123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109 |
- // Copyright 2017 The Chromium Authors. All rights reserved.
- // Use of this source code is governed by a BSD-style license that can be
- // found in the LICENSE file.
- #ifndef UI_GFX_GEOMETRY_QUATERNION_H_
- #define UI_GFX_GEOMETRY_QUATERNION_H_
- #include <string>
- #include "ui/gfx/geometry/geometry_export.h"
- namespace gfx {
- class Vector3dF;
- class GEOMETRY_EXPORT Quaternion {
- public:
- constexpr Quaternion() = default;
- constexpr Quaternion(double x, double y, double z, double w)
- : x_(x), y_(y), z_(z), w_(w) {}
- Quaternion(const Vector3dF& axis, double angle);
- // Constructs a quaternion representing a rotation between |from| and |to|.
- Quaternion(const Vector3dF& from, const Vector3dF& to);
- static Quaternion FromAxisAngle(double x, double y, double z, double angle);
- constexpr double x() const { return x_; }
- void set_x(double x) { x_ = x; }
- constexpr double y() const { return y_; }
- void set_y(double y) { y_ = y; }
- constexpr double z() const { return z_; }
- void set_z(double z) { z_ = z; }
- constexpr double w() const { return w_; }
- void set_w(double w) { w_ = w; }
- Quaternion operator+(const Quaternion& q) const {
- return {q.x_ + x_, q.y_ + y_, q.z_ + z_, q.w_ + w_};
- }
- Quaternion operator*(const Quaternion& q) const {
- return {w_ * q.x_ + x_ * q.w_ + y_ * q.z_ - z_ * q.y_,
- w_ * q.y_ - x_ * q.z_ + y_ * q.w_ + z_ * q.x_,
- w_ * q.z_ + x_ * q.y_ - y_ * q.x_ + z_ * q.w_,
- w_ * q.w_ - x_ * q.x_ - y_ * q.y_ - z_ * q.z_};
- }
- Quaternion inverse() const { return {-x_, -y_, -z_, w_}; }
- Quaternion flip() const { return {-x_, -y_, -z_, -w_}; }
- // Blends with the given quaternion, |q|, via spherical linear interpolation.
- // Values of |t| in the range [0, 1] will interpolate between |this| and |q|,
- // and values outside that range will extrapolate beyond in either direction.
- Quaternion Slerp(const Quaternion& q, double t) const;
- // Blends with the given quaternion, |q|, via linear interpolation. This is
- // rarely what you want. Use only if you know what you're doing.
- // Values of |t| in the range [0, 1] will interpolate between |this| and |q|,
- // and values outside that range will extrapolate beyond in either direction.
- Quaternion Lerp(const Quaternion& q, double t) const;
- double Length() const;
- Quaternion Normalized() const;
- std::string ToString() const;
- private:
- double x_ = 0.0;
- double y_ = 0.0;
- double z_ = 0.0;
- double w_ = 1.0;
- };
- // |s| is an arbitrary, real constant.
- inline Quaternion operator*(const Quaternion& q, double s) {
- return Quaternion(q.x() * s, q.y() * s, q.z() * s, q.w() * s);
- }
- // |s| is an arbitrary, real constant.
- inline Quaternion operator*(double s, const Quaternion& q) {
- return Quaternion(q.x() * s, q.y() * s, q.z() * s, q.w() * s);
- }
- // |s| is an arbitrary, real constant.
- inline Quaternion operator/(const Quaternion& q, double s) {
- double inv = 1.0 / s;
- return q * inv;
- }
- // Returns true if the x, y, z, w values of |lhs| and |rhs| are equal. Note that
- // two quaternions can represent the same orientation with different values.
- // This operator will return false in that scenario.
- inline bool operator==(const Quaternion& lhs, const Quaternion& rhs) {
- return lhs.x() == rhs.x() && lhs.y() == rhs.y() && lhs.z() == rhs.z() &&
- lhs.w() == rhs.w();
- }
- inline bool operator!=(const Quaternion& lhs, const Quaternion& rhs) {
- return !(lhs == rhs);
- }
- } // namespace gfx
- #endif // UI_GFX_GEOMETRY_QUATERNION_H_
|