1 | // Copyright (C) 2016 The Qt Company Ltd. |
2 | // SPDX-License-Identifier: LicenseRef-Qt-Commercial OR LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only |
3 | |
4 | #ifndef QQUATERNION_H |
5 | #define QQUATERNION_H |
6 | |
7 | #include <QtGui/qtguiglobal.h> |
8 | #include <QtGui/qgenericmatrix.h> |
9 | #include <QtGui/qvector3d.h> |
10 | #include <QtGui/qvector4d.h> |
11 | |
12 | QT_BEGIN_NAMESPACE |
13 | |
14 | |
15 | #ifndef QT_NO_QUATERNION |
16 | |
17 | class QMatrix4x4; |
18 | class QVariant; |
19 | |
20 | class QT6_ONLY(Q_GUI_EXPORT) QQuaternion |
21 | { |
22 | public: |
23 | constexpr QQuaternion() noexcept; |
24 | explicit QQuaternion(Qt::Initialization) noexcept {} |
25 | constexpr QQuaternion(float scalar, float xpos, float ypos, float zpos) noexcept; |
26 | #ifndef QT_NO_VECTOR3D |
27 | constexpr QQuaternion(float scalar, const QVector3D &vector) noexcept; |
28 | #endif |
29 | #ifndef QT_NO_VECTOR4D |
30 | constexpr explicit QQuaternion(const QVector4D &vector) noexcept; |
31 | #endif |
32 | |
33 | constexpr bool isNull() const noexcept; |
34 | constexpr bool isIdentity() const noexcept; |
35 | |
36 | #ifndef QT_NO_VECTOR3D |
37 | constexpr QVector3D vector() const noexcept; |
38 | constexpr void setVector(const QVector3D &vector) noexcept; |
39 | #endif |
40 | constexpr void setVector(float x, float y, float z) noexcept; |
41 | |
42 | constexpr float x() const noexcept; |
43 | constexpr float y() const noexcept; |
44 | constexpr float z() const noexcept; |
45 | constexpr float scalar() const noexcept; |
46 | |
47 | constexpr void setX(float x) noexcept; |
48 | constexpr void setY(float y) noexcept; |
49 | constexpr void setZ(float z) noexcept; |
50 | constexpr void setScalar(float scalar) noexcept; |
51 | |
52 | constexpr static float dotProduct(const QQuaternion &q1, const QQuaternion &q2) noexcept; |
53 | |
54 | // ### Qt 7: make the next four constexpr |
55 | // (perhaps using std::hypot, constexpr in C++26, or constexpr qHypot) |
56 | QT7_ONLY(Q_GUI_EXPORT) float length() const; |
57 | QT7_ONLY(Q_GUI_EXPORT) float lengthSquared() const; |
58 | |
59 | [[nodiscard]] QT7_ONLY(Q_GUI_EXPORT) QQuaternion normalized() const; |
60 | QT7_ONLY(Q_GUI_EXPORT) void normalize(); |
61 | |
62 | constexpr QQuaternion inverted() const noexcept; |
63 | |
64 | [[nodiscard]] constexpr QQuaternion conjugated() const noexcept; |
65 | |
66 | QT7_ONLY(Q_GUI_EXPORT) QVector3D rotatedVector(const QVector3D &vector) const; |
67 | |
68 | constexpr QQuaternion &operator+=(const QQuaternion &quaternion) noexcept; |
69 | constexpr QQuaternion &operator-=(const QQuaternion &quaternion) noexcept; |
70 | constexpr QQuaternion &operator*=(float factor) noexcept; |
71 | constexpr QQuaternion &operator*=(const QQuaternion &quaternion) noexcept; |
72 | constexpr QQuaternion &operator/=(float divisor); |
73 | |
74 | QT_WARNING_PUSH |
75 | QT_WARNING_DISABLE_FLOAT_COMPARE |
76 | friend constexpr bool operator==(const QQuaternion &q1, const QQuaternion &q2) noexcept |
77 | { |
78 | return q1.wp == q2.wp && q1.xp == q2.xp && q1.yp == q2.yp && q1.zp == q2.zp; |
79 | } |
80 | friend constexpr bool operator!=(const QQuaternion &q1, const QQuaternion &q2) noexcept |
81 | { |
82 | return !(q1 == q2); |
83 | } |
84 | QT_WARNING_POP |
85 | |
86 | friend constexpr QQuaternion operator+(const QQuaternion &q1, const QQuaternion &q2) noexcept; |
87 | friend constexpr QQuaternion operator-(const QQuaternion &q1, const QQuaternion &q2) noexcept; |
88 | friend constexpr QQuaternion operator*(float factor, const QQuaternion &quaternion) noexcept; |
89 | friend constexpr QQuaternion operator*(const QQuaternion &quaternion, float factor) noexcept; |
90 | friend constexpr QQuaternion operator*(const QQuaternion &q1, const QQuaternion &q2) noexcept; |
91 | friend constexpr QQuaternion operator-(const QQuaternion &quaternion) noexcept; |
92 | friend constexpr QQuaternion operator/(const QQuaternion &quaternion, float divisor); |
93 | |
94 | friend constexpr bool qFuzzyCompare(const QQuaternion &q1, const QQuaternion &q2) noexcept; |
95 | |
96 | #ifndef QT_NO_VECTOR4D |
97 | constexpr QVector4D toVector4D() const noexcept; |
98 | #endif |
99 | |
100 | QT7_ONLY(Q_GUI_EXPORT) operator QVariant() const; |
101 | |
102 | #ifndef QT_NO_VECTOR3D |
103 | inline void getAxisAndAngle(QVector3D *axis, float *angle) const; |
104 | QT7_ONLY(Q_GUI_EXPORT) static QQuaternion fromAxisAndAngle(const QVector3D &axis, float angle); |
105 | #endif |
106 | QT7_ONLY(Q_GUI_EXPORT) void getAxisAndAngle(float *x, float *y, float *z, float *angle) const; |
107 | QT7_ONLY(Q_GUI_EXPORT) static QQuaternion fromAxisAndAngle(float x, float y, float z, |
108 | float angle); |
109 | |
110 | #ifndef QT_NO_VECTOR3D |
111 | inline QVector3D toEulerAngles() const; |
112 | QT7_ONLY(Q_GUI_EXPORT) static inline QQuaternion fromEulerAngles(const QVector3D &eulerAngles); |
113 | #endif |
114 | QT7_ONLY(Q_GUI_EXPORT) void getEulerAngles(float *pitch, float *yaw, float *roll) const; |
115 | QT7_ONLY(Q_GUI_EXPORT) static QQuaternion fromEulerAngles(float pitch, float yaw, float roll); |
116 | |
117 | QT7_ONLY(Q_GUI_EXPORT) QMatrix3x3 toRotationMatrix() const; |
118 | QT7_ONLY(Q_GUI_EXPORT) static QQuaternion fromRotationMatrix(const QMatrix3x3 &rot3x3); |
119 | |
120 | #ifndef QT_NO_VECTOR3D |
121 | QT7_ONLY(Q_GUI_EXPORT) void getAxes(QVector3D *xAxis, QVector3D *yAxis, QVector3D *zAxis) const; |
122 | QT7_ONLY(Q_GUI_EXPORT) static QQuaternion fromAxes(const QVector3D &xAxis, |
123 | const QVector3D &yAxis, |
124 | const QVector3D &zAxis); |
125 | |
126 | QT7_ONLY(Q_GUI_EXPORT) static QQuaternion fromDirection(const QVector3D &direction, |
127 | const QVector3D &up); |
128 | |
129 | QT7_ONLY(Q_GUI_EXPORT) static QQuaternion rotationTo(const QVector3D &from, |
130 | const QVector3D &to); |
131 | #endif |
132 | |
133 | QT7_ONLY(Q_GUI_EXPORT) static QQuaternion slerp(const QQuaternion &q1, const QQuaternion &q2, |
134 | float t); |
135 | QT7_ONLY(Q_GUI_EXPORT) static QQuaternion nlerp(const QQuaternion &q1, const QQuaternion &q2, |
136 | float t); |
137 | |
138 | private: |
139 | float wp, xp, yp, zp; |
140 | }; |
141 | |
142 | Q_DECLARE_TYPEINFO(QQuaternion, Q_PRIMITIVE_TYPE); |
143 | |
144 | constexpr QQuaternion::QQuaternion() noexcept : wp(1.0f), xp(0.0f), yp(0.0f), zp(0.0f) {} |
145 | |
146 | constexpr QQuaternion::QQuaternion(float aScalar, float xpos, float ypos, float zpos) noexcept |
147 | : wp(aScalar), xp(xpos), yp(ypos), zp(zpos) {} |
148 | |
149 | QT_WARNING_PUSH |
150 | QT_WARNING_DISABLE_FLOAT_COMPARE |
151 | |
152 | constexpr bool QQuaternion::isNull() const noexcept |
153 | { |
154 | return wp == 0.0f && xp == 0.0f && yp == 0.0f && zp == 0.0f; |
155 | } |
156 | |
157 | constexpr bool QQuaternion::isIdentity() const noexcept |
158 | { |
159 | return wp == 1.0f && xp == 0.0f && yp == 0.0f && zp == 0.0f; |
160 | } |
161 | QT_WARNING_POP |
162 | |
163 | constexpr float QQuaternion::x() const noexcept { return xp; } |
164 | constexpr float QQuaternion::y() const noexcept { return yp; } |
165 | constexpr float QQuaternion::z() const noexcept { return zp; } |
166 | constexpr float QQuaternion::scalar() const noexcept { return wp; } |
167 | |
168 | constexpr void QQuaternion::setX(float aX) noexcept { xp = aX; } |
169 | constexpr void QQuaternion::setY(float aY) noexcept { yp = aY; } |
170 | constexpr void QQuaternion::setZ(float aZ) noexcept { zp = aZ; } |
171 | constexpr void QQuaternion::setScalar(float aScalar) noexcept { wp = aScalar; } |
172 | |
173 | constexpr float QQuaternion::dotProduct(const QQuaternion &q1, const QQuaternion &q2) noexcept |
174 | { |
175 | return q1.wp * q2.wp + q1.xp * q2.xp + q1.yp * q2.yp + q1.zp * q2.zp; |
176 | } |
177 | |
178 | constexpr QQuaternion QQuaternion::inverted() const noexcept |
179 | { |
180 | // Need some extra precision if the length is very small. |
181 | double len = double(wp) * double(wp) + |
182 | double(xp) * double(xp) + |
183 | double(yp) * double(yp) + |
184 | double(zp) * double(zp); |
185 | if (!qFuzzyIsNull(d: len)) |
186 | return QQuaternion(float(double(wp) / len), float(double(-xp) / len), |
187 | float(double(-yp) / len), float(double(-zp) / len)); |
188 | return QQuaternion(0.0f, 0.0f, 0.0f, 0.0f); |
189 | } |
190 | |
191 | constexpr QQuaternion QQuaternion::conjugated() const noexcept |
192 | { |
193 | return QQuaternion(wp, -xp, -yp, -zp); |
194 | } |
195 | |
196 | constexpr QQuaternion &QQuaternion::operator+=(const QQuaternion &quaternion) noexcept |
197 | { |
198 | wp += quaternion.wp; |
199 | xp += quaternion.xp; |
200 | yp += quaternion.yp; |
201 | zp += quaternion.zp; |
202 | return *this; |
203 | } |
204 | |
205 | constexpr QQuaternion &QQuaternion::operator-=(const QQuaternion &quaternion) noexcept |
206 | { |
207 | wp -= quaternion.wp; |
208 | xp -= quaternion.xp; |
209 | yp -= quaternion.yp; |
210 | zp -= quaternion.zp; |
211 | return *this; |
212 | } |
213 | |
214 | constexpr QQuaternion &QQuaternion::operator*=(float factor) noexcept |
215 | { |
216 | wp *= factor; |
217 | xp *= factor; |
218 | yp *= factor; |
219 | zp *= factor; |
220 | return *this; |
221 | } |
222 | |
223 | constexpr QQuaternion operator*(const QQuaternion &q1, const QQuaternion &q2) noexcept |
224 | { |
225 | float yy = (q1.wp - q1.yp) * (q2.wp + q2.zp); |
226 | float zz = (q1.wp + q1.yp) * (q2.wp - q2.zp); |
227 | float ww = (q1.zp + q1.xp) * (q2.xp + q2.yp); |
228 | float xx = ww + yy + zz; |
229 | float qq = 0.5f * (xx + (q1.zp - q1.xp) * (q2.xp - q2.yp)); |
230 | |
231 | float w = qq - ww + (q1.zp - q1.yp) * (q2.yp - q2.zp); |
232 | float x = qq - xx + (q1.xp + q1.wp) * (q2.xp + q2.wp); |
233 | float y = qq - yy + (q1.wp - q1.xp) * (q2.yp + q2.zp); |
234 | float z = qq - zz + (q1.zp + q1.yp) * (q2.wp - q2.xp); |
235 | |
236 | return QQuaternion(w, x, y, z); |
237 | } |
238 | |
239 | constexpr QQuaternion &QQuaternion::operator*=(const QQuaternion &quaternion) noexcept |
240 | { |
241 | *this = *this * quaternion; |
242 | return *this; |
243 | } |
244 | |
245 | constexpr QQuaternion &QQuaternion::operator/=(float divisor) |
246 | { |
247 | wp /= divisor; |
248 | xp /= divisor; |
249 | yp /= divisor; |
250 | zp /= divisor; |
251 | return *this; |
252 | } |
253 | |
254 | constexpr QQuaternion operator+(const QQuaternion &q1, const QQuaternion &q2) noexcept |
255 | { |
256 | return QQuaternion(q1.wp + q2.wp, q1.xp + q2.xp, q1.yp + q2.yp, q1.zp + q2.zp); |
257 | } |
258 | |
259 | constexpr QQuaternion operator-(const QQuaternion &q1, const QQuaternion &q2) noexcept |
260 | { |
261 | return QQuaternion(q1.wp - q2.wp, q1.xp - q2.xp, q1.yp - q2.yp, q1.zp - q2.zp); |
262 | } |
263 | |
264 | constexpr QQuaternion operator*(float factor, const QQuaternion &quaternion) noexcept |
265 | { |
266 | return QQuaternion(quaternion.wp * factor, quaternion.xp * factor, quaternion.yp * factor, quaternion.zp * factor); |
267 | } |
268 | |
269 | constexpr QQuaternion operator*(const QQuaternion &quaternion, float factor) noexcept |
270 | { |
271 | return QQuaternion(quaternion.wp * factor, quaternion.xp * factor, quaternion.yp * factor, quaternion.zp * factor); |
272 | } |
273 | |
274 | constexpr QQuaternion operator-(const QQuaternion &quaternion) noexcept |
275 | { |
276 | return QQuaternion(-quaternion.wp, -quaternion.xp, -quaternion.yp, -quaternion.zp); |
277 | } |
278 | |
279 | constexpr QQuaternion operator/(const QQuaternion &quaternion, float divisor) |
280 | { |
281 | return QQuaternion(quaternion.wp / divisor, quaternion.xp / divisor, quaternion.yp / divisor, quaternion.zp / divisor); |
282 | } |
283 | |
284 | constexpr bool qFuzzyCompare(const QQuaternion &q1, const QQuaternion &q2) noexcept |
285 | { |
286 | return qFuzzyCompare(p1: q1.wp, p2: q2.wp) && |
287 | qFuzzyCompare(p1: q1.xp, p2: q2.xp) && |
288 | qFuzzyCompare(p1: q1.yp, p2: q2.yp) && |
289 | qFuzzyCompare(p1: q1.zp, p2: q2.zp); |
290 | } |
291 | |
292 | #ifndef QT_NO_VECTOR3D |
293 | |
294 | constexpr QQuaternion::QQuaternion(float aScalar, const QVector3D &aVector) noexcept |
295 | : wp(aScalar), xp(aVector.x()), yp(aVector.y()), zp(aVector.z()) {} |
296 | |
297 | constexpr void QQuaternion::setVector(const QVector3D &aVector) noexcept |
298 | { |
299 | xp = aVector.x(); |
300 | yp = aVector.y(); |
301 | zp = aVector.z(); |
302 | } |
303 | |
304 | constexpr QVector3D QQuaternion::vector() const noexcept |
305 | { |
306 | return QVector3D(xp, yp, zp); |
307 | } |
308 | |
309 | inline QVector3D operator*(const QQuaternion &quaternion, const QVector3D &vec) |
310 | { |
311 | return quaternion.rotatedVector(vector: vec); |
312 | } |
313 | |
314 | inline void QQuaternion::getAxisAndAngle(QVector3D *axis, float *angle) const |
315 | { |
316 | float aX, aY, aZ; |
317 | getAxisAndAngle(x: &aX, y: &aY, z: &aZ, angle); |
318 | *axis = QVector3D(aX, aY, aZ); |
319 | } |
320 | |
321 | inline QVector3D QQuaternion::toEulerAngles() const |
322 | { |
323 | float pitch, yaw, roll; |
324 | getEulerAngles(pitch: &pitch, yaw: &yaw, roll: &roll); |
325 | return QVector3D(pitch, yaw, roll); |
326 | } |
327 | |
328 | inline QQuaternion QQuaternion::fromEulerAngles(const QVector3D &eulerAngles) |
329 | { |
330 | return QQuaternion::fromEulerAngles(pitch: eulerAngles.x(), yaw: eulerAngles.y(), roll: eulerAngles.z()); |
331 | } |
332 | |
333 | #endif |
334 | |
335 | constexpr void QQuaternion::setVector(float aX, float aY, float aZ) noexcept |
336 | { |
337 | xp = aX; |
338 | yp = aY; |
339 | zp = aZ; |
340 | } |
341 | |
342 | #ifndef QT_NO_VECTOR4D |
343 | |
344 | constexpr QQuaternion::QQuaternion(const QVector4D &aVector) noexcept |
345 | : wp(aVector.w()), xp(aVector.x()), yp(aVector.y()), zp(aVector.z()) {} |
346 | |
347 | constexpr QVector4D QQuaternion::toVector4D() const noexcept |
348 | { |
349 | return QVector4D(xp, yp, zp, wp); |
350 | } |
351 | |
352 | #endif |
353 | |
354 | #ifndef QT_NO_DEBUG_STREAM |
355 | Q_GUI_EXPORT QDebug operator<<(QDebug dbg, const QQuaternion &q); |
356 | #endif |
357 | |
358 | #ifndef QT_NO_DATASTREAM |
359 | Q_GUI_EXPORT QDataStream &operator<<(QDataStream &, const QQuaternion &); |
360 | Q_GUI_EXPORT QDataStream &operator>>(QDataStream &, QQuaternion &); |
361 | #endif |
362 | |
363 | #endif |
364 | |
365 | QT_END_NAMESPACE |
366 | |
367 | #endif |
368 | |