1 files changed, 150 insertions, 0 deletions
diff --git a/gfx/2d/Quaternion.h b/gfx/2d/Quaternion.h
new file mode 100644
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+++ b/gfx/2d/Quaternion.h
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+/* -*- Mode: C++; tab-width: 8; indent-tabs-mode: nil; c-basic-offset: 2 -*- */
+/* vim: set ts=8 sts=2 et sw=2 tw=80: */
+/* This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/. */
+
+#ifndef MOZILLA_GFX_QUATERNION_H_
+#define MOZILLA_GFX_QUATERNION_H_
+
+#include "Types.h"
+#include <math.h>
+#include <ostream>
+#include "mozilla/Attributes.h"
+#include "mozilla/DebugOnly.h"
+#include "mozilla/gfx/MatrixFwd.h"
+#include "mozilla/gfx/Point.h"
+
+namespace mozilla {
+namespace gfx {
+
+template <class T>
+class BaseQuaternion {
+ public:
+  BaseQuaternion() : x(0.0f), y(0.0f), z(0.0f), w(1.0f) {}
+
+  BaseQuaternion(T aX, T aY, T aZ, T aW) : x(aX), y(aY), z(aZ), w(aW) {}
+
+  BaseQuaternion(const BaseQuaternion& aOther) {
+    x = aOther.x;
+    y = aOther.y;
+    z = aOther.z;
+    w = aOther.w;
+  }
+
+  T x, y, z, w;
+
+  template <class U>
+  friend std::ostream& operator<<(std::ostream& aStream,
+                                  const BaseQuaternion<U>& aQuat);
+
+  void Set(T aX, T aY, T aZ, T aW) {
+    x = aX;
+    y = aY;
+    z = aZ;
+    w = aW;
+  }
+
+  // Assumes upper 3x3 of aMatrix is a pure rotation matrix (no scaling)
+  void SetFromRotationMatrix(
+      const Matrix4x4Typed<UnknownUnits, UnknownUnits, T>& m) {
+    const T trace = m._11 + m._22 + m._33 + 1.0f;
+
+    if (trace > 1e-4) {
+      const T s = 0.5f / sqrt(trace);
+      w = 0.25f / s;
+      x = (m._23 - m._32) * s;
+      y = (m._31 - m._13) * s;
+      z = (m._12 - m._21) * s;
+    } else if (m._11 > m._22 && m._11 > m._33) {
+      const T s = 2.0f * sqrt(1.0f + m._11 - m._22 - m._33);
+      w = (m._23 - m._32) / s;
+      x = 0.25f * s;
+      y = (m._21 + m._12) / s;
+      z = (m._31 + m._13) / s;
+    } else if (m._22 > m._33) {
+      const T s = 2.0 * sqrt(1.0f + m._22 - m._11 - m._33);
+      w = (m._31 - m._13) / s;
+      x = (m._21 + m._12) / s;
+      y = 0.25f * s;
+      z = (m._32 + m._23) / s;
+    } else {
+      const T s = 2.0 * sqrt(1.0f + m._33 - m._11 - m._22);
+      w = (m._12 - m._21) / s;
+      x = (m._31 + m._13) / s;
+      y = (m._32 + m._23) / s;
+      z = 0.25f * s;
+    }
+
+    Normalize();
+  }
+
+  // result = this * aQuat
+  BaseQuaternion operator*(const BaseQuaternion& aQuat) const {
+    BaseQuaternion o;
+    const T bx = aQuat.x, by = aQuat.y, bz = aQuat.z, bw = aQuat.w;
+
+    o.x = x * bw + w * bx + y * bz - z * by;
+    o.y = y * bw + w * by + z * bx - x * bz;
+    o.z = z * bw + w * bz + x * by - y * bx;
+    o.w = w * bw - x * bx - y * by - z * bz;
+    return o;
+  }
+
+  BaseQuaternion& operator*=(const BaseQuaternion& aQuat) {
+    *this = *this * aQuat;
+    return *this;
+  }
+
+  T Length() const { return sqrt(x * x + y * y + z * z + w * w); }
+
+  BaseQuaternion& Conjugate() {
+    x *= -1.f;
+    y *= -1.f;
+    z *= -1.f;
+    return *this;
+  }
+
+  BaseQuaternion& Normalize() {
+    T l = Length();
+    if (l) {
+      l = 1.0f / l;
+      x *= l;
+      y *= l;
+      z *= l;
+      w *= l;
+    } else {
+      x = y = z = 0.f;
+      w = 1.f;
+    }
+    return *this;
+  }
+
+  BaseQuaternion& Invert() { return Conjugate().Normalize(); }
+
+  BaseQuaternion Inverse() const {
+    BaseQuaternion q = *this;
+    q.Invert();
+    return q;
+  }
+
+  Point3DTyped<UnknownUnits, T> RotatePoint(
+      const Point3DTyped<UnknownUnits, T>& aPoint) const {
+    T uvx = T(2.0) * (y * aPoint.z - z * aPoint.y);
+    T uvy = T(2.0) * (z * aPoint.x - x * aPoint.z);
+    T uvz = T(2.0) * (x * aPoint.y - y * aPoint.x);
+
+    return Point3DTyped<UnknownUnits, T>(
+        aPoint.x + w * uvx + y * uvz - z * uvy,
+        aPoint.y + w * uvy + z * uvx - x * uvz,
+        aPoint.z + w * uvz + x * uvy - y * uvx);
+  }
+};
+
+typedef BaseQuaternion<Float> Quaternion;
+typedef BaseQuaternion<Double> QuaternionDouble;
+
+}  // namespace gfx
+}  // namespace mozilla
+
+#endif