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41
42 #ifndef QQUATERNION_H
43 #define QQUATERNION_H
44
45 #include <QtGui/qvector3d.h>
46 #include <QtGui/qvector4d.h>
47
48 QT_BEGIN_HEADER
49
50 QT_BEGIN_NAMESPACE
51
52 QT_MODULE(Gui)
53
54 #ifndef QT_NO_QUATERNION
55
56 class QMatrix4x4;
57 class QVariant;
58
59 class Q_GUI_EXPORT QQuaternion
60 {
61 public:
62 QQuaternion();
63 QQuaternion(qreal scalar, qreal xpos, qreal ypos, qreal zpos);
64 #ifndef QT_NO_VECTOR3D
65 QQuaternion(qreal scalar, const QVector3D& vector);
66 #endif
67 #ifndef QT_NO_VECTOR4D
68 explicit QQuaternion(const QVector4D& vector);
69 #endif
70
71 bool isNull() const;
72 bool isIdentity() const;
73
74 #ifndef QT_NO_VECTOR3D
75 QVector3D vector() const;
76 void setVector(const QVector3D& vector);
77 #endif
78 void setVector(qreal x, qreal y, qreal z);
79
80 qreal x() const;
81 qreal y() const;
82 qreal z() const;
83 qreal scalar() const;
84
85 void setX(qreal x);
86 void setY(qreal y);
87 void setZ(qreal z);
88 void setScalar(qreal scalar);
89
90 qreal length() const;
91 qreal lengthSquared() const;
92
93 QQuaternion normalized() const;
94 void normalize();
95
96 QQuaternion conjugate() const;
97
98 QVector3D rotatedVector(const QVector3D& vector) const;
99
100 QQuaternion &operator+=(const QQuaternion &quaternion);
101 QQuaternion &operator-=(const QQuaternion &quaternion);
102 QQuaternion &operator*=(qreal factor);
103 QQuaternion &operator*=(const QQuaternion &quaternion);
104 QQuaternion &operator/=(qreal divisor);
105
106 friend inline bool operator==(const QQuaternion &q1, const QQuaternion &q2);
107 friend inline bool operator!=(const QQuaternion &q1, const QQuaternion &q2);
108 friend inline const QQuaternion operator+(const QQuaternion &q1, const QQuaternion &q2);
109 friend inline const QQuaternion operator-(const QQuaternion &q1, const QQuaternion &q2);
110 friend inline const QQuaternion operator*(qreal factor, const QQuaternion &quaternion);
111 friend inline const QQuaternion operator*(const QQuaternion &quaternion, qreal factor);
112 friend inline const QQuaternion operator*(const QQuaternion &q1, const QQuaternion& q2);
113 friend inline const QQuaternion operator-(const QQuaternion &quaternion);
114 friend inline const QQuaternion operator/(const QQuaternion &quaternion, qreal divisor);
115
116 friend inline bool qFuzzyCompare(const QQuaternion& q1, const QQuaternion& q2);
117
118 #ifndef QT_NO_VECTOR4D
119 QVector4D toVector4D() const;
120 #endif
121
122 operator QVariant() const;
123
124 #ifndef QT_NO_VECTOR3D
125 static QQuaternion fromAxisAndAngle(const QVector3D& axis, qreal angle);
126 #endif
127 static QQuaternion fromAxisAndAngle
128 (qreal x, qreal y, qreal z, qreal angle);
129
130 static QQuaternion slerp
131 (const QQuaternion& q1, const QQuaternion& q2, qreal t);
132 static QQuaternion nlerp
133 (const QQuaternion& q1, const QQuaternion& q2, qreal t);
134
135 private:
136 qreal wp, xp, yp, zp;
137 };
138
139 Q_DECLARE_TYPEINFO(QQuaternion, Q_MOVABLE_TYPE);
140
QQuaternion()141 inline QQuaternion::QQuaternion() : wp(1.0f), xp(0.0f), yp(0.0f), zp(0.0f) {}
142
QQuaternion(qreal aScalar,qreal xpos,qreal ypos,qreal zpos)143 inline QQuaternion::QQuaternion(qreal aScalar, qreal xpos, qreal ypos, qreal zpos) : wp(aScalar), xp(xpos), yp(ypos), zp(zpos) {}
144
145
isNull()146 inline bool QQuaternion::isNull() const
147 {
148 return qIsNull(xp) && qIsNull(yp) && qIsNull(zp) && qIsNull(wp);
149 }
150
isIdentity()151 inline bool QQuaternion::isIdentity() const
152 {
153 return qIsNull(xp) && qIsNull(yp) && qIsNull(zp) && wp == 1.0f;
154 }
155
x()156 inline qreal QQuaternion::x() const { return qreal(xp); }
y()157 inline qreal QQuaternion::y() const { return qreal(yp); }
z()158 inline qreal QQuaternion::z() const { return qreal(zp); }
scalar()159 inline qreal QQuaternion::scalar() const { return qreal(wp); }
160
setX(qreal aX)161 inline void QQuaternion::setX(qreal aX) { xp = aX; }
setY(qreal aY)162 inline void QQuaternion::setY(qreal aY) { yp = aY; }
setZ(qreal aZ)163 inline void QQuaternion::setZ(qreal aZ) { zp = aZ; }
setScalar(qreal aScalar)164 inline void QQuaternion::setScalar(qreal aScalar) { wp = aScalar; }
165
conjugate()166 inline QQuaternion QQuaternion::conjugate() const
167 {
168 return QQuaternion(wp, -xp, -yp, -zp);
169 }
170
171 inline QQuaternion &QQuaternion::operator+=(const QQuaternion &quaternion)
172 {
173 xp += quaternion.xp;
174 yp += quaternion.yp;
175 zp += quaternion.zp;
176 wp += quaternion.wp;
177 return *this;
178 }
179
180 inline QQuaternion &QQuaternion::operator-=(const QQuaternion &quaternion)
181 {
182 xp -= quaternion.xp;
183 yp -= quaternion.yp;
184 zp -= quaternion.zp;
185 wp -= quaternion.wp;
186 return *this;
187 }
188
189 inline QQuaternion &QQuaternion::operator*=(qreal factor)
190 {
191 xp *= factor;
192 yp *= factor;
193 zp *= factor;
194 wp *= factor;
195 return *this;
196 }
197
198 inline const QQuaternion operator*(const QQuaternion &q1, const QQuaternion& q2)
199 {
200 qreal ww = (q1.zp + q1.xp) * (q2.xp + q2.yp);
201 qreal yy = (q1.wp - q1.yp) * (q2.wp + q2.zp);
202 qreal zz = (q1.wp + q1.yp) * (q2.wp - q2.zp);
203 qreal xx = ww + yy + zz;
204 qreal qq = 0.5 * (xx + (q1.zp - q1.xp) * (q2.xp - q2.yp));
205
206 qreal w = qq - ww + (q1.zp - q1.yp) * (q2.yp - q2.zp);
207 qreal x = qq - xx + (q1.xp + q1.wp) * (q2.xp + q2.wp);
208 qreal y = qq - yy + (q1.wp - q1.xp) * (q2.yp + q2.zp);
209 qreal z = qq - zz + (q1.zp + q1.yp) * (q2.wp - q2.xp);
210
211 return QQuaternion(w, x, y, z);
212 }
213
214 inline QQuaternion &QQuaternion::operator*=(const QQuaternion &quaternion)
215 {
216 *this = *this * quaternion;
217 return *this;
218 }
219
220 inline QQuaternion &QQuaternion::operator/=(qreal divisor)
221 {
222 xp /= divisor;
223 yp /= divisor;
224 zp /= divisor;
225 wp /= divisor;
226 return *this;
227 }
228
229 inline bool operator==(const QQuaternion &q1, const QQuaternion &q2)
230 {
231 return q1.xp == q2.xp && q1.yp == q2.yp && q1.zp == q2.zp && q1.wp == q2.wp;
232 }
233
234 inline bool operator!=(const QQuaternion &q1, const QQuaternion &q2)
235 {
236 return q1.xp != q2.xp || q1.yp != q2.yp || q1.zp != q2.zp || q1.wp != q2.wp;
237 }
238
239 inline const QQuaternion operator+(const QQuaternion &q1, const QQuaternion &q2)
240 {
241 return QQuaternion(q1.wp + q2.wp, q1.xp + q2.xp, q1.yp + q2.yp, q1.zp + q2.zp);
242 }
243
244 inline const QQuaternion operator-(const QQuaternion &q1, const QQuaternion &q2)
245 {
246 return QQuaternion(q1.wp - q2.wp, q1.xp - q2.xp, q1.yp - q2.yp, q1.zp - q2.zp);
247 }
248
249 inline const QQuaternion operator*(qreal factor, const QQuaternion &quaternion)
250 {
251 return QQuaternion(quaternion.wp * factor, quaternion.xp * factor, quaternion.yp * factor, quaternion.zp * factor);
252 }
253
254 inline const QQuaternion operator*(const QQuaternion &quaternion, qreal factor)
255 {
256 return QQuaternion(quaternion.wp * factor, quaternion.xp * factor, quaternion.yp * factor, quaternion.zp * factor);
257 }
258
259 inline const QQuaternion operator-(const QQuaternion &quaternion)
260 {
261 return QQuaternion(-quaternion.wp, -quaternion.xp, -quaternion.yp, -quaternion.zp);
262 }
263
264 inline const QQuaternion operator/(const QQuaternion &quaternion, qreal divisor)
265 {
266 return QQuaternion(quaternion.wp / divisor, quaternion.xp / divisor, quaternion.yp / divisor, quaternion.zp / divisor);
267 }
268
qFuzzyCompare(const QQuaternion & q1,const QQuaternion & q2)269 inline bool qFuzzyCompare(const QQuaternion& q1, const QQuaternion& q2)
270 {
271 return qFuzzyCompare(q1.xp, q2.xp) &&
272 qFuzzyCompare(q1.yp, q2.yp) &&
273 qFuzzyCompare(q1.zp, q2.zp) &&
274 qFuzzyCompare(q1.wp, q2.wp);
275 }
276
277 #ifndef QT_NO_VECTOR3D
278
QQuaternion(qreal aScalar,const QVector3D & aVector)279 inline QQuaternion::QQuaternion(qreal aScalar, const QVector3D& aVector)
280 : wp(aScalar), xp(aVector.x()), yp(aVector.y()), zp(aVector.z()) {}
281
setVector(const QVector3D & aVector)282 inline void QQuaternion::setVector(const QVector3D& aVector)
283 {
284 xp = aVector.x();
285 yp = aVector.y();
286 zp = aVector.z();
287 }
288
vector()289 inline QVector3D QQuaternion::vector() const
290 {
291 return QVector3D(xp, yp, zp);
292 }
293
294 #endif
295
setVector(qreal aX,qreal aY,qreal aZ)296 inline void QQuaternion::setVector(qreal aX, qreal aY, qreal aZ)
297 {
298 xp = aX;
299 yp = aY;
300 zp = aZ;
301 }
302
303 #ifndef QT_NO_VECTOR4D
304
QQuaternion(const QVector4D & aVector)305 inline QQuaternion::QQuaternion(const QVector4D& aVector)
306 : wp(aVector.w()), xp(aVector.x()), yp(aVector.y()), zp(aVector.z()) {}
307
toVector4D()308 inline QVector4D QQuaternion::toVector4D() const
309 {
310 return QVector4D(xp, yp, zp, wp);
311 }
312
313 #endif
314
315 #ifndef QT_NO_DEBUG_STREAM
316 Q_GUI_EXPORT QDebug operator<<(QDebug dbg, const QQuaternion &q);
317 #endif
318
319 #ifndef QT_NO_DATASTREAM
320 Q_GUI_EXPORT QDataStream &operator<<(QDataStream &, const QQuaternion &);
321 Q_GUI_EXPORT QDataStream &operator>>(QDataStream &, QQuaternion &);
322 #endif
323
324 #endif
325
326 QT_END_NAMESPACE
327
328 QT_END_HEADER
329
330 #endif
331