112 lines
2.4 KiB
C++
112 lines
2.4 KiB
C++
/* -*- Mode: C++; tab-width: 20; indent-tabs-mode: nil; c-basic-offset: 2 -*-
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/. */
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#ifndef MOZILLA_GFX_QUATERNION_H_
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#define MOZILLA_GFX_QUATERNION_H_
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#include "Types.h"
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#include <math.h>
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#include <ostream>
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#include "mozilla/Attributes.h"
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#include "mozilla/DebugOnly.h"
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#include "mozilla/gfx/MatrixFwd.h"
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#include "mozilla/gfx/Point.h"
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namespace mozilla {
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namespace gfx {
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class Quaternion
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{
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public:
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Quaternion()
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: x(0.0f), y(0.0f), z(0.0f), w(1.0f)
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{}
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Quaternion(Float aX, Float aY, Float aZ, Float aW)
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: x(aX), y(aY), z(aZ), w(aW)
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{}
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Quaternion(const Quaternion& aOther)
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{
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memcpy(this, &aOther, sizeof(*this));
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}
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Float x, y, z, w;
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friend std::ostream& operator<<(std::ostream& aStream, const Quaternion& aQuat);
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void Set(Float aX, Float aY, Float aZ, Float aW)
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{
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x = aX; y = aY; z = aZ; w = aW;
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}
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// Assumes upper 3x3 of aMatrix is a pure rotation matrix (no scaling)
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void SetFromRotationMatrix(const Matrix4x4& aMatrix);
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// result = this * aQuat
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Quaternion operator*(const Quaternion &aQuat) const
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{
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Quaternion o;
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const Float bx = aQuat.x, by = aQuat.y, bz = aQuat.z, bw = aQuat.w;
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o.x = x*bw + w*bx + y*bz - z*by;
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o.y = y*bw + w*by + z*bx - x*bz;
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o.z = z*bw + w*bz + x*by - y*bx;
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o.w = w*bw - x*bx - y*by - z*bz;
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return o;
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}
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Quaternion& operator*=(const Quaternion &aQuat)
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{
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*this = *this * aQuat;
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return *this;
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}
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Float Length() const
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{
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return sqrt(x*x + y*y + z*z + w*w);
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}
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Quaternion& Conjugate()
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{
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x *= -1.f; y *= -1.f; z *= -1.f;
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return *this;
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}
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Quaternion& Normalize()
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{
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Float l = Length();
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if (l) {
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l = 1.0f / l;
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x *= l; y *= l; z *= l; w *= l;
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} else {
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x = y = z = 0.f;
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w = 1.f;
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}
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return *this;
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}
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Quaternion& Invert()
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{
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return Conjugate().Normalize();
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}
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Point3D RotatePoint(const Point3D& aPoint) {
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Float uvx = Float(2.0) * (y*aPoint.z - z*aPoint.y);
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Float uvy = Float(2.0) * (z*aPoint.x - x*aPoint.z);
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Float uvz = Float(2.0) * (x*aPoint.y - y*aPoint.x);
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return Point3D(aPoint.x + w*uvx + y*uvz - z*uvy,
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aPoint.y + w*uvy + z*uvx - x*uvz,
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aPoint.z + w*uvz + x*uvy - y*uvx);
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}
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};
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} // namespace gfx
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} // namespace mozilla
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#endif
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