source: trunk/src/gui/math3d/qquaternion.h@ 599

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#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);