1.1 --- /dev/null Thu Jan 01 00:00:00 1970 +0000
1.2 +++ b/gfx/thebes/gfxQuaternion.h Wed Dec 31 06:09:35 2014 +0100
1.3 @@ -0,0 +1,71 @@
1.4 +/* -*- Mode: C++; tab-width: 2; indent-tabs-mode: nil; c-basic-offset: 2 -*-
1.5 + * This Source Code Form is subject to the terms of the Mozilla Public
1.6 + * License, v. 2.0. If a copy of the MPL was not distributed with this
1.7 + * file, You can obtain one at http://mozilla.org/MPL/2.0/. */
1.8 +
1.9 +#ifndef GFX_QUATERNION_H
1.10 +#define GFX_QUATERNION_H
1.11 +
1.12 +#include "mozilla/gfx/BasePoint4D.h"
1.13 +#include "gfx3DMatrix.h"
1.14 +#include "nsAlgorithm.h"
1.15 +#include <algorithm>
1.16 +
1.17 +struct gfxQuaternion : public mozilla::gfx::BasePoint4D<gfxFloat, gfxQuaternion> {
1.18 + typedef mozilla::gfx::BasePoint4D<gfxFloat, gfxQuaternion> Super;
1.19 +
1.20 + gfxQuaternion() : Super() {}
1.21 + gfxQuaternion(gfxFloat aX, gfxFloat aY, gfxFloat aZ, gfxFloat aW) : Super(aX, aY, aZ, aW) {}
1.22 +
1.23 + gfxQuaternion(const gfx3DMatrix& aMatrix) {
1.24 + w = 0.5 * sqrt(std::max(1 + aMatrix[0][0] + aMatrix[1][1] + aMatrix[2][2], 0.0f));
1.25 + x = 0.5 * sqrt(std::max(1 + aMatrix[0][0] - aMatrix[1][1] - aMatrix[2][2], 0.0f));
1.26 + y = 0.5 * sqrt(std::max(1 - aMatrix[0][0] + aMatrix[1][1] - aMatrix[2][2], 0.0f));
1.27 + z = 0.5 * sqrt(std::max(1 - aMatrix[0][0] - aMatrix[1][1] + aMatrix[2][2], 0.0f));
1.28 +
1.29 + if(aMatrix[2][1] > aMatrix[1][2])
1.30 + x = -x;
1.31 + if(aMatrix[0][2] > aMatrix[2][0])
1.32 + y = -y;
1.33 + if(aMatrix[1][0] > aMatrix[0][1])
1.34 + z = -z;
1.35 + }
1.36 +
1.37 + gfxQuaternion Slerp(const gfxQuaternion &aOther, gfxFloat aCoeff) {
1.38 + gfxFloat dot = mozilla::clamped(DotProduct(aOther), -1.0, 1.0);
1.39 + if (dot == 1.0) {
1.40 + return *this;
1.41 + }
1.42 +
1.43 + gfxFloat theta = acos(dot);
1.44 + gfxFloat rsintheta = 1/sqrt(1 - dot*dot);
1.45 + gfxFloat rightWeight = sin(aCoeff*theta)*rsintheta;
1.46 +
1.47 + gfxQuaternion left = *this;
1.48 + gfxQuaternion right = aOther;
1.49 +
1.50 + left *= cos(aCoeff*theta) - dot*rightWeight;
1.51 + right *= rightWeight;
1.52 +
1.53 + return left + right;
1.54 + }
1.55 +
1.56 + gfx3DMatrix ToMatrix() {
1.57 + gfx3DMatrix temp;
1.58 +
1.59 + temp[0][0] = 1 - 2 * (y * y + z * z);
1.60 + temp[0][1] = 2 * (x * y + w * z);
1.61 + temp[0][2] = 2 * (x * z - w * y);
1.62 + temp[1][0] = 2 * (x * y - w * z);
1.63 + temp[1][1] = 1 - 2 * (x * x + z * z);
1.64 + temp[1][2] = 2 * (y * z + w * x);
1.65 + temp[2][0] = 2 * (x * z + w * y);
1.66 + temp[2][1] = 2 * (y * z - w * x);
1.67 + temp[2][2] = 1 - 2 * (x * x + y * y);
1.68 +
1.69 + return temp;
1.70 + }
1.71 +
1.72 +};
1.73 +
1.74 +#endif /* GFX_QUATERNION_H */
