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Diffstat (limited to 'src/Runtime/ogl-runtime/src/foundation/Qt3DSQuat.h')
| m--------- | src/Runtime/ogl-runtime | 0 | ||||
| -rw-r--r-- | src/Runtime/ogl-runtime/src/foundation/Qt3DSQuat.h | 381 |
2 files changed, 0 insertions, 381 deletions
diff --git a/src/Runtime/ogl-runtime b/src/Runtime/ogl-runtime new file mode 160000 +Subproject 2025912174c4cf99270b7439ec3b021e1d089ae diff --git a/src/Runtime/ogl-runtime/src/foundation/Qt3DSQuat.h b/src/Runtime/ogl-runtime/src/foundation/Qt3DSQuat.h deleted file mode 100644 index 2792f977..00000000 --- a/src/Runtime/ogl-runtime/src/foundation/Qt3DSQuat.h +++ /dev/null @@ -1,381 +0,0 @@ -/**************************************************************************** -** -** 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 |