| /**************************************************************************** |
| ** |
| ** 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. |
| ** |
| ** $QT_BEGIN_LICENSE:LGPL$ |
| ** GNU Lesser General Public License Usage |
| ** 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. |
| ** |
| ** Other Usage |
| ** Alternatively, this file may be used in accordance with the terms and |
| ** conditions contained in a signed written agreement between you and Nokia. |
| ** |
| ** |
| ** |
| ** |
| ** |
| ** $QT_END_LICENSE$ |
| ** |
| ****************************************************************************/ |
| |
| #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; |
| }; |
| |
| 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 |