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