1 files changed, 111 insertions, 0 deletions
diff --git a/gfx/2d/Quaternion.h b/gfx/2d/Quaternion.h
new file mode 100644
index 000000000..f14d11348
--- /dev/null
+++ b/gfx/2d/Quaternion.h
@@ -0,0 +1,111 @@
+/* -*- 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