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comparison: gfx/thebes/gfxQuaternion.h
gfx/thebes/gfxQuaternion.h
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- TOR_BUG_9701
- changeset 8
- 97036ab72558
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| -1:000000000000 | 0:9ed60d27f0ab |
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| 1 /* -*- Mode: C++; tab-width: 2; indent-tabs-mode: nil; c-basic-offset: 2 -*- | |
| 2 * This Source Code Form is subject to the terms of the Mozilla Public | |
| 3 * License, v. 2.0. If a copy of the MPL was not distributed with this | |
| 4 * file, You can obtain one at http://mozilla.org/MPL/2.0/. */ | |
| 5 | |
| 6 #ifndef GFX_QUATERNION_H | |
| 7 #define GFX_QUATERNION_H | |
| 8 | |
| 9 #include "mozilla/gfx/BasePoint4D.h" | |
| 10 #include "gfx3DMatrix.h" | |
| 11 #include "nsAlgorithm.h" | |
| 12 #include <algorithm> | |
| 13 | |
| 14 struct gfxQuaternion : public mozilla::gfx::BasePoint4D<gfxFloat, gfxQuaternion> { | |
| 15 typedef mozilla::gfx::BasePoint4D<gfxFloat, gfxQuaternion> Super; | |
| 16 | |
| 17 gfxQuaternion() : Super() {} | |
| 18 gfxQuaternion(gfxFloat aX, gfxFloat aY, gfxFloat aZ, gfxFloat aW) : Super(aX, aY, aZ, aW) {} | |
| 19 | |
| 20 gfxQuaternion(const gfx3DMatrix& aMatrix) { | |
| 21 w = 0.5 * sqrt(std::max(1 + aMatrix[0][0] + aMatrix[1][1] + aMatrix[2][2], 0.0f)); | |
| 22 x = 0.5 * sqrt(std::max(1 + aMatrix[0][0] - aMatrix[1][1] - aMatrix[2][2], 0.0f)); | |
| 23 y = 0.5 * sqrt(std::max(1 - aMatrix[0][0] + aMatrix[1][1] - aMatrix[2][2], 0.0f)); | |
| 24 z = 0.5 * sqrt(std::max(1 - aMatrix[0][0] - aMatrix[1][1] + aMatrix[2][2], 0.0f)); | |
| 25 | |
| 26 if(aMatrix[2][1] > aMatrix[1][2]) | |
| 27 x = -x; | |
| 28 if(aMatrix[0][2] > aMatrix[2][0]) | |
| 29 y = -y; | |
| 30 if(aMatrix[1][0] > aMatrix[0][1]) | |
| 31 z = -z; | |
| 32 } | |
| 33 | |
| 34 gfxQuaternion Slerp(const gfxQuaternion &aOther, gfxFloat aCoeff) { | |
| 35 gfxFloat dot = mozilla::clamped(DotProduct(aOther), -1.0, 1.0); | |
| 36 if (dot == 1.0) { | |
| 37 return *this; | |
| 38 } | |
| 39 | |
| 40 gfxFloat theta = acos(dot); | |
| 41 gfxFloat rsintheta = 1/sqrt(1 - dot*dot); | |
| 42 gfxFloat rightWeight = sin(aCoeff*theta)*rsintheta; | |
| 43 | |
| 44 gfxQuaternion left = *this; | |
| 45 gfxQuaternion right = aOther; | |
| 46 | |
| 47 left *= cos(aCoeff*theta) - dot*rightWeight; | |
| 48 right *= rightWeight; | |
| 49 | |
| 50 return left + right; | |
| 51 } | |
| 52 | |
| 53 gfx3DMatrix ToMatrix() { | |
| 54 gfx3DMatrix temp; | |
| 55 | |
| 56 temp[0][0] = 1 - 2 * (y * y + z * z); | |
| 57 temp[0][1] = 2 * (x * y + w * z); | |
| 58 temp[0][2] = 2 * (x * z - w * y); | |
| 59 temp[1][0] = 2 * (x * y - w * z); | |
| 60 temp[1][1] = 1 - 2 * (x * x + z * z); | |
| 61 temp[1][2] = 2 * (y * z + w * x); | |
| 62 temp[2][0] = 2 * (x * z + w * y); | |
| 63 temp[2][1] = 2 * (y * z - w * x); | |
| 64 temp[2][2] = 1 - 2 * (x * x + y * y); | |
| 65 | |
| 66 return temp; | |
| 67 } | |
| 68 | |
| 69 }; | |
| 70 | |
| 71 #endif /* GFX_QUATERNION_H */ |
