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+/* -*- 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