qquick3dquaternionutils.cpp

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// Copyright (C) 2020 The Qt Company Ltd.
// SPDX-License-Identifier: LicenseRef-Qt-Commercial OR GPL-3.0-only
 
#include "qquick3dquaternionutils_p.h"
#include <QtQuick3DUtils/private/qssgutils_p.h>
#include <QtMath>
 
QT_BEGIN_NAMESPACE
 
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