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-/****************************************************************************
-**
-** Copyright (C) 2010 Nokia Corporation and/or its subsidiary(-ies).
-** All rights reserved.
-** Contact: Nokia Corporation ([email protected])
-**
-** 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 [email protected].
-** $QT_END_LICENSE$
-**
-****************************************************************************/
-
-#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
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