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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