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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 rotateVector(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 inline QQuaternion::QQuaternion() : wp(1.0f), xp(0.0f), yp(0.0f), zp(0.0f) {}

   140 

   141 inline QQuaternion::QQuaternion(qreal aScalar, qreal xpos, qreal ypos, qreal zpos) : wp(aScalar), xp(xpos), yp(ypos), zp(zpos) {}

   142 

   143 

   144 inline bool QQuaternion::isNull() const

   145 {

   146     return qIsNull(xp) && qIsNull(yp) && qIsNull(zp) && qIsNull(wp);

   147 }

   148 

   149 inline bool QQuaternion::isIdentity() const

   150 {

   151     return qIsNull(xp) && qIsNull(yp) && qIsNull(zp) && wp == 1.0f;

   152 }

   153 

   154 inline qreal QQuaternion::x() const { return qreal(xp); }

   155 inline qreal QQuaternion::y() const { return qreal(yp); }

   156 inline qreal QQuaternion::z() const { return qreal(zp); }

   157 inline qreal QQuaternion::scalar() const { return qreal(wp); }

   158 

   159 inline void QQuaternion::setX(qreal aX) { xp = aX; }

   160 inline void QQuaternion::setY(qreal aY) { yp = aY; }

   161 inline void QQuaternion::setZ(qreal aZ) { zp = aZ; }

   162 inline void QQuaternion::setScalar(qreal aScalar) { wp = aScalar; }

   163 

   164 inline QQuaternion QQuaternion::conjugate() const

   165 {

   166     return QQuaternion(wp, -xp, -yp, -zp);

   167 }

   168 

   169 inline QQuaternion &QQuaternion::operator+=(const QQuaternion &quaternion)

   170 {

   171     xp += quaternion.xp;

   172     yp += quaternion.yp;

   173     zp += quaternion.zp;

   174     wp += quaternion.wp;

   175     return *this;

   176 }

   177 

   178 inline QQuaternion &QQuaternion::operator-=(const QQuaternion &quaternion)

   179 {

   180     xp -= quaternion.xp;

   181     yp -= quaternion.yp;

   182     zp -= quaternion.zp;

   183     wp -= quaternion.wp;

   184     return *this;

   185 }

   186 

   187 inline QQuaternion &QQuaternion::operator*=(qreal factor)

   188 {

   189     xp *= factor;

   190     yp *= factor;

   191     zp *= factor;

   192     wp *= factor;

   193     return *this;

   194 }

   195 

   196 inline const QQuaternion operator*(const QQuaternion &q1, const QQuaternion& q2)

   197 {

   198     qreal ww = (q1.zp + q1.xp) * (q2.xp + q2.yp);

   199     qreal yy = (q1.wp - q1.yp) * (q2.wp + q2.zp);

   200     qreal zz = (q1.wp + q1.yp) * (q2.wp - q2.zp);

   201     qreal xx = ww + yy + zz;

   202     qreal qq = 0.5 * (xx + (q1.zp - q1.xp) * (q2.xp - q2.yp));

   203 

   204     qreal w = qq - ww + (q1.zp - q1.yp) * (q2.yp - q2.zp);

   205     qreal x = qq - xx + (q1.xp + q1.wp) * (q2.xp + q2.wp);

   206     qreal y = qq - yy + (q1.wp - q1.xp) * (q2.yp + q2.zp);

   207     qreal z = qq - zz + (q1.zp + q1.yp) * (q2.wp - q2.xp);

   208 

   209     return QQuaternion(w, x, y, z);

   210 }

   211 

   212 inline QQuaternion &QQuaternion::operator*=(const QQuaternion &quaternion)

   213 {

   214     *this = *this * quaternion;

   215     return *this;

   216 }

   217 

   218 inline QQuaternion &QQuaternion::operator/=(qreal divisor)

   219 {

   220     xp /= divisor;

   221     yp /= divisor;

   222     zp /= divisor;

   223     wp /= divisor;

   224     return *this;

   225 }

   226 

   227 inline bool operator==(const QQuaternion &q1, const QQuaternion &q2)

   228 {

   229     return q1.xp == q2.xp && q1.yp == q2.yp && q1.zp == q2.zp && q1.wp == q2.wp;

   230 }

   231 

   232 inline bool operator!=(const QQuaternion &q1, const QQuaternion &q2)

   233 {

   234     return q1.xp != q2.xp || q1.yp != q2.yp || q1.zp != q2.zp || q1.wp != q2.wp;

   235 }

   236 

   237 inline const QQuaternion operator+(const QQuaternion &q1, const QQuaternion &q2)

   238 {

   239     return QQuaternion(q1.wp + q2.wp, q1.xp + q2.xp, q1.yp + q2.yp, q1.zp + q2.zp);

   240 }

   241 

   242 inline const QQuaternion operator-(const QQuaternion &q1, const QQuaternion &q2)

   243 {

   244     return QQuaternion(q1.wp - q2.wp, q1.xp - q2.xp, q1.yp - q2.yp, q1.zp - q2.zp);

   245 }

   246 

   247 inline const QQuaternion operator*(qreal factor, const QQuaternion &quaternion)

   248 {

   249     return QQuaternion(quaternion.wp * factor, quaternion.xp * factor, quaternion.yp * factor, quaternion.zp * factor);

   250 }

   251 

   252 inline const QQuaternion operator*(const QQuaternion &quaternion, qreal factor)

   253 {

   254     return QQuaternion(quaternion.wp * factor, quaternion.xp * factor, quaternion.yp * factor, quaternion.zp * factor);

   255 }

   256 

   257 inline const QQuaternion operator-(const QQuaternion &quaternion)

   258 {

   259     return QQuaternion(-quaternion.wp, -quaternion.xp, -quaternion.yp, -quaternion.zp);

   260 }

   261 

   262 inline const QQuaternion operator/(const QQuaternion &quaternion, qreal divisor)

   263 {

   264     return QQuaternion(quaternion.wp / divisor, quaternion.xp / divisor, quaternion.yp / divisor, quaternion.zp / divisor);

   265 }

   266 

   267 inline bool qFuzzyCompare(const QQuaternion& q1, const QQuaternion& q2)

   268 {

   269     return qFuzzyCompare(q1.xp, q2.xp) &&

   270            qFuzzyCompare(q1.yp, q2.yp) &&

   271            qFuzzyCompare(q1.zp, q2.zp) &&

   272            qFuzzyCompare(q1.wp, q2.wp);

   273 }

   274 

   275 #ifndef QT_NO_VECTOR3D

   276 

   277 inline QQuaternion::QQuaternion(qreal aScalar, const QVector3D& aVector)

   278     : wp(aScalar), xp(aVector.x()), yp(aVector.y()), zp(aVector.z()) {}

   279 

   280 inline void QQuaternion::setVector(const QVector3D& aVector)

   281 {

   282     xp = aVector.x();

   283     yp = aVector.y();

   284     zp = aVector.z();

   285 }

   286 

   287 inline QVector3D QQuaternion::vector() const

   288 {

   289     return QVector3D(xp, yp, zp);

   290 }

   291 

   292 #endif

   293 

   294 inline void QQuaternion::setVector(qreal aX, qreal aY, qreal aZ)

   295 {

   296     xp = aX;

   297     yp = aY;

   298     zp = aZ;

   299 }

   300 

   301 #ifndef QT_NO_VECTOR4D

   302 

   303 inline QQuaternion::QQuaternion(const QVector4D& aVector)

   304     : wp(aVector.w()), xp(aVector.x()), yp(aVector.y()), zp(aVector.z()) {}

   305 

   306 inline QVector4D QQuaternion::toVector4D() const

   307 {

   308     return QVector4D(xp, yp, zp, wp);

   309 }

   310 

   311 #endif

   312 

   313 #ifndef QT_NO_DEBUG_STREAM

   314 Q_GUI_EXPORT QDebug operator<<(QDebug dbg, const QQuaternion &q);

   315 #endif

   316 

   317 #ifndef QT_NO_DATASTREAM

   318 Q_GUI_EXPORT QDataStream &operator<<(QDataStream &, const QQuaternion &);

   319 Q_GUI_EXPORT QDataStream &operator>>(QDataStream &, QQuaternion &);

   320 #endif

   321 

   322 #endif

   323 

   324 QT_END_NAMESPACE

   325 

   326 QT_END_HEADER

   327 

   328 #endif