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
12QT_BEGIN_NAMESPACE
13
14
15#ifndef QT_NO_QUATERNION
16
17class QMatrix4x4;
18class QVariant;
19
20class QT6_ONLY(Q_GUI_EXPORT) QQuaternion
21{
22public:
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
74QT_WARNING_PUSH
75QT_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 }
84QT_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
138private:
139 float wp, xp, yp, zp;
140};
141
142Q_DECLARE_TYPEINFO(QQuaternion, Q_PRIMITIVE_TYPE);
143
144constexpr QQuaternion::QQuaternion() noexcept : wp(1.0f), xp(0.0f), yp(0.0f), zp(0.0f) {}
145
146constexpr QQuaternion::QQuaternion(float aScalar, float xpos, float ypos, float zpos) noexcept
147 : wp(aScalar), xp(xpos), yp(ypos), zp(zpos) {}
148
149QT_WARNING_PUSH
150QT_WARNING_DISABLE_FLOAT_COMPARE
151
152constexpr bool QQuaternion::isNull() const noexcept
153{
154 return wp == 0.0f && xp == 0.0f && yp == 0.0f && zp == 0.0f;
155}
156
157constexpr bool QQuaternion::isIdentity() const noexcept
158{
159 return wp == 1.0f && xp == 0.0f && yp == 0.0f && zp == 0.0f;
160}
161QT_WARNING_POP
162
163constexpr float QQuaternion::x() const noexcept { return xp; }
164constexpr float QQuaternion::y() const noexcept { return yp; }
165constexpr float QQuaternion::z() const noexcept { return zp; }
166constexpr float QQuaternion::scalar() const noexcept { return wp; }
167
168constexpr void QQuaternion::setX(float aX) noexcept { xp = aX; }
169constexpr void QQuaternion::setY(float aY) noexcept { yp = aY; }
170constexpr void QQuaternion::setZ(float aZ) noexcept { zp = aZ; }
171constexpr void QQuaternion::setScalar(float aScalar) noexcept { wp = aScalar; }
172
173constexpr 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
178constexpr 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
191constexpr QQuaternion QQuaternion::conjugated() const noexcept
192{
193 return QQuaternion(wp, -xp, -yp, -zp);
194}
195
196constexpr 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
205constexpr 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
214constexpr QQuaternion &QQuaternion::operator*=(float factor) noexcept
215{
216 wp *= factor;
217 xp *= factor;
218 yp *= factor;
219 zp *= factor;
220 return *this;
221}
222
223constexpr 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
239constexpr QQuaternion &QQuaternion::operator*=(const QQuaternion &quaternion) noexcept
240{
241 *this = *this * quaternion;
242 return *this;
243}
244
245constexpr QQuaternion &QQuaternion::operator/=(float divisor)
246{
247 wp /= divisor;
248 xp /= divisor;
249 yp /= divisor;
250 zp /= divisor;
251 return *this;
252}
253
254constexpr 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
259constexpr 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
264constexpr 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
269constexpr 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
274constexpr QQuaternion operator-(const QQuaternion &quaternion) noexcept
275{
276 return QQuaternion(-quaternion.wp, -quaternion.xp, -quaternion.yp, -quaternion.zp);
277}
278
279constexpr 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
284constexpr 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
294constexpr QQuaternion::QQuaternion(float aScalar, const QVector3D &aVector) noexcept
295 : wp(aScalar), xp(aVector.x()), yp(aVector.y()), zp(aVector.z()) {}
296
297constexpr void QQuaternion::setVector(const QVector3D &aVector) noexcept
298{
299 xp = aVector.x();
300 yp = aVector.y();
301 zp = aVector.z();
302}
303
304constexpr QVector3D QQuaternion::vector() const noexcept
305{
306 return QVector3D(xp, yp, zp);
307}
308
309inline QVector3D operator*(const QQuaternion &quaternion, const QVector3D &vec)
310{
311 return quaternion.rotatedVector(vector: vec);
312}
313
314inline 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
321inline 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
328inline 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
335constexpr 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
344constexpr QQuaternion::QQuaternion(const QVector4D &aVector) noexcept
345 : wp(aVector.w()), xp(aVector.x()), yp(aVector.y()), zp(aVector.z()) {}
346
347constexpr QVector4D QQuaternion::toVector4D() const noexcept
348{
349 return QVector4D(xp, yp, zp, wp);
350}
351
352#endif
353
354#ifndef QT_NO_DEBUG_STREAM
355Q_GUI_EXPORT QDebug operator<<(QDebug dbg, const QQuaternion &q);
356#endif
357
358#ifndef QT_NO_DATASTREAM
359Q_GUI_EXPORT QDataStream &operator<<(QDataStream &, const QQuaternion &);
360Q_GUI_EXPORT QDataStream &operator>>(QDataStream &, QQuaternion &);
361#endif
362
363#endif
364
365QT_END_NAMESPACE
366
367#endif
368

source code of qtbase/src/gui/math3d/qquaternion.h