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| ** |
| ** Copyright (C) 2020 The Qt Company Ltd. |
| ** Contact: https://www.qt.io/licensing/ |
| ** |
| ** This file is part of Qt Quick 3D. |
| ** |
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| ****************************************************************************/ |
| |
| #include "qquick3dquaternionutils_p.h" |
| #include <QtQuick3DUtils/private/qssgutils_p.h> |
| #include <QtMath> |
| |
| QT_BEGIN_NAMESPACE |
| |
| |
| /*! |
| \qmlmethod quaternion Quick3D::Quaternion::fromAxisAndAngle(vector3d axis, real angle) |
| Creates a quaternion from \a axis and \a angle. |
| Returns the resulting quaternion. |
| */ |
| |
| /*! |
| \qmlmethod quaternion Quick3D::Quaternion::fromAxisAndAngle(real x, real y, real z, real angle) |
| Creates a quaternion from \a x, \a y, \a z, and \a angle. |
| Returns the resulting quaternion. |
| */ |
| |
| /*! |
| \qmlmethod quaternion Quick3D::Quaternion::fromAxesAndAngles(vector3d axis1, real angle1, |
| vector3d axis2, real angle2) |
| Creates a quaternion from \a axis1, \a angle1, \a axis2, and \a angle2. |
| Returns the resulting quaternion. |
| */ |
| |
| /*! |
| \qmlmethod quaternion Quick3D::Quaternion::fromAxesAndAngles(vector3d axis1, real angle1, |
| vector3d axis2, real angle2, |
| vector3d axis3, real angle3) |
| Creates a quaternion from \a axis1, \a angle1, \a axis2, \a angle2, \a axis3, and \a angle3. |
| Returns the resulting quaternion. |
| */ |
| |
| /*! |
| \qmlmethod quaternion Quick3D::Quaternion::fromEulerAngles(vector3d eulerAngles) |
| Creates a quaternion from \a eulerAngles. |
| Returns the resulting quaternion. |
| */ |
| |
| /*! |
| \qmlmethod quaternion Quick3D::Quaternion::fromEulerAngles(real x, real y, real z) |
| Creates a quaternion from \a x, \a y, and \a z. |
| Returns the resulting quaternion. |
| */ |
| |
| /*! |
| \qmlmethod quaternion Quick3D::Quaternion::lookAt(vector3d sourcePosition, vector3d targetPosition, |
| vector3d forwardDirection, vector3d upDirection) |
| Creates a quaternion from \a sourcePosition, \a targetPosition, \a forwardDirection, and |
| \a upDirection. This is used for getting a rotation value for pointing at a particular target, |
| and can be used to point a camera at a position in a scene. |
| |
| \a forwardDirection defaults to \c Qt.vector3d(0, 0, -1) |
| \a upDirection defaults to \c Qt.vector3d(0, 1, 0) |
| |
| Returns the resulting quaternion. |
| */ |
| |
| QQuick3DQuaternionUtils::QQuick3DQuaternionUtils(QObject *parent) : QObject(parent) |
| { |
| |
| } |
| |
| QQuaternion QQuick3DQuaternionUtils::fromAxisAndAngle(float x, float y, float z, float angle) |
| { |
| return QQuaternion::fromAxisAndAngle(x, y, z, angle); |
| } |
| |
| QQuaternion QQuick3DQuaternionUtils::fromAxisAndAngle(const QVector3D &axis, float angle) |
| { |
| return QQuaternion::fromAxisAndAngle(axis, angle); |
| } |
| |
| QQuaternion QQuick3DQuaternionUtils::fromEulerAngles(float x, float y, float z) |
| { |
| return QQuaternion::fromEulerAngles(x, y, z); |
| } |
| |
| QQuaternion QQuick3DQuaternionUtils::fromEulerAngles(const QVector3D &eulerAngles) |
| { |
| return QQuaternion::fromEulerAngles(eulerAngles); |
| } |
| |
| QQuaternion QQuick3DQuaternionUtils::lookAt(const QVector3D &sourcePosition, |
| const QVector3D &targetPosition, |
| const QVector3D &forwardDirection, |
| const QVector3D &upDirection) |
| { |
| QVector3D targetDirection = targetPosition - sourcePosition; |
| targetDirection.normalize(); |
| |
| QVector3D rotationAxis = QVector3D::crossProduct(forwardDirection, targetDirection); |
| |
| const QVector3D normalizedAxis = rotationAxis.normalized(); |
| if (qFuzzyIsNull(normalizedAxis.lengthSquared())) |
| rotationAxis = upDirection; |
| |
| float dot = QVector3D::dotProduct(forwardDirection, targetDirection); |
| float rotationAngle = qRadiansToDegrees(qAcos(dot)); |
| |
| return QQuaternion::fromAxisAndAngle(rotationAxis, rotationAngle); |
| } |
| |
| QQuaternion QQuick3DQuaternionUtils::fromAxesAndAngles(const QVector3D &axis1, |
| float angle1, |
| const QVector3D &axis2, |
| float angle2, |
| const QVector3D &axis3, |
| float angle3) |
| { |
| const QQuaternion q1 = QQuaternion::fromAxisAndAngle(axis1, angle1); |
| const QQuaternion q2 = QQuaternion::fromAxisAndAngle(axis2, angle2); |
| const QQuaternion q3 = QQuaternion::fromAxisAndAngle(axis3, angle3); |
| return q3 * q2 * q1; |
| } |
| |
| QQuaternion QQuick3DQuaternionUtils::fromAxesAndAngles(const QVector3D &axis1, |
| float angle1, |
| const QVector3D &axis2, |
| float angle2) |
| { |
| const QQuaternion q1 = QQuaternion::fromAxisAndAngle(axis1, angle1); |
| const QQuaternion q2 = QQuaternion::fromAxisAndAngle(axis2, angle2); |
| return q2 * q1; |
| } |
| |
| QT_END_NAMESPACE |