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 // Copyright 2017 The Chromium Authors. All rights reserved. // Use of this source code is governed by a BSD-style license that can be // found in the LICENSE file. #ifndef UI_GFX_GEOMETRY_QUATERNION_ #define UI_GFX_GEOMETRY_QUATERNION_ #include #include "ui/gfx/geometry/geometry_export.h" namespace gfx { class Vector3dF; class GEOMETRY_EXPORT Quaternion { public: constexpr Quaternion() = default; constexpr Quaternion(double x, double y, double z, double w) : x_(x), y_(y), z_(z), w_(w) {} Quaternion(const Vector3dF& axis, double angle); // Constructs a quaternion representing a rotation between |from| and |to|. Quaternion(const Vector3dF& from, const Vector3dF& to); constexpr double x() const { return x_; } void set_x(double x) { x_ = x; } constexpr double y() const { return y_; } void set_y(double y) { y_ = y; } constexpr double z() const { return z_; } void set_z(double z) { z_ = z; } constexpr double w() const { return w_; } void set_w(double w) { w_ = w; } Quaternion operator+(const Quaternion& q) const { return {q.x_ + x_, q.y_ + y_, q.z_ + z_, q.w_ + w_}; } Quaternion operator*(const Quaternion& q) const { return {w_ * q.x_ + x_ * q.w_ + y_ * q.z_ - z_ * q.y_, w_ * q.y_ - x_ * q.z_ + y_ * q.w_ + z_ * q.x_, w_ * q.z_ + x_ * q.y_ - y_ * q.x_ + z_ * q.w_, w_ * q.w_ - x_ * q.x_ - y_ * q.y_ - z_ * q.z_}; } Quaternion inverse() const { return {-x_, -y_, -z_, w_}; } // Blends with the given quaternion, |q|, via spherical linear interpolation. // Values of |t| in the range [0, 1] will interpolate between |this| and |q|, // and values outside that range will extrapolate beyond in either direction. Quaternion Slerp(const Quaternion& q, double t) const; // Blends with the given quaternion, |q|, via linear interpolation. This is // rarely what you want. Use only if you know what you're doing. // Values of |t| in the range [0, 1] will interpolate between |this| and |q|, // and values outside that range will extrapolate beyond in either direction. Quaternion Lerp(const Quaternion& q, double t) const; double Length() const; Quaternion Normalized() const; std::string ToString() const; private: double x_ = 0.0; double y_ = 0.0; double z_ = 0.0; double w_ = 1.0; }; // |s| is an arbitrary, real constant. inline Quaternion operator*(const Quaternion& q, double s) { return Quaternion(q.x() * s, q.y() * s, q.z() * s, q.w() * s); } // |s| is an arbitrary, real constant. inline Quaternion operator*(double s, const Quaternion& q) { return Quaternion(q.x() * s, q.y() * s, q.z() * s, q.w() * s); } // |s| is an arbitrary, real constant. inline Quaternion operator/(const Quaternion& q, double s) { double inv = 1.0 / s; return q * inv; } } // namespace gfx #endif // UI_GFX_GEOMETRY_QUATERNION_