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tqtinterface/qtinterface/qt4/Qt/qquaternion.h

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/****************************************************************************
**
** Copyright (C) 2010 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.
**
** $QT_BEGIN_LICENSE:LGPL$
** Commercial Usage
** Licensees holding valid Qt Commercial licenses may use this file in
** accordance with the Qt Commercial License Agreement provided with the
** Software or, alternatively, in accordance with the terms contained in
** a written agreement between you and Nokia.
**
** 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.
**
** GNU General Public License Usage
** Alternatively, this file may be used under the terms of the GNU
** General Public License version 3.0 as published by the Free Software
** Foundation and appearing in the file LICENSE.GPL included in the
** packaging of this file. Please review the following information to
** ensure the GNU General Public License version 3.0 requirements will be
** met: http://www.gnu.org/copyleft/gpl.html.
**
** 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 <QtGui/qvector3d.h>
#include <QtGui/qvector4d.h>
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;
};
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