gecko/gfx/thebes/gfxQuaternion.h

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/* -*- Mode: C++; tab-width: 2; indent-tabs-mode: nil; c-basic-offset: 2 -*-
* ***** BEGIN LICENSE BLOCK *****
* Version: MPL 1.1/GPL 2.0/LGPL 2.1
*
* The contents of this file are subject to the Mozilla Public License Version
* 1.1 (the "License"); you may not use this file except in compliance with
* the License. You may obtain a copy of the License at
* http://www.mozilla.org/MPL/
*
* Software distributed under the License is distributed on an "AS IS" basis,
* WITHOUT WARRANTY OF ANY KIND, either express or implied. See the License
* for the specific language governing rights and limitations under the
* License.
*
* The Original Code is Mozilla Corporation code.
*
* The Initial Developer of the Original Code is Mozilla Foundation.
* Portions created by the Initial Developer are Copyright (C) 2011
* the Initial Developer. All Rights Reserved.
*
* Contributor(s):
* Matt Woodrow <mwoodrow@mozilla.com>
*
* Alternatively, the contents of this file may be used under the terms of
* either the GNU General Public License Version 2 or later (the "GPL"), or
* the GNU Lesser General Public License Version 2.1 or later (the "LGPL"),
* in which case the provisions of the GPL or the LGPL are applicable instead
* of those above. If you wish to allow use of your version of this file only
* under the terms of either the GPL or the LGPL, and not to allow others to
* use your version of this file under the terms of the MPL, indicate your
* decision by deleting the provisions above and replace them with the notice
* and other provisions required by the GPL or the LGPL. If you do not delete
* the provisions above, a recipient may use your version of this file under
* the terms of any one of the MPL, the GPL or the LGPL.
*
* ***** END LICENSE BLOCK ***** */
#ifndef GFX_QUATERNION_H
#define GFX_QUATERNION_H
#include "mozilla/gfx/BasePoint4D.h"
#include "gfx3DMatrix.h"
#include "nsAlgorithm.h"
struct THEBES_API gfxQuaternion : public mozilla::gfx::BasePoint4D<gfxFloat, gfxQuaternion> {
typedef mozilla::gfx::BasePoint4D<gfxFloat, gfxQuaternion> Super;
gfxQuaternion() : Super() {}
gfxQuaternion(gfxFloat aX, gfxFloat aY, gfxFloat aZ, gfxFloat aW) : Super(aX, aY, aZ, aW) {}
gfxQuaternion(const gfx3DMatrix& aMatrix) {
w = 0.5 * sqrt(NS_MAX(1 + aMatrix[0][0] + aMatrix[1][1] + aMatrix[2][2], 0.0f));
x = 0.5 * sqrt(NS_MAX(1 + aMatrix[0][0] - aMatrix[1][1] - aMatrix[2][2], 0.0f));
y = 0.5 * sqrt(NS_MAX(1 - aMatrix[0][0] + aMatrix[1][1] - aMatrix[2][2], 0.0f));
z = 0.5 * sqrt(NS_MAX(1 - aMatrix[0][0] - aMatrix[1][1] + aMatrix[2][2], 0.0f));
if(aMatrix[2][1] > aMatrix[1][2])
x = -x;
if(aMatrix[0][2] > aMatrix[2][0])
y = -y;
if(aMatrix[1][0] > aMatrix[0][1])
z = -z;
}
gfxQuaternion Slerp(const gfxQuaternion &aOther, gfxFloat aCoeff) {
gfxFloat dot = mozilla::clamped(DotProduct(aOther), -1.0, 1.0);
if (dot == 1.0) {
return *this;
}
gfxFloat theta = acos(dot);
gfxFloat rsintheta = 1/sqrt(1 - dot*dot);
gfxFloat w = sin(aCoeff*theta)*rsintheta;
gfxQuaternion left = *this;
gfxQuaternion right = aOther;
left *= cos(aCoeff*theta) - dot*w;
right *= w;
return left + right;
}
gfx3DMatrix ToMatrix() {
gfx3DMatrix temp;
temp[0][0] = 1 - 2 * (y * y + z * z);
temp[0][1] = 2 * (x * y + w * z);
temp[0][2] = 2 * (x * z - w * y);
temp[1][0] = 2 * (x * y - w * z);
temp[1][1] = 1 - 2 * (x * x + z * z);
temp[1][2] = 2 * (y * z + w * x);
temp[2][0] = 2 * (x * z + w * y);
temp[2][1] = 2 * (y * z - w * x);
temp[2][2] = 1 - 2 * (x * x + y * y);
return temp;
}
};
#endif /* GFX_QUATERNION_H */