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