Quaternion.h

// SPDX-License-Identifier: LGPL-2.1-or-later
//
// SPDX-FileCopyrightText: 2004-2007 Torsten Rahn <[email protected]>
// SPDX-FileCopyrightText: 2007 Inge Wallin <[email protected]>
// SPDX-FileCopyrightText: 2011 Bernhard Beschow <[email protected]>
// SPDX-FileCopyrightText: 2014 Dennis Nienhüser <[email protected]>
//
 
//
// Quaternions provides a class that deals with quaternion operations.
 
// krazy:excludeall=dpointer,inline
 
#ifndef MARBLE_QUATERNION_H
#define MARBLE_QUATERNION_H
 
#include "marble_export.h"
#include <cmath>
#include <QtGlobal>
 
namespace Marble
{
 
enum
{
    Q_X = 0,
    Q_Y = 1,
    Q_Z = 2,
    Q_W = 3
};
 
 
typedef qreal    xmmfloat[4];
typedef xmmfloat  matrix[3];
 
 
class MARBLE_EXPORT Quaternion
{
 public:
    Quaternion();
    Quaternion(qreal w, qreal x, qreal y, qreal z);
 
    /*!\brief used to generate Quaternion from longitude and latitude
     * 
     * \param lon longitude
     * \param lat latitude
     */
    static Quaternion   fromSpherical(qreal lon, qreal lat);
    static Quaternion   fromEuler(qreal pitch, qreal yaw, qreal roll);
 
    static Quaternion slerp(const Quaternion &q1, const Quaternion &q2, qreal t);
    static Quaternion nlerp(const Quaternion &q1, const Quaternion &q2, qreal t);
 
    // Operators
    Quaternion  operator*(const Quaternion &q) const;
    Quaternion  operator+(const Quaternion &q) const;
    Quaternion  operator*(qreal factor) const;
    bool        operator==(const Quaternion &q) const;
    Quaternion& operator*=(const Quaternion &q);
    Quaternion& operator*=(qreal);
 
    void        getSpherical(qreal &lon, qreal &lat) const;
 
    void        normalize();
 
    qreal       length() const;
 
    Quaternion  inverse() const;
    Quaternion  log() const;
    Quaternion  exp() const;
 
    qreal       pitch() const;
    qreal       yaw() const;
    qreal       roll() const;
 
 
    void        rotateAroundAxis(const Quaternion &q);
 
    void        toMatrix(matrix &m) const;
    void        rotateAroundAxis(const matrix &m);
 
    // TODO: Better add accessors...
    xmmfloat    v;
};
 
}
 
#ifndef QT_NO_DEBUG_STREAM
MARBLE_EXPORT QDebug operator<<(QDebug, const Marble::Quaternion &);
#endif
 
#endif // MARBLE_QUATERNION_H