// Copyright (C) 2016 The Qt Company Ltd.

// SPDX-License-Identifier: LicenseRef-Qt-Commercial OR LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only

#ifndef QQUATERNION_H

#define QQUATERNION_H

#include <QtGui/qtguiglobal.h>

#include <QtGui/qgenericmatrix.h>

#include <QtGui/qvector3d.h>

#include <QtGui/qvector4d.h>

QT_BEGIN_NAMESPACE

#ifndef QT_NO_QUATERNION

class QMatrix4x4;

class QVariant;

class QT6_ONLY(Q_GUI_EXPORT) QQuaternion

{

public:

    constexpr QQuaternion() noexcept;

    explicit QQuaternion(Qt::Initialization) noexcept {}

    constexpr QQuaternion(float scalar, float xpos, float ypos, float zpos) noexcept;

#ifndef QT_NO_VECTOR3D

    constexpr QQuaternion(float scalar, const QVector3D &vector) noexcept;

#endif

#ifndef QT_NO_VECTOR4D

    constexpr explicit QQuaternion(const QVector4D &vector) noexcept;

#endif

    constexpr bool isNull() const noexcept;

    constexpr bool isIdentity() const noexcept;

#ifndef QT_NO_VECTOR3D

    constexpr QVector3D vector() const noexcept;

    constexpr void setVector(const QVector3D &vector) noexcept;

#endif

    constexpr void setVector(float x, float y, float z) noexcept;

    constexpr float x() const noexcept;

    constexpr float y() const noexcept;

    constexpr float z() const noexcept;

    constexpr float scalar() const noexcept;

    constexpr void setX(float x) noexcept;

    constexpr void setY(float y) noexcept;

    constexpr void setZ(float z) noexcept;

    constexpr void setScalar(float scalar) noexcept;

    constexpr static float dotProduct(const QQuaternion &q1, const QQuaternion &q2) noexcept;

    // ### Qt 7: make the next four constexpr

    // (perhaps using std::hypot, constexpr in C++26, or constexpr qHypot)

    QT7_ONLY(Q_GUI_EXPORT) float length() const;

    QT7_ONLY(Q_GUI_EXPORT) float lengthSquared() const;

    [[nodiscard]] QT7_ONLY(Q_GUI_EXPORT) QQuaternion normalized() const;

    QT7_ONLY(Q_GUI_EXPORT)  void normalize();

    constexpr QQuaternion inverted() const noexcept;

    [[nodiscard]] constexpr QQuaternion conjugated() const noexcept;

    QT7_ONLY(Q_GUI_EXPORT) QVector3D rotatedVector(const QVector3D &vector) const;

    constexpr QQuaternion &operator+=(const QQuaternion &quaternion) noexcept;

    constexpr QQuaternion &operator-=(const QQuaternion &quaternion) noexcept;

    constexpr QQuaternion &operator*=(float factor) noexcept;

    constexpr QQuaternion &operator*=(const QQuaternion &quaternion) noexcept;

    constexpr QQuaternion &operator/=(float divisor);

QT_WARNING_PUSH

QT_WARNING_DISABLE_FLOAT_COMPARE

    friend constexpr bool operator==(const QQuaternion &q1, const QQuaternion &q2) noexcept

    {

        return q1.wp == q2.wp && q1.xp == q2.xp && q1.yp == q2.yp && q1.zp == q2.zp;

    }

    friend constexpr bool operator!=(const QQuaternion &q1, const QQuaternion &q2) noexcept

    {

        return !(q1 == q2);

    }

QT_WARNING_POP

    friend constexpr QQuaternion operator+(const QQuaternion &q1, const QQuaternion &q2) noexcept;

    friend constexpr QQuaternion operator-(const QQuaternion &q1, const QQuaternion &q2) noexcept;

    friend constexpr QQuaternion operator*(float factor, const QQuaternion &quaternion) noexcept;

    friend constexpr QQuaternion operator*(const QQuaternion &quaternion, float factor) noexcept;

    friend constexpr QQuaternion operator*(const QQuaternion &q1, const QQuaternion &q2) noexcept;

    friend constexpr QQuaternion operator-(const QQuaternion &quaternion) noexcept;

    friend constexpr QQuaternion operator/(const QQuaternion &quaternion, float divisor);

    friend constexpr bool qFuzzyCompare(const QQuaternion &q1, const QQuaternion &q2) noexcept;

#ifndef QT_NO_VECTOR4D

    constexpr QVector4D toVector4D() const noexcept;

#endif

    QT7_ONLY(Q_GUI_EXPORT) operator QVariant() const;

#ifndef QT_NO_VECTOR3D

    inline void getAxisAndAngle(QVector3D *axis, float *angle) const;

    QT7_ONLY(Q_GUI_EXPORT) static QQuaternion fromAxisAndAngle(const QVector3D &axis, float angle);

#endif

    QT7_ONLY(Q_GUI_EXPORT) void getAxisAndAngle(float *x, float *y, float *z, float *angle) const;

    QT7_ONLY(Q_GUI_EXPORT) static QQuaternion fromAxisAndAngle(float x, float y, float z,

                                                               float angle);

#ifndef QT_NO_VECTOR3D

    inline QVector3D toEulerAngles() const;

# if !QT_CORE_REMOVED_SINCE(6, 11)

    Q_WEAK_OVERLOAD

# endif

    static QQuaternion fromEulerAngles(const QVector3D &angles)

    { return fromEulerAngles(angles.x(), angles.y(), angles.z()); }

#endif

    template <typename T>

    struct EulerAngles

    {

        T pitch, yaw, roll;

    };

    QT7_ONLY(Q_GUI_EXPORT) EulerAngles<float> eulerAngles() const;

    static QQuaternion fromEulerAngles(EulerAngles<float> angles)

    { return fromEulerAngles(angles.pitch, angles.yaw, angles.roll); }

    QT_GUI_INLINE_SINCE(6, 11)

    void getEulerAngles(float *pitch, float *yaw, float *roll) const;

    static QQuaternion fromEulerAngles(float pitch, float yaw, float roll);

    QT7_ONLY(Q_GUI_EXPORT) QMatrix3x3 toRotationMatrix() const;

    QT7_ONLY(Q_GUI_EXPORT) static QQuaternion fromRotationMatrix(const QMatrix3x3 &rot3x3);

#ifndef QT_NO_VECTOR3D

    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);

    QT7_ONLY(Q_GUI_EXPORT) static QQuaternion fromDirection(const QVector3D &direction,

                                                            const QVector3D &up);

    QT7_ONLY(Q_GUI_EXPORT) static QQuaternion rotationTo(const QVector3D &from,

                                                         const QVector3D &to);

#endif // QT_NO_VECTOR3D

    QT7_ONLY(Q_GUI_EXPORT) static QQuaternion slerp(const QQuaternion &q1, const QQuaternion &q2,

                                                    float t);

    QT7_ONLY(Q_GUI_EXPORT) static QQuaternion nlerp(const QQuaternion &q1, const QQuaternion &q2,

                                                    float t);

private:

    float wp, xp, yp, zp;

};

Q_DECLARE_TYPEINFO(QQuaternion, Q_PRIMITIVE_TYPE);

constexpr QQuaternion::QQuaternion() noexcept : wp(1.0f), xp(0.0f), yp(0.0f), zp(0.0f) {}

constexpr QQuaternion::QQuaternion(float aScalar, float xpos, float ypos, float zpos) noexcept

    : wp(aScalar), xp(xpos), yp(ypos), zp(zpos) {}

QT_WARNING_PUSH

QT_WARNING_DISABLE_FLOAT_COMPARE

constexpr bool QQuaternion::isNull() const noexcept

{

    return wp == 0.0f && xp == 0.0f && yp == 0.0f && zp == 0.0f;

}

constexpr bool QQuaternion::isIdentity() const noexcept

{

    return wp == 1.0f && xp == 0.0f && yp == 0.0f && zp == 0.0f;

}

QT_WARNING_POP

constexpr float QQuaternion::x() const noexcept { return xp; }

constexpr float QQuaternion::y() const noexcept { return yp; }

constexpr float QQuaternion::z() const noexcept { return zp; }

constexpr float QQuaternion::scalar() const noexcept { return wp; }

constexpr void QQuaternion::setX(float aX) noexcept { xp = aX; }

constexpr void QQuaternion::setY(float aY) noexcept { yp = aY; }

constexpr void QQuaternion::setZ(float aZ) noexcept { zp = aZ; }

constexpr void QQuaternion::setScalar(float aScalar) noexcept { wp = aScalar; }

constexpr float QQuaternion::dotProduct(const QQuaternion &q1, const QQuaternion &q2) noexcept

{

    return q1.wp * q2.wp + q1.xp * q2.xp + q1.yp * q2.yp + q1.zp * q2.zp;

}

constexpr QQuaternion QQuaternion::inverted() const noexcept

{

    // Need some extra precision if the length is very small.

    double len = double(wp) * double(wp) +

                 double(xp) * double(xp) +

                 double(yp) * double(yp) +

                 double(zp) * double(zp);

    if (!qFuzzyIsNull(len))

        return QQuaternion(float(double(wp) / len), float(double(-xp) / len),

                           float(double(-yp) / len), float(double(-zp) / len));

    return QQuaternion(0.0f, 0.0f, 0.0f, 0.0f);

}

constexpr QQuaternion QQuaternion::conjugated() const noexcept

{

    return QQuaternion(wp, -xp, -yp, -zp);

}

constexpr QQuaternion &QQuaternion::operator+=(const QQuaternion &quaternion) noexcept

{

    wp += quaternion.wp;

    xp += quaternion.xp;

    yp += quaternion.yp;

    zp += quaternion.zp;

    return *this;

}

constexpr QQuaternion &QQuaternion::operator-=(const QQuaternion &quaternion) noexcept

{

    wp -= quaternion.wp;

    xp -= quaternion.xp;

    yp -= quaternion.yp;

    zp -= quaternion.zp;

    return *this;

}

constexpr QQuaternion &QQuaternion::operator*=(float factor) noexcept

{

    wp *= factor;

    xp *= factor;

    yp *= factor;

    zp *= factor;

    return *this;

}

constexpr QQuaternion operator*(const QQuaternion &q1, const QQuaternion &q2) noexcept

{

    float yy = (q1.wp - q1.yp) * (q2.wp + q2.zp);

    float zz = (q1.wp + q1.yp) * (q2.wp - q2.zp);

    float ww = (q1.zp + q1.xp) * (q2.xp + q2.yp);

    float xx = ww + yy + zz;

    float qq = 0.5f * (xx + (q1.zp - q1.xp) * (q2.xp - q2.yp));

    float w = qq - ww + (q1.zp - q1.yp) * (q2.yp - q2.zp);

    float x = qq - xx + (q1.xp + q1.wp) * (q2.xp + q2.wp);

    float y = qq - yy + (q1.wp - q1.xp) * (q2.yp + q2.zp);

    float z = qq - zz + (q1.zp + q1.yp) * (q2.wp - q2.xp);

    return QQuaternion(w, x, y, z);

}

constexpr QQuaternion &QQuaternion::operator*=(const QQuaternion &quaternion) noexcept

{

    *this = *this * quaternion;

    return *this;

}

constexpr QQuaternion &QQuaternion::operator/=(float divisor)

{

    wp /= divisor;

    xp /= divisor;

    yp /= divisor;

    zp /= divisor;

    return *this;

}

constexpr QQuaternion operator+(const QQuaternion &q1, const QQuaternion &q2) noexcept

{

    return QQuaternion(q1.wp + q2.wp, q1.xp + q2.xp, q1.yp + q2.yp, q1.zp + q2.zp);

}

constexpr QQuaternion operator-(const QQuaternion &q1, const QQuaternion &q2) noexcept

{

    return QQuaternion(q1.wp - q2.wp, q1.xp - q2.xp, q1.yp - q2.yp, q1.zp - q2.zp);

}

constexpr QQuaternion operator*(float factor, const QQuaternion &quaternion) noexcept

{

    return QQuaternion(quaternion.wp * factor, quaternion.xp * factor, quaternion.yp * factor, quaternion.zp * factor);

}

constexpr QQuaternion operator*(const QQuaternion &quaternion, float factor) noexcept

{

    return QQuaternion(quaternion.wp * factor, quaternion.xp * factor, quaternion.yp * factor, quaternion.zp * factor);

}

constexpr QQuaternion operator-(const QQuaternion &quaternion) noexcept

{

    return QQuaternion(-quaternion.wp, -quaternion.xp, -quaternion.yp, -quaternion.zp);

}

constexpr QQuaternion operator/(const QQuaternion &quaternion, float divisor)

{

    return QQuaternion(quaternion.wp / divisor, quaternion.xp / divisor, quaternion.yp / divisor, quaternion.zp / divisor);

}

constexpr bool qFuzzyCompare(const QQuaternion &q1, const QQuaternion &q2) noexcept

{

    return qFuzzyCompare(q1.wp, q2.wp) &&

           qFuzzyCompare(q1.xp, q2.xp) &&

           qFuzzyCompare(q1.yp, q2.yp) &&

           qFuzzyCompare(q1.zp, q2.zp);

}

#if QT_GUI_INLINE_IMPL_SINCE(6, 11)

void QQuaternion::getEulerAngles(float *pitch, float *yaw, float *roll) const

{

    Q_PRE(pitch);

    Q_PRE(yaw);

    Q_PRE(roll);

    const auto angles = eulerAngles();

    *pitch = angles.pitch;

    *yaw   = angles.yaw;

    *roll  = angles.roll;

}

#endif // QT_GUI_INLINE_IMPL_SINCE

#ifndef QT_NO_VECTOR3D

constexpr QQuaternion::QQuaternion(float aScalar, const QVector3D &aVector) noexcept

    : wp(aScalar), xp(aVector.x()), yp(aVector.y()), zp(aVector.z()) {}

constexpr void QQuaternion::setVector(const QVector3D &aVector) noexcept

{

    xp = aVector.x();

    yp = aVector.y();

    zp = aVector.z();

}

constexpr QVector3D QQuaternion::vector() const noexcept

{

    return QVector3D(xp, yp, zp);

}

inline QVector3D operator*(const QQuaternion &quaternion, const QVector3D &vec)

{

    return quaternion.rotatedVector(vec);

}

void QQuaternion::getAxisAndAngle(QVector3D *axis, float *angle) const

{

    float aX, aY, aZ;

    getAxisAndAngle(&aX, &aY, &aZ, angle);

    *axis = QVector3D(aX, aY, aZ);

}

QVector3D QQuaternion::toEulerAngles() const

{

    const auto angles = eulerAngles();

    return QVector3D{angles.pitch, angles.yaw, angles.roll};

}

#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

{

    xp = aX;

    yp = aY;

    zp = aZ;

}

#ifndef QT_NO_VECTOR4D

constexpr QQuaternion::QQuaternion(const QVector4D &aVector) noexcept

    : wp(aVector.w()), xp(aVector.x()), yp(aVector.y()), zp(aVector.z()) {}

constexpr QVector4D QQuaternion::toVector4D() const noexcept

{

    return QVector4D(xp, yp, zp, wp);

}

#endif // QT_NO_VECTOR4D

#ifndef QT_NO_DEBUG_STREAM

Q_GUI_EXPORT QDebug operator<<(QDebug dbg, const QQuaternion &q);

#endif

#ifndef QT_NO_DATASTREAM

Q_GUI_EXPORT QDataStream &operator<<(QDataStream &, const QQuaternion &);

Q_GUI_EXPORT QDataStream &operator>>(QDataStream &, QQuaternion &);

#endif

#endif // QT_NO_QUATERNION

QT_END_NAMESPACE

#endif // QQUATERNION_H