diff options
Diffstat (limited to 'src/gui/math3d/qquaternion.cpp')
| -rw-r--r-- | src/gui/math3d/qquaternion.cpp | 101 |
1 files changed, 85 insertions, 16 deletions
diff --git a/src/gui/math3d/qquaternion.cpp b/src/gui/math3d/qquaternion.cpp index 72a01554750..99061fb7163 100644 --- a/src/gui/math3d/qquaternion.cpp +++ b/src/gui/math3d/qquaternion.cpp @@ -336,6 +336,9 @@ QVector3D QQuaternion::rotatedVector(const QVector3D &vector) const Extracts a 3D axis \a axis and a rotating angle \a angle (in degrees) that corresponds to this quaternion. + Both \a axis and \a angle must be valid, non-\nullptr pointers, + otherwise the behavior is undefined. + \sa fromAxisAndAngle() */ @@ -366,6 +369,9 @@ QQuaternion QQuaternion::fromAxisAndAngle(const QVector3D &axis, float angle) Extracts a 3D axis (\a x, \a y, \a z) and a rotating angle \a angle (in degrees) that corresponds to this quaternion. + All of \a x, \a y, \a z, and \a angle must be valid, non-\nullptr pointers, + otherwise the behavior is undefined. + \sa fromAxisAndAngle() */ void QQuaternion::getAxisAndAngle(float *x, float *y, float *z, float *angle) const @@ -421,7 +427,7 @@ QQuaternion QQuaternion::fromAxisAndAngle \since 5.5 Calculates roll, pitch, and yaw Euler angles (in degrees) - that corresponds to this quaternion. + that correspond to this quaternion. \sa fromEulerAngles() */ @@ -432,8 +438,9 @@ QQuaternion QQuaternion::fromAxisAndAngle \overload Creates a quaternion that corresponds to a rotation of \a angles: - angles.z() degrees around the z axis, angles.x() degrees around the x axis, - and angles.y() degrees around the y axis (in that order). + angles.\l{QVector3D::}{z()} degrees around the z axis, + angles.\l{QVector3D::}{x()} degrees around the x axis, and + angles.\l{QVector3D::}{y()} degrees around the y axis (in that order). \sa toEulerAngles() */ @@ -446,6 +453,9 @@ QQuaternion QQuaternion::fromAxisAndAngle Calculates \a roll, \a pitch, and \a yaw Euler angles (in degrees) that corresponds to this quaternion. + All of \a pitch, \a yaw, and \a roll must be valid, non-\nullptr pointers, + otherwise the behavior is undefined. + \sa fromEulerAngles() */ void QQuaternion::getEulerAngles(float *pitch, float *yaw, float *roll) const @@ -547,7 +557,7 @@ QQuaternion QQuaternion::fromEulerAngles(float pitch, float yaw, float roll) \note If this quaternion is not normalized, the resulting rotation matrix will contain scaling information. - \sa fromRotationMatrix(), getAxes() + \sa fromRotationMatrix(), toAxes() */ QMatrix3x3 QQuaternion::toRotationMatrix() const { @@ -585,9 +595,9 @@ QMatrix3x3 QQuaternion::toRotationMatrix() const /*! \since 5.5 - Creates a quaternion that corresponds to a rotation matrix \a rot3x3. + Creates a quaternion that corresponds to the rotation matrix \a rot3x3. - \note If a given rotation matrix is not normalized, + \note If the given rotation matrix is not normalized, the resulting quaternion will contain scaling information. \sa toRotationMatrix(), fromAxes() @@ -630,23 +640,71 @@ QQuaternion QQuaternion::fromRotationMatrix(const QMatrix3x3 &rot3x3) #ifndef QT_NO_VECTOR3D /*! - \since 5.5 + \since 6.11 + \class QQuaternion::Axes + \ingroup painting-3D + \inmodule QtGui - Returns the 3 orthonormal axes (\a xAxis, \a yAxis, \a zAxis) defining the quaternion. + A struct containing the three orthonormal axes that define a + \l{QQuaternion}{quaternion}. - \sa fromAxes(), toRotationMatrix() + + \sa QQuaternion::toAxes(), QQuaternion::fromAxes(Axes) +*/ + +/*! + \variable QQuaternion::Axes::x + + The x orthonormal axis that, together with \l{y} and \l{z}, defines a + quaternion. +*/ + +/*! + \variable QQuaternion::Axes::y + + The y orthonormal axis that, together with \l{x} and \l{z}, defines a + quaternion. +*/ + +/*! + \variable QQuaternion::Axes::z + + The z orthonormal axis that, together with \l{x} and \l{y}, defines a + quaternion. */ -void QQuaternion::getAxes(QVector3D *xAxis, QVector3D *yAxis, QVector3D *zAxis) const -{ - Q_ASSERT(xAxis && yAxis && zAxis); +/*! + \since 6.11 + + Returns the three orthonormal axes that define this quaternion. + + \sa QQuaternion::Axes, fromAxes(QQuaternion::Axes), toRotationMatrix() +*/ +auto QQuaternion::toAxes() const -> Axes +{ const QMatrix3x3 rot3x3(toRotationMatrix()); - *xAxis = QVector3D(rot3x3(0, 0), rot3x3(1, 0), rot3x3(2, 0)); - *yAxis = QVector3D(rot3x3(0, 1), rot3x3(1, 1), rot3x3(2, 1)); - *zAxis = QVector3D(rot3x3(0, 2), rot3x3(1, 2), rot3x3(2, 2)); + return { {rot3x3(0, 0), rot3x3(1, 0), rot3x3(2, 0)}, + {rot3x3(0, 1), rot3x3(1, 1), rot3x3(2, 1)}, + {rot3x3(0, 2), rot3x3(1, 2), rot3x3(2, 2)} }; } + +/*! + \fn void QQuaternion::getAxes(QVector3D *xAxis, QVector3D *yAxis, QVector3D *zAxis) const + \since 5.5 + + \obsolete + Use toAxes() instead. + + Returns the 3 orthonormal axes (\a xAxis, \a yAxis, \a zAxis) defining the quaternion. + + All of \a xAxis, \a yAxis, and \a zAxis must be valid, non-\nullptr pointers, + otherwise the behavior is undefined. + + \sa fromAxes(), toRotationMatrix() +*/ + /*! \since 5.5 @@ -654,7 +712,7 @@ void QQuaternion::getAxes(QVector3D *xAxis, QVector3D *yAxis, QVector3D *zAxis) \note The axes are assumed to be orthonormal. - \sa getAxes(), fromRotationMatrix() + \sa toAxes(), fromRotationMatrix() */ QQuaternion QQuaternion::fromAxes(const QVector3D &xAxis, const QVector3D &yAxis, const QVector3D &zAxis) { @@ -673,6 +731,17 @@ QQuaternion QQuaternion::fromAxes(const QVector3D &xAxis, const QVector3D &yAxis } /*! + \since 6.11 + \overload + + \sa toAxes(), fromRotationMatrix() +*/ +QQuaternion QQuaternion::fromAxes(Axes axes) // clazy:exclude=function-args-by-ref +{ + return fromAxes(axes.x, axes.y, axes.z); +} + +/*! \since 5.5 Constructs the quaternion using specified forward direction \a direction |