return isFinite() && NVAbs(magnitude() - 1) < unitTolerance; + } + + /** + \brief converts this quaternion to angle-axis representation + */ + + QT3DS_CUDA_CALLABLE QT3DS_INLINE void toRadiansAndUnitAxis(NVReal &angle, QT3DSVec3 &axis) const + { + const NVReal quatEpsilon = (NVReal(1.0e-8f)); + const NVReal s2 = x * x + y * y + z * z; + if (s2 < quatEpsilon * quatEpsilon) // can't extract a sensible axis + { + angle = 0; + axis = QT3DSVec3(1, 0, 0); + } else { + const NVReal s = NVRecipSqrt(s2); + axis = QT3DSVec3(x, y, z) * s; + angle = w < quatEpsilon ? NVPi : NVAtan2(s2 * s, w) * 2; + } + } + + /** + \brief Gets the angle between this quat and the identity quaternion. + + <b>Unit:</b> Radians + */ + QT3DS_CUDA_CALLABLE QT3DS_INLINE NVReal getAngle() const { return NVAcos(w) * NVReal(2); } + + /** + \brief Gets the angle between this quat and the argument + + <b>Unit:</b> Radians + */ + QT3DS_CUDA_CALLABLE QT3DS_INLINE NVReal getAngle(const QT3DSQuat &q) const + { + return NVAcos(dot(q)) * NVReal(2); + } + + /** + \brief This is the squared 4D vector length, should be 1 for unit quaternions. + */ + QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE NVReal magnitudeSquared() const + { + return x * x + y * y + z * z + w * w; + } + + /** + \brief returns the scalar product of this and other. + */ + QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE NVReal dot(const QT3DSQuat &v) const + { + return x * v.x + y * v.y + z * v.z + w * v.w; + } + + QT3DS_CUDA_CALLABLE QT3DS_INLINE QT3DSQuat getNormalized() const + { + const NVReal s = 1.0f / magnitude(); + return QT3DSQuat(x * s, y * s, z * s, w * s); + } + + QT3DS_CUDA_CALLABLE QT3DS_INLINE float magnitude() const { return NVSqrt(magnitudeSquared()); } + + // modifiers: + /** + \brief maps to the closest unit quaternion. + */ + QT3DS_CUDA_CALLABLE QT3DS_INLINE NVReal normalize() // convert this QT3DSQuat to a unit quaternion + { + const NVReal mag = magnitude(); + if (mag) { + const NVReal imag = NVReal(1) / mag; + + x *= imag; + y *= imag; + z *= imag; + w *= imag; + } + return mag; + } + + /* + \brief returns the conjugate. + + \note for unit quaternions, this is the inverse. + */ + QT3DS_CUDA_CALLABLE QT3DS_INLINE QT3DSQuat getConjugate() const { return QT3DSQuat(-x, -y, -z, w); } + + /* + \brief returns imaginary part. + */ + QT3DS_CUDA_CALLABLE QT3DS_INLINE QT3DSVec3 getImaginaryPart() const { return QT3DSVec3(x, y, z); } + + /** brief computes rotation of x-axis */ + QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE QT3DSVec3 getBasisVector0() const + { + // return rotate(QT3DSVec3(1,0,0)); + const QT3DSF32 x2 = x * 2.0f; + const QT3DSF32 w2 = w * 2.0f; + return QT3DSVec3((w * w2) - 1.0f + x * x2, (z * w2) + y * x2, (-y * w2) + z * x2); + } + + /** brief computes rotation of y-axis */ + QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE QT3DSVec3 getBasisVector1() const + { + // return rotate(QT3DSVec3(0,1,0)); + const QT3DSF32 y2 = y * 2.0f; + const QT3DSF32 w2 = w * 2.0f; + return QT3DSVec3((-z * w2) + x * y2, (w * w2) - 1.0f + y * y2, (x * w2) + z * y2); + } + + /** brief computes rotation of z-axis */ + QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE QT3DSVec3 getBasisVector2() const + { + // return rotate(QT3DSVec3(0,0,1)); + const QT3DSF32 z2 = z * 2.0f; + const QT3DSF32 w2 = w * 2.0f; + return QT3DSVec3((y * w2) + x * z2, (-x * w2) + y * z2, (w * w2) - 1.0f + z * z2); + } + + /** + rotates passed vec by this (assumed unitary) + */ + QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE const QT3DSVec3 rotate(const QT3DSVec3 &v) const + // QT3DS_CUDA_CALLABLE QT3DS_INLINE const QT3DSVec3 rotate(const QT3DSVec3& v) const + { + const QT3DSF32 vx = 2.0f * v.x; + const QT3DSF32 vy = 2.0f * v.y; + const QT3DSF32 vz = 2.0f * v.z; + const QT3DSF32 w2 = w * w - 0.5f; + const QT3DSF32 dot2 = (x * vx + y * vy + z * vz); + return QT3DSVec3((vx * w2 + (y * vz - z * vy) * w + x * dot2), + (vy * w2 + (z * vx - x * vz) * w + y * dot2), + (vz * w2 + (x * vy - y * vx) * w + z * dot2)); + /* + const QT3DSVec3 qv(x,y,z); + return (v*(w*w-0.5f) + (qv.cross(v))*w + qv*(qv.dot(v)))*2; + */ + } + + /** + inverse rotates passed vec by this (assumed unitary) + */ + QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE const QT3DSVec3 rotateInv(const QT3DSVec3 &v) const + // QT3DS_CUDA_CALLABLE QT3DS_INLINE const QT3DSVec3 rotateInv(const QT3DSVec3& v) const + { + const QT3DSF32 vx = 2.0f * v.x; + const QT3DSF32 vy = 2.0f * v.y; + const QT3DSF32 vz = 2.0f * v.z; + const QT3DSF32 w2 = w * w - 0.5f; + const QT3DSF32 dot2 = (x * vx + y * vy + z * vz); + return QT3DSVec3((vx * w2 - (y * vz - z * vy) * w + x * dot2), + (vy * w2 - (z * vx - x * vz) * w + y * dot2), + (vz * w2 - (x * vy - y * vx) * w + z * dot2)); + // const QT3DSVec3 qv(x,y,z); + // return (v*(w*w-0.5f) - (qv.cross(v))*w + qv*(qv.dot(v)))*2; + } + + /** + \brief Assignment operator + */ + QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE QT3DSQuat &operator=(const QT3DSQuat &p) + { + x = p.x; + y = p.y; + z = p.z; + w = p.w; + return *this; + } + + QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE QT3DSQuat &operator*=(const QT3DSQuat &q) + { + const NVReal tx = w * q.x + q.w * x + y * q.z - q.y * z; + const NVReal ty = w * q.y + q.w * y + z * q.x - q.z * x; + const NVReal tz = w * q.z + q.w * z + x * q.y - q.x * y; + + w = w * q.w - q.x * x - y * q.y - q.z * z; + x = tx; + y = ty; + z = tz; + + return *this; + } + + QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE QT3DSQuat &operator+=(const QT3DSQuat &q) + { + x += q.x; + y += q.y; + z += q.z; + w += q.w; + return *this; + } + + QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE QT3DSQuat &operator-=(const QT3DSQuat &q) + { + x -= q.x; + y -= q.y; + z -= q.z; + w -= q.w; + return *this; + } + + QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE QT3DSQuat &operator*=(const NVReal s) + { + x *= s; + y *= s; + z *= s; + w *= s; + return *this; + } + + /** quaternion multiplication */ + QT3DS_CUDA_CALLABLE QT3DS_INLINE QT3DSQuat operator*(const QT3DSQuat &q) const + { + return QT3DSQuat(w * q.x + q.w * x + y * q.z - q.y * z, w * q.y + q.w * y + z * q.x - q.z * x, + w * q.z + q.w * z + x * q.y - q.x * y, w * q.w - x * q.x - y * q.y - z * q.z); + } + + /** quaternion addition */ + QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE QT3DSQuat operator+(const QT3DSQuat &q) const + { + return QT3DSQuat(x + q.x, y + q.y, z + q.z, w + q.w); + } + + /** quaternion subtraction */ + QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE QT3DSQuat operator-() const { return QT3DSQuat(-x, -y, -z, -w); } + + QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE QT3DSQuat operator-(const QT3DSQuat &q) const + { + return QT3DSQuat(x - q.x, y - q.y, z - q.z, w - q.w); + } + + QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE QT3DSQuat operator*(NVReal r) const + { + return QT3DSQuat(x * r, y * r, z * r, w * r); + } + + static QT3DS_CUDA_CALLABLE QT3DS_INLINE QT3DSQuat createIdentity() { return QT3DSQuat(0, 0, 0, 1); } + + /** the quaternion elements */ + NVReal x, y, z, w; +}; + +#ifndef QT3DS_DOXYGEN +} // namespace qt3ds +#endif + +/** @} */ +#endif // QT3DS_FOUNDATION_QT3DS_QUAT_H |