diff options
Diffstat (limited to 'src/gui/math3d')
| -rw-r--r-- | src/gui/math3d/qquaternion.cpp | 90 | ||||
| -rw-r--r-- | src/gui/math3d/qquaternion.h | 22 |
2 files changed, 100 insertions, 12 deletions
diff --git a/src/gui/math3d/qquaternion.cpp b/src/gui/math3d/qquaternion.cpp index b4dccfc42fe..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 @@ -447,6 +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 @@ -548,7 +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 { @@ -631,23 +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) */ -void QQuaternion::getAxes(QVector3D *xAxis, QVector3D *yAxis, QVector3D *zAxis) const -{ - Q_ASSERT(xAxis && yAxis && zAxis); +/*! + \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. +*/ + +/*! + \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 @@ -655,7 +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) { @@ -674,6 +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 diff --git a/src/gui/math3d/qquaternion.h b/src/gui/math3d/qquaternion.h index 0ea844ae41f..ffc95a852ce 100644 --- a/src/gui/math3d/qquaternion.h +++ b/src/gui/math3d/qquaternion.h @@ -118,7 +118,14 @@ QT_WARNING_POP QT7_ONLY(Q_GUI_EXPORT) static QQuaternion fromRotationMatrix(const QMatrix3x3 &rot3x3); #ifndef QT_NO_VECTOR3D - QT7_ONLY(Q_GUI_EXPORT) void getAxes(QVector3D *xAxis, QVector3D *yAxis, QVector3D *zAxis) const; + struct Axes + { + QVector3D x, y, z; + }; + QT7_ONLY(Q_GUI_EXPORT) Axes toAxes() const; + QT7_ONLY(Q_GUI_EXPORT) static QQuaternion fromAxes(Axes axes); // clazy:exclude=function-args-by-ref + QT_GUI_INLINE_SINCE(6, 11) + void getAxes(QVector3D *xAxis, QVector3D *yAxis, QVector3D *zAxis) const; QT7_ONLY(Q_GUI_EXPORT) static QQuaternion fromAxes(const QVector3D &xAxis, const QVector3D &yAxis, const QVector3D &zAxis); @@ -330,6 +337,19 @@ QQuaternion QQuaternion::fromEulerAngles(const QVector3D &angles) return QQuaternion::fromEulerAngles(angles.x(), angles.y(), angles.z()); } +#if QT_GUI_INLINE_IMPL_SINCE(6, 11) +void QQuaternion::getAxes(QVector3D *xAxis, QVector3D *yAxis, QVector3D *zAxis) const +{ + Q_PRE(xAxis); + Q_PRE(yAxis); + Q_PRE(zAxis); + const Axes axes = toAxes(); + *xAxis = axes.x; + *yAxis = axes.y; + *zAxis = axes.z; +} +#endif // QT_GUI_INLINE_IMPL_SINCE(6, 11) + #endif // QT_NO_VECTOR3D constexpr void QQuaternion::setVector(float aX, float aY, float aZ) noexcept |