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329 lines
9.7 KiB
329 lines
9.7 KiB
/****************************************************************************
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**
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** Copyright (C) 2010 Nokia Corporation and/or its subsidiary(-ies).
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** All rights reserved.
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** Contact: Nokia Corporation (qt-info@nokia.com)
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**
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** This file is part of the QtGui module of the Qt Toolkit.
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**
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** $QT_BEGIN_LICENSE:LGPL$
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** Commercial Usage
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** Licensees holding valid Qt Commercial licenses may use this file in
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** accordance with the Qt Commercial License Agreement provided with the
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** Software or, alternatively, in accordance with the terms contained in
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** a written agreement between you and Nokia.
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**
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** GNU Lesser General Public License Usage
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** Alternatively, this file may be used under the terms of the GNU Lesser
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** General Public License version 2.1 as published by the Free Software
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** Foundation and appearing in the file LICENSE.LGPL included in the
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** packaging of this file. Please review the following information to
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** ensure the GNU Lesser General Public License version 2.1 requirements
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** will be met: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html.
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**
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** In addition, as a special exception, Nokia gives you certain additional
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** rights. These rights are described in the Nokia Qt LGPL Exception
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** version 1.1, included in the file LGPL_EXCEPTION.txt in this package.
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**
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** GNU General Public License Usage
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** Alternatively, this file may be used under the terms of the GNU
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** General Public License version 3.0 as published by the Free Software
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** Foundation and appearing in the file LICENSE.GPL included in the
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** packaging of this file. Please review the following information to
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** ensure the GNU General Public License version 3.0 requirements will be
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** met: http://www.gnu.org/copyleft/gpl.html.
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**
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** If you have questions regarding the use of this file, please contact
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** Nokia at qt-info@nokia.com.
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** $QT_END_LICENSE$
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**
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****************************************************************************/
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#ifndef QQUATERNION_H
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#define QQUATERNION_H
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#include <QtGui/qvector3d.h>
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#include <QtGui/qvector4d.h>
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QT_BEGIN_HEADER
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QT_BEGIN_NAMESPACE
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QT_MODULE(Gui)
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#ifndef QT_NO_QUATERNION
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class QMatrix4x4;
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class QVariant;
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class Q_GUI_EXPORT QQuaternion
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{
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public:
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QQuaternion();
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QQuaternion(qreal scalar, qreal xpos, qreal ypos, qreal zpos);
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#ifndef QT_NO_VECTOR3D
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QQuaternion(qreal scalar, const QVector3D& vector);
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#endif
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#ifndef QT_NO_VECTOR4D
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explicit QQuaternion(const QVector4D& vector);
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#endif
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bool isNull() const;
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bool isIdentity() const;
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#ifndef QT_NO_VECTOR3D
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QVector3D vector() const;
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void setVector(const QVector3D& vector);
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#endif
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void setVector(qreal x, qreal y, qreal z);
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qreal x() const;
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qreal y() const;
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qreal z() const;
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qreal scalar() const;
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void setX(qreal x);
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void setY(qreal y);
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void setZ(qreal z);
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void setScalar(qreal scalar);
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qreal length() const;
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qreal lengthSquared() const;
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QQuaternion normalized() const;
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void normalize();
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QQuaternion conjugate() const;
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QVector3D rotatedVector(const QVector3D& vector) const;
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QQuaternion &operator+=(const QQuaternion &quaternion);
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QQuaternion &operator-=(const QQuaternion &quaternion);
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QQuaternion &operator*=(qreal factor);
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QQuaternion &operator*=(const QQuaternion &quaternion);
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QQuaternion &operator/=(qreal divisor);
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friend inline bool operator==(const QQuaternion &q1, const QQuaternion &q2);
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friend inline bool operator!=(const QQuaternion &q1, const QQuaternion &q2);
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friend inline const QQuaternion operator+(const QQuaternion &q1, const QQuaternion &q2);
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friend inline const QQuaternion operator-(const QQuaternion &q1, const QQuaternion &q2);
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friend inline const QQuaternion operator*(qreal factor, const QQuaternion &quaternion);
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friend inline const QQuaternion operator*(const QQuaternion &quaternion, qreal factor);
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friend inline const QQuaternion operator*(const QQuaternion &q1, const QQuaternion& q2);
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friend inline const QQuaternion operator-(const QQuaternion &quaternion);
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friend inline const QQuaternion operator/(const QQuaternion &quaternion, qreal divisor);
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friend inline bool qFuzzyCompare(const QQuaternion& q1, const QQuaternion& q2);
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#ifndef QT_NO_VECTOR4D
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QVector4D toVector4D() const;
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#endif
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operator QVariant() const;
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#ifndef QT_NO_VECTOR3D
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static QQuaternion fromAxisAndAngle(const QVector3D& axis, qreal angle);
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#endif
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static QQuaternion fromAxisAndAngle
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(qreal x, qreal y, qreal z, qreal angle);
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static QQuaternion slerp
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(const QQuaternion& q1, const QQuaternion& q2, qreal t);
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static QQuaternion nlerp
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(const QQuaternion& q1, const QQuaternion& q2, qreal t);
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private:
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qreal wp, xp, yp, zp;
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};
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inline QQuaternion::QQuaternion() : wp(1.0f), xp(0.0f), yp(0.0f), zp(0.0f) {}
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inline QQuaternion::QQuaternion(qreal aScalar, qreal xpos, qreal ypos, qreal zpos) : wp(aScalar), xp(xpos), yp(ypos), zp(zpos) {}
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inline bool QQuaternion::isNull() const
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{
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return qIsNull(xp) && qIsNull(yp) && qIsNull(zp) && qIsNull(wp);
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}
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inline bool QQuaternion::isIdentity() const
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{
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return qIsNull(xp) && qIsNull(yp) && qIsNull(zp) && wp == 1.0f;
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}
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inline qreal QQuaternion::x() const { return qreal(xp); }
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inline qreal QQuaternion::y() const { return qreal(yp); }
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inline qreal QQuaternion::z() const { return qreal(zp); }
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inline qreal QQuaternion::scalar() const { return qreal(wp); }
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inline void QQuaternion::setX(qreal aX) { xp = aX; }
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inline void QQuaternion::setY(qreal aY) { yp = aY; }
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inline void QQuaternion::setZ(qreal aZ) { zp = aZ; }
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inline void QQuaternion::setScalar(qreal aScalar) { wp = aScalar; }
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inline QQuaternion QQuaternion::conjugate() const
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{
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return QQuaternion(wp, -xp, -yp, -zp);
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}
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inline QQuaternion &QQuaternion::operator+=(const QQuaternion &quaternion)
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{
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xp += quaternion.xp;
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yp += quaternion.yp;
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zp += quaternion.zp;
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wp += quaternion.wp;
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return *this;
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}
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inline QQuaternion &QQuaternion::operator-=(const QQuaternion &quaternion)
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{
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xp -= quaternion.xp;
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yp -= quaternion.yp;
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zp -= quaternion.zp;
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wp -= quaternion.wp;
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return *this;
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}
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inline QQuaternion &QQuaternion::operator*=(qreal factor)
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{
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xp *= factor;
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yp *= factor;
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zp *= factor;
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wp *= factor;
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return *this;
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}
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inline const QQuaternion operator*(const QQuaternion &q1, const QQuaternion& q2)
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{
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qreal ww = (q1.zp + q1.xp) * (q2.xp + q2.yp);
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qreal yy = (q1.wp - q1.yp) * (q2.wp + q2.zp);
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qreal zz = (q1.wp + q1.yp) * (q2.wp - q2.zp);
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qreal xx = ww + yy + zz;
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qreal qq = 0.5 * (xx + (q1.zp - q1.xp) * (q2.xp - q2.yp));
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qreal w = qq - ww + (q1.zp - q1.yp) * (q2.yp - q2.zp);
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qreal x = qq - xx + (q1.xp + q1.wp) * (q2.xp + q2.wp);
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qreal y = qq - yy + (q1.wp - q1.xp) * (q2.yp + q2.zp);
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qreal z = qq - zz + (q1.zp + q1.yp) * (q2.wp - q2.xp);
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return QQuaternion(w, x, y, z);
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}
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inline QQuaternion &QQuaternion::operator*=(const QQuaternion &quaternion)
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{
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*this = *this * quaternion;
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return *this;
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}
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inline QQuaternion &QQuaternion::operator/=(qreal divisor)
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{
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xp /= divisor;
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yp /= divisor;
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zp /= divisor;
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wp /= divisor;
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return *this;
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}
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inline bool operator==(const QQuaternion &q1, const QQuaternion &q2)
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{
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return q1.xp == q2.xp && q1.yp == q2.yp && q1.zp == q2.zp && q1.wp == q2.wp;
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}
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inline bool operator!=(const QQuaternion &q1, const QQuaternion &q2)
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{
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return q1.xp != q2.xp || q1.yp != q2.yp || q1.zp != q2.zp || q1.wp != q2.wp;
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}
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inline const QQuaternion operator+(const QQuaternion &q1, const QQuaternion &q2)
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{
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return QQuaternion(q1.wp + q2.wp, q1.xp + q2.xp, q1.yp + q2.yp, q1.zp + q2.zp);
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}
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inline const QQuaternion operator-(const QQuaternion &q1, const QQuaternion &q2)
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{
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return QQuaternion(q1.wp - q2.wp, q1.xp - q2.xp, q1.yp - q2.yp, q1.zp - q2.zp);
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}
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inline const QQuaternion operator*(qreal factor, const QQuaternion &quaternion)
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{
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return QQuaternion(quaternion.wp * factor, quaternion.xp * factor, quaternion.yp * factor, quaternion.zp * factor);
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}
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inline const QQuaternion operator*(const QQuaternion &quaternion, qreal factor)
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{
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return QQuaternion(quaternion.wp * factor, quaternion.xp * factor, quaternion.yp * factor, quaternion.zp * factor);
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}
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inline const QQuaternion operator-(const QQuaternion &quaternion)
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{
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return QQuaternion(-quaternion.wp, -quaternion.xp, -quaternion.yp, -quaternion.zp);
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}
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inline const QQuaternion operator/(const QQuaternion &quaternion, qreal divisor)
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{
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return QQuaternion(quaternion.wp / divisor, quaternion.xp / divisor, quaternion.yp / divisor, quaternion.zp / divisor);
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}
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inline bool qFuzzyCompare(const QQuaternion& q1, const QQuaternion& q2)
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{
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return qFuzzyCompare(q1.xp, q2.xp) &&
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qFuzzyCompare(q1.yp, q2.yp) &&
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qFuzzyCompare(q1.zp, q2.zp) &&
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qFuzzyCompare(q1.wp, q2.wp);
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}
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#ifndef QT_NO_VECTOR3D
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inline QQuaternion::QQuaternion(qreal aScalar, const QVector3D& aVector)
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: wp(aScalar), xp(aVector.x()), yp(aVector.y()), zp(aVector.z()) {}
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inline void QQuaternion::setVector(const QVector3D& aVector)
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{
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xp = aVector.x();
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yp = aVector.y();
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zp = aVector.z();
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}
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inline QVector3D QQuaternion::vector() const
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{
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return QVector3D(xp, yp, zp);
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}
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#endif
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inline void QQuaternion::setVector(qreal aX, qreal aY, qreal aZ)
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{
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xp = aX;
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yp = aY;
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zp = aZ;
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}
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#ifndef QT_NO_VECTOR4D
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inline QQuaternion::QQuaternion(const QVector4D& aVector)
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: wp(aVector.w()), xp(aVector.x()), yp(aVector.y()), zp(aVector.z()) {}
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inline QVector4D QQuaternion::toVector4D() const
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{
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return QVector4D(xp, yp, zp, wp);
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}
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#endif
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#ifndef QT_NO_DEBUG_STREAM
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Q_GUI_EXPORT QDebug operator<<(QDebug dbg, const QQuaternion &q);
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#endif
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#ifndef QT_NO_DATASTREAM
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Q_GUI_EXPORT QDataStream &operator<<(QDataStream &, const QQuaternion &);
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Q_GUI_EXPORT QDataStream &operator>>(QDataStream &, QQuaternion &);
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#endif
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#endif
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QT_END_NAMESPACE
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QT_END_HEADER
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#endif
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