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// Copyright (C) 2016 The Qt Company Ltd.
// SPDX-License-Identifier: LicenseRef-Qt-Commercial OR LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only
// Qt-Security score:significant reason:default
#ifndef QQUATERNION_H
#define QQUATERNION_H
#include <QtGui/qtguiglobal.h>
#include <QtGui/qgenericmatrix.h>
#include <QtGui/qvector3d.h>
#include <QtGui/qvector4d.h>
QT_BEGIN_NAMESPACE
#ifndef QT_NO_QUATERNION
class QMatrix4x4;
class QVariant;
class QT6_ONLY(Q_GUI_EXPORT) QQuaternion
{
public:
constexpr QQuaternion() noexcept;
explicit QQuaternion(Qt::Initialization) noexcept {}
constexpr QQuaternion(float scalar, float xpos, float ypos, float zpos) noexcept;
#ifndef QT_NO_VECTOR3D
constexpr QQuaternion(float scalar, const QVector3D &vector) noexcept;
#endif
#ifndef QT_NO_VECTOR4D
constexpr explicit QQuaternion(const QVector4D &vector) noexcept;
#endif
constexpr bool isNull() const noexcept;
constexpr bool isIdentity() const noexcept;
#ifndef QT_NO_VECTOR3D
constexpr QVector3D vector() const noexcept;
constexpr void setVector(const QVector3D &vector) noexcept;
#endif
constexpr void setVector(float x, float y, float z) noexcept;
constexpr float x() const noexcept;
constexpr float y() const noexcept;
constexpr float z() const noexcept;
constexpr float scalar() const noexcept;
constexpr void setX(float x) noexcept;
constexpr void setY(float y) noexcept;
constexpr void setZ(float z) noexcept;
constexpr void setScalar(float scalar) noexcept;
constexpr static float dotProduct(const QQuaternion &q1, const QQuaternion &q2) noexcept;
// ### Qt 7: make the next four constexpr
// (perhaps using std::hypot, constexpr in C++26, or constexpr qHypot)
QT7_ONLY(Q_GUI_EXPORT) float length() const;
QT7_ONLY(Q_GUI_EXPORT) float lengthSquared() const;
[[nodiscard]] QT7_ONLY(Q_GUI_EXPORT) QQuaternion normalized() const;
QT7_ONLY(Q_GUI_EXPORT) void normalize();
constexpr QQuaternion inverted() const noexcept;
[[nodiscard]] constexpr QQuaternion conjugated() const noexcept;
QT7_ONLY(Q_GUI_EXPORT) QVector3D rotatedVector(const QVector3D &vector) const;
constexpr QQuaternion &operator+=(const QQuaternion &quaternion) noexcept;
constexpr QQuaternion &operator-=(const QQuaternion &quaternion) noexcept;
constexpr QQuaternion &operator*=(float factor) noexcept;
constexpr QQuaternion &operator*=(const QQuaternion &quaternion) noexcept;
constexpr QQuaternion &operator/=(float divisor);
QT_WARNING_PUSH
QT_WARNING_DISABLE_FLOAT_COMPARE
friend constexpr bool operator==(const QQuaternion &q1, const QQuaternion &q2) noexcept
{
return q1.wp == q2.wp && q1.xp == q2.xp && q1.yp == q2.yp && q1.zp == q2.zp;
}
friend constexpr bool operator!=(const QQuaternion &q1, const QQuaternion &q2) noexcept
{
return !(q1 == q2);
}
QT_WARNING_POP
friend constexpr QQuaternion operator+(const QQuaternion &q1, const QQuaternion &q2) noexcept;
friend constexpr QQuaternion operator-(const QQuaternion &q1, const QQuaternion &q2) noexcept;
friend constexpr QQuaternion operator*(float factor, const QQuaternion &quaternion) noexcept;
friend constexpr QQuaternion operator*(const QQuaternion &quaternion, float factor) noexcept;
friend constexpr QQuaternion operator*(const QQuaternion &q1, const QQuaternion &q2) noexcept;
friend constexpr QQuaternion operator-(const QQuaternion &quaternion) noexcept;
friend constexpr QQuaternion operator/(const QQuaternion &quaternion, float divisor);
friend constexpr bool qFuzzyCompare(const QQuaternion &q1, const QQuaternion &q2) noexcept;
#ifndef QT_NO_VECTOR4D
constexpr QVector4D toVector4D() const noexcept;
#endif
QT7_ONLY(Q_GUI_EXPORT) operator QVariant() const;
struct Axis {
float x, y, z;
// prevent users from defining them themselves, until we do:
friend constexpr bool comparesEqual(Axis lhs, Axis rhs) noexcept
Q_DECL_EQ_DELETE_X("Deliberately not implemented. Don't implement it yourself!");
friend bool operator==(Axis, Axis)
Q_DECL_EQ_DELETE_X("Deliberately not implemented. Don't implement it yourself!");
friend bool operator!=(Axis, Axis)
Q_DECL_EQ_DELETE_X("Deliberately not implemented. Don't implement it yourself!");
friend size_t qHash(const Axis &, size_t) noexcept
Q_DECL_EQ_DELETE_X("Deliberately not implemented. Don't implement it yourself!");
friend size_t qHash(const Axis &) noexcept
Q_DECL_EQ_DELETE_X("Deliberately not implemented. Don't implement it yourself!");
friend bool qFuzzyIsNull(Axis axis) noexcept
{ return qFuzzyIsNull(axis.x) && qFuzzyIsNull(axis.y) && qFuzzyIsNull(axis.z); }
friend bool qFuzzyCompare(Axis lhs, Axis rhs) noexcept
Q_DECL_EQ_DELETE_X("Deliberately not implemented. Don't implement it yourself!");
#ifndef QT_NO_VECTOR3D
static constexpr Axis fromVector3D(QVector3D v) noexcept
{ return {v.x(), v.y(), v.z()}; }
constexpr QVector3D toVector3D() const noexcept { return {x, y, z}; }
friend constexpr bool comparesEqual(Axis lhs, QVector3D rhs) noexcept
Q_DECL_EQ_DELETE_X("Deliberately not implemented. Don't implement it yourself!");
#endif
};
#ifndef QT_NO_VECTOR3D
inline void getAxisAndAngle(QVector3D *axis, float *angle) const;
QT7_ONLY(Q_GUI_EXPORT) static QQuaternion fromAxisAndAngle(const QVector3D &axis, float angle);
#endif
QT7_ONLY(Q_GUI_EXPORT) void getAxisAndAngle(float *x, float *y, float *z, float *angle) const;
QT7_ONLY(Q_GUI_EXPORT) static QQuaternion fromAxisAndAngle(float x, float y, float z,
float angle);
#ifndef QT_NO_VECTOR3D
inline QVector3D toEulerAngles() const;
# if !QT_CORE_REMOVED_SINCE(6, 11)
Q_WEAK_OVERLOAD
# endif
static QQuaternion fromEulerAngles(const QVector3D &angles)
{ return fromEulerAngles(angles.x(), angles.y(), angles.z()); }
#endif
template <typename T>
struct EulerAngles
{
T pitch, yaw, roll;
};
QT7_ONLY(Q_GUI_EXPORT) EulerAngles<float> eulerAngles() const;
static QQuaternion fromEulerAngles(EulerAngles<float> angles)
{ return fromEulerAngles(angles.pitch, angles.yaw, angles.roll); }
QT_GUI_INLINE_SINCE(6, 11)
void getEulerAngles(float *pitch, float *yaw, float *roll) const;
static QQuaternion fromEulerAngles(float pitch, float yaw, float roll);
QT7_ONLY(Q_GUI_EXPORT) QMatrix3x3 toRotationMatrix() const;
QT7_ONLY(Q_GUI_EXPORT) static QQuaternion fromRotationMatrix(const QMatrix3x3 &rot3x3);
struct Axes
{
Axis x, y, z;
};
QT7_ONLY(Q_GUI_EXPORT) Axes toAxes() const;
QT7_ONLY(Q_GUI_EXPORT) static QQuaternion fromAxes(Axes axes); // clazy:exclude=function-args-by-ref
#ifndef QT_NO_VECTOR3D
QT_GUI_INLINE_SINCE(6, 11)
void getAxes(QVector3D *xAxis, QVector3D *yAxis, QVector3D *zAxis) const;
QT_GUI_INLINE_SINCE(6, 11)
static QQuaternion fromAxes(const QVector3D &xAxis,
const QVector3D &yAxis,
const QVector3D &zAxis);
QT7_ONLY(Q_GUI_EXPORT) static QQuaternion fromDirection(const QVector3D &direction,
const QVector3D &up);
QT7_ONLY(Q_GUI_EXPORT) static QQuaternion rotationTo(const QVector3D &from,
const QVector3D &to);
#endif // QT_NO_VECTOR3D
QT7_ONLY(Q_GUI_EXPORT) static QQuaternion slerp(const QQuaternion &q1, const QQuaternion &q2,
float t);
QT7_ONLY(Q_GUI_EXPORT) static QQuaternion fastSlerp(const QQuaternion &q1,
const QQuaternion &q2, float t);
QT7_ONLY(Q_GUI_EXPORT) static QQuaternion nlerp(const QQuaternion &q1, const QQuaternion &q2,
float t);
private:
float wp, xp, yp, zp;
};
Q_DECLARE_TYPEINFO(QQuaternion, Q_PRIMITIVE_TYPE);
constexpr QQuaternion::QQuaternion() noexcept : wp(1.0f), xp(0.0f), yp(0.0f), zp(0.0f) {}
constexpr QQuaternion::QQuaternion(float aScalar, float xpos, float ypos, float zpos) noexcept
: wp(aScalar), xp(xpos), yp(ypos), zp(zpos) {}
QT_WARNING_PUSH
QT_WARNING_DISABLE_FLOAT_COMPARE
constexpr bool QQuaternion::isNull() const noexcept
{
return wp == 0.0f && xp == 0.0f && yp == 0.0f && zp == 0.0f;
}
constexpr bool QQuaternion::isIdentity() const noexcept
{
return wp == 1.0f && xp == 0.0f && yp == 0.0f && zp == 0.0f;
}
QT_WARNING_POP
constexpr float QQuaternion::x() const noexcept { return xp; }
constexpr float QQuaternion::y() const noexcept { return yp; }
constexpr float QQuaternion::z() const noexcept { return zp; }
constexpr float QQuaternion::scalar() const noexcept { return wp; }
constexpr void QQuaternion::setX(float aX) noexcept { xp = aX; }
constexpr void QQuaternion::setY(float aY) noexcept { yp = aY; }
constexpr void QQuaternion::setZ(float aZ) noexcept { zp = aZ; }
constexpr void QQuaternion::setScalar(float aScalar) noexcept { wp = aScalar; }
constexpr float QQuaternion::dotProduct(const QQuaternion &q1, const QQuaternion &q2) noexcept
{
return q1.wp * q2.wp + q1.xp * q2.xp + q1.yp * q2.yp + q1.zp * q2.zp;
}
constexpr QQuaternion QQuaternion::inverted() const noexcept
{
// Need some extra precision if the length is very small.
double len = double(wp) * double(wp) +
double(xp) * double(xp) +
double(yp) * double(yp) +
double(zp) * double(zp);
if (!qFuzzyIsNull(len))
return QQuaternion(float(double(wp) / len), float(double(-xp) / len),
float(double(-yp) / len), float(double(-zp) / len));
return QQuaternion(0.0f, 0.0f, 0.0f, 0.0f);
}
constexpr QQuaternion QQuaternion::conjugated() const noexcept
{
return QQuaternion(wp, -xp, -yp, -zp);
}
constexpr QQuaternion &QQuaternion::operator+=(const QQuaternion &quaternion) noexcept
{
wp += quaternion.wp;
xp += quaternion.xp;
yp += quaternion.yp;
zp += quaternion.zp;
return *this;
}
constexpr QQuaternion &QQuaternion::operator-=(const QQuaternion &quaternion) noexcept
{
wp -= quaternion.wp;
xp -= quaternion.xp;
yp -= quaternion.yp;
zp -= quaternion.zp;
return *this;
}
constexpr QQuaternion &QQuaternion::operator*=(float factor) noexcept
{
wp *= factor;
xp *= factor;
yp *= factor;
zp *= factor;
return *this;
}
constexpr QQuaternion operator*(const QQuaternion &q1, const QQuaternion &q2) noexcept
{
float yy = (q1.wp - q1.yp) * (q2.wp + q2.zp);
float zz = (q1.wp + q1.yp) * (q2.wp - q2.zp);
float ww = (q1.zp + q1.xp) * (q2.xp + q2.yp);
float xx = ww + yy + zz;
float qq = 0.5f * (xx + (q1.zp - q1.xp) * (q2.xp - q2.yp));
float w = qq - ww + (q1.zp - q1.yp) * (q2.yp - q2.zp);
float x = qq - xx + (q1.xp + q1.wp) * (q2.xp + q2.wp);
float y = qq - yy + (q1.wp - q1.xp) * (q2.yp + q2.zp);
float z = qq - zz + (q1.zp + q1.yp) * (q2.wp - q2.xp);
return QQuaternion(w, x, y, z);
}
constexpr QQuaternion &QQuaternion::operator*=(const QQuaternion &quaternion) noexcept
{
*this = *this * quaternion;
return *this;
}
constexpr QQuaternion &QQuaternion::operator/=(float divisor)
{
wp /= divisor;
xp /= divisor;
yp /= divisor;
zp /= divisor;
return *this;
}
constexpr QQuaternion operator+(const QQuaternion &q1, const QQuaternion &q2) noexcept
{
return QQuaternion(q1.wp + q2.wp, q1.xp + q2.xp, q1.yp + q2.yp, q1.zp + q2.zp);
}
constexpr QQuaternion operator-(const QQuaternion &q1, const QQuaternion &q2) noexcept
{
return QQuaternion(q1.wp - q2.wp, q1.xp - q2.xp, q1.yp - q2.yp, q1.zp - q2.zp);
}
constexpr QQuaternion operator*(float factor, const QQuaternion &quaternion) noexcept
{
return QQuaternion(quaternion.wp * factor, quaternion.xp * factor, quaternion.yp * factor, quaternion.zp * factor);
}
constexpr QQuaternion operator*(const QQuaternion &quaternion, float factor) noexcept
{
return QQuaternion(quaternion.wp * factor, quaternion.xp * factor, quaternion.yp * factor, quaternion.zp * factor);
}
constexpr QQuaternion operator-(const QQuaternion &quaternion) noexcept
{
return QQuaternion(-quaternion.wp, -quaternion.xp, -quaternion.yp, -quaternion.zp);
}
constexpr QQuaternion operator/(const QQuaternion &quaternion, float divisor)
{
return QQuaternion(quaternion.wp / divisor, quaternion.xp / divisor, quaternion.yp / divisor, quaternion.zp / divisor);
}
constexpr bool qFuzzyCompare(const QQuaternion &q1, const QQuaternion &q2) noexcept
{
return QtPrivate::fuzzyCompare(q1.wp, q2.wp)
&& QtPrivate::fuzzyCompare(q1.xp, q2.xp)
&& QtPrivate::fuzzyCompare(q1.yp, q2.yp)
&& QtPrivate::fuzzyCompare(q1.zp, q2.zp);
}
#if QT_GUI_INLINE_IMPL_SINCE(6, 11)
void QQuaternion::getEulerAngles(float *pitch, float *yaw, float *roll) const
{
Q_PRE(pitch);
Q_PRE(yaw);
Q_PRE(roll);
const auto angles = eulerAngles();
*pitch = angles.pitch;
*yaw = angles.yaw;
*roll = angles.roll;
}
#endif // QT_GUI_INLINE_IMPL_SINCE
#ifndef QT_NO_VECTOR3D
constexpr QQuaternion::QQuaternion(float aScalar, const QVector3D &aVector) noexcept
: wp(aScalar), xp(aVector.x()), yp(aVector.y()), zp(aVector.z()) {}
constexpr void QQuaternion::setVector(const QVector3D &aVector) noexcept
{
xp = aVector.x();
yp = aVector.y();
zp = aVector.z();
}
constexpr QVector3D QQuaternion::vector() const noexcept
{
return QVector3D(xp, yp, zp);
}
inline QVector3D operator*(const QQuaternion &quaternion, const QVector3D &vec)
{
return quaternion.rotatedVector(vec);
}
void QQuaternion::getAxisAndAngle(QVector3D *axis, float *angle) const
{
float aX, aY, aZ;
getAxisAndAngle(&aX, &aY, &aZ, angle);
*axis = QVector3D(aX, aY, aZ);
}
QVector3D QQuaternion::toEulerAngles() const
{
const auto angles = eulerAngles();
return QVector3D{angles.pitch, angles.yaw, angles.roll};
}
#if QT_GUI_INLINE_IMPL_SINCE(6, 11)
void QQuaternion::getAxes(QVector3D *xAxis, QVector3D *yAxis, QVector3D *zAxis) const
{
Q_PRE(xAxis);
Q_PRE(yAxis);
Q_PRE(zAxis);
const Axes axes = toAxes();
*xAxis = axes.x.toVector3D();
*yAxis = axes.y.toVector3D();
*zAxis = axes.z.toVector3D();
}
QQuaternion QQuaternion::fromAxes(const QVector3D &xAxis, const QVector3D &yAxis, const QVector3D &zAxis)
{
return fromAxes(Axes{Axis::fromVector3D(xAxis),
Axis::fromVector3D(yAxis),
Axis::fromVector3D(zAxis)});
}
#endif // QT_GUI_INLINE_IMPL_SINCE(6, 11)
#endif // QT_NO_VECTOR3D
constexpr void QQuaternion::setVector(float aX, float aY, float aZ) noexcept
{
xp = aX;
yp = aY;
zp = aZ;
}
#ifndef QT_NO_VECTOR4D
constexpr QQuaternion::QQuaternion(const QVector4D &aVector) noexcept
: wp(aVector.w()), xp(aVector.x()), yp(aVector.y()), zp(aVector.z()) {}
constexpr QVector4D QQuaternion::toVector4D() const noexcept
{
return QVector4D(xp, yp, zp, wp);
}
#endif // QT_NO_VECTOR4D
#ifndef QT_NO_DEBUG_STREAM
Q_GUI_EXPORT QDebug operator<<(QDebug dbg, const QQuaternion &q);
#endif
#ifndef QT_NO_DATASTREAM
Q_GUI_EXPORT QDataStream &operator<<(QDataStream &, const QQuaternion &);
Q_GUI_EXPORT QDataStream &operator>>(QDataStream &, QQuaternion &);
#endif
#endif // QT_NO_QUATERNION
QT_END_NAMESPACE
#endif // QQUATERNION_H