1// Copyright (C) 2008-2012 NVIDIA Corporation.
2// Copyright (C) 2019 The Qt Company Ltd.
3// SPDX-License-Identifier: LicenseRef-Qt-Commercial OR GPL-3.0-only
4
5#include "qssgutils_p.h"
6
7#include <QtCore/QDir>
8
9#include <cmath>
10
11QT_BEGIN_NAMESPACE
12
13float QSSGUtils::vec2::magnitude(const QVector2D &v)
14{
15 return ::sqrtf(x: v.x() * v.x() + v.y() * v.y());
16}
17
18bool QSSGUtils::vec3::isFinite(const QVector3D &v)
19{
20 return qIsFinite(f: v.x()) && qIsFinite(f: v.y()) && qIsFinite(f: v.z());
21}
22
23float QSSGUtils::vec3::magnitude(const QVector3D &v)
24{
25 return sqrtf(x: v.x() * v.x() + v.y() * v.y() + v.z() * v.z());
26}
27
28float QSSGUtils::vec3::magnitudeSquared(const QVector3D &v)
29{
30 return v.x() * v.x() + v.y() * v.y() + v.z() * v.z();
31}
32
33// This special normalize function normalizes a vector in place
34// and returns the magnnitude (needed for compatiblity)
35float QSSGUtils::vec3::normalize(QVector3D &v)
36{
37 const float m = QSSGUtils::vec3::magnitude(v);
38 if (m > 0)
39 v /= m;
40 return m;
41}
42
43QVector3D QSSGUtils::mat33::transform(const QMatrix3x3 &m, const QVector3D &v)
44{
45 const QVector3D c0 = QVector3D(m(0, 0), m(1, 0), m(2, 0));
46 const QVector3D c1 = QVector3D(m(0, 1), m(1, 1), m(2, 1));
47 const QVector3D c2 = QVector3D(m(0, 2), m(1, 2), m(2, 2));
48 return c0 * v.x() + c1 * v.y() + c2 * v.z();
49}
50
51QMatrix3x3 QSSGUtils::mat44::getUpper3x3(const QMatrix4x4 &m)
52{
53 const float values[9] = { m(0, 0), m(0, 1), m(0, 2), m(1, 0), m(1, 1), m(1, 2), m(2, 0), m(2, 1), m(2, 2) };
54 return QMatrix3x3(values);
55}
56
57void QSSGUtils::mat44::normalize(QMatrix4x4 &m)
58{
59 QVector4D c0 = m.column(index: 0);
60 QVector4D c1 = m.column(index: 1);
61 QVector4D c2 = m.column(index: 2);
62 QVector4D c3 = m.column(index: 3);
63
64 c0.normalize();
65 c1.normalize();
66 c2.normalize();
67 c3.normalize();
68
69 m.setColumn(index: 0, value: c0);
70 m.setColumn(index: 1, value: c1);
71 m.setColumn(index: 2, value: c2);
72 m.setColumn(index: 3, value: c3);
73}
74
75QVector3D QSSGUtils::mat44::rotate(const QMatrix4x4 &m, const QVector3D &v)
76{
77 const QVector4D tmp = QSSGUtils::mat44::rotate(m, v: QVector4D(v.x(), v.y(), v.z(), 1.0f));
78 return QVector3D(tmp.x(), tmp.y(), tmp.z());
79}
80
81QVector4D QSSGUtils::mat44::rotate(const QMatrix4x4 &m, const QVector4D &v)
82{
83 return m.column(index: 0) * v.x() + m.column(index: 1) * v.y() + m.column(index: 2) * v.z();
84}
85
86QVector3D QSSGUtils::mat44::transform(const QMatrix4x4 &m, const QVector3D &v)
87{
88 const QVector4D tmp = QSSGUtils::mat44::transform(m, v: QVector4D(v.x(), v.y(), v.z(), 1.0f));
89 return QVector3D(tmp.x(), tmp.y(), tmp.z());
90}
91
92QVector4D QSSGUtils::mat44::transform(const QMatrix4x4 &m, const QVector4D &v)
93{
94 return m.column(index: 0) * v.x() + m.column(index: 1) * v.y() + m.column(index: 2) * v.z() + m.column(index: 3) * v.w();
95}
96
97QVector3D QSSGUtils::mat44::getPosition(const QMatrix4x4 &m)
98{
99 return QVector3D(m(0, 3), m(1, 3), m(2, 3));
100}
101
102QVector3D QSSGUtils::mat44::getScale(const QMatrix4x4 &m)
103{
104 const float scaleX = m.column(index: 0).length();
105 const float scaleY = m.column(index: 1).length();
106 const float scaleZ = m.column(index: 2).length();
107 return QVector3D(scaleX, scaleY, scaleZ);
108}
109
110bool QSSGUtils::quat::isFinite(const QQuaternion &q)
111{
112 return qIsFinite(f: q.x()) && qIsFinite(f: q.y()) && qIsFinite(f: q.z()) && qIsFinite(f: q.scalar());
113}
114
115float QSSGUtils::quat::magnitude(const QQuaternion &q)
116{
117 return std::sqrt(x: q.x() * q.x() + q.y() * q.y() + q.z() * q.z() + q.scalar() * q.scalar());
118}
119
120bool QSSGUtils::quat::isSane(const QQuaternion &q)
121{
122 const float unitTolerance = float(1e-2);
123 return isFinite(q) && qAbs(t: magnitude(q) - 1) < unitTolerance;
124}
125
126bool QSSGUtils::quat::isUnit(const QQuaternion &q)
127{
128 const float unitTolerance = float(1e-4);
129 return isFinite(q) && qAbs(t: magnitude(q) - 1) < unitTolerance;
130}
131
132QVector3D QSSGUtils::quat::rotated(const QQuaternion &q, const QVector3D &v)
133{
134 const float vx = 2.0f * v.x();
135 const float vy = 2.0f * v.y();
136 const float vz = 2.0f * v.z();
137 const float w2 = q.scalar() * q.scalar() - 0.5f;
138 const float dot2 = (q.x() * vx + q.y() * vy + q.z() * vz);
139 return QVector3D((vx * w2 + (q.y() * vz - q.z() * vy) * q.scalar() + q.x() * dot2),
140 (vy * w2 + (q.z() * vx - q.x() * vz) * q.scalar() + q.y() * dot2),
141 (vz * w2 + (q.x() * vy - q.y() * vx) * q.scalar() + q.z() * dot2));
142}
143
144QVector3D QSSGUtils::quat::inverseRotated(const QQuaternion &q, const QVector3D &v)
145{
146 const float vx = 2.0f * v.x();
147 const float vy = 2.0f * v.y();
148 const float vz = 2.0f * v.z();
149 const float w2 = q.scalar() * q.scalar() - 0.5f;
150 const float dot2 = (q.x() * vx + q.y() * vy + q.z() * vz);
151 return QVector3D((vx * w2 - (q.y() * vz - q.z() * vy) * q.scalar() + q.x() * dot2),
152 (vy * w2 - (q.z() * vx - q.x() * vz) * q.scalar() + q.y() * dot2),
153 (vz * w2 - (q.x() * vy - q.y() * vx) * q.scalar() + q.z() * dot2));
154}
155
156const char *nonNull(const char *src)
157{
158 return src == nullptr ? "" : src;
159}
160
161QVector4D QSSGUtils::color::sRGBToLinear(const QColor &color)
162{
163 const QVector3D rgb(color.redF(), color.greenF(), color.blueF());
164 const float C1 = 0.305306011f;
165 const QVector3D C2(0.682171111f, 0.682171111f, 0.682171111f);
166 const QVector3D C3(0.012522878f, 0.012522878f, 0.012522878f);
167 return QVector4D(rgb * (rgb * (rgb * C1 + C2) + C3), color.alphaF());
168}
169
170QColor QSSGUtils::color::sRGBToLinearColor(const QColor &color)
171{
172 const QVector4D c = sRGBToLinear(color);
173 return QColor::fromRgbF(r: c.x(), g: c.y(), b: c.z(), a: c.w());
174}
175
176bool QSSGUtils::mat44::decompose(const QMatrix4x4 &transform, QVector3D &position, QVector3D &scale, QQuaternion &rotation)
177{
178 QMatrix4x4 m { transform };
179 QSSGUtils::mat44::normalize(m);
180
181 rotation = QQuaternion::fromRotationMatrix(rot3x3: QSSGUtils::mat44::getUpper3x3(m)).normalized();
182 scale = QSSGUtils::mat44::getScale(m: transform);
183 position = QSSGUtils::mat44::getPosition(m: transform);
184
185 const auto det = m.determinant();
186
187 return !qFuzzyIsNull(d: det);
188}
189
190QT_END_NAMESPACE
191

source code of qtquick3d/src/utils/qssgutils.cpp