/*!
\since 5.5
Creates a rotation matrix that corresponds to this quaternion.
\note If this quaternion is not normalized,
the resulting rotation matrix will contain scaling information.
\sa fromRotationMatrix(), getAxes()
*/
QMatrix3x3 QQuaternion::toRotationMatrix() const
{
// Algorithm from:
// http://www.j3d.org/matrix_faq/matrfaq_latest.html#Q54
QMatrix3x3 rot3x3(Qt::Uninitialized);
const float f2x = xp + xp;
const float f2y = yp + yp;
const float f2z = zp + zp;
const float f2xw = f2x * wp;
const float f2yw = f2y * wp;
const float f2zw = f2z * wp;
const float f2xx = f2x * xp;
const float f2xy = f2x * yp;
const float f2xz = f2x * zp;
const float f2yy = f2y * yp;
const float f2yz = f2y * zp;
const float f2zz = f2z * zp;
rot3x3(0, 0) = 1.0f - (f2yy + f2zz);
rot3x3(0, 1) = f2xy - f2zw;
rot3x3(0, 2) = f2xz + f2yw;
rot3x3(1, 0) = f2xy + f2zw;
rot3x3(1, 1) = 1.0f - (f2xx + f2zz);
rot3x3(1, 2) = f2yz - f2xw;
rot3x3(2, 0) = f2xz - f2yw;
rot3x3(2, 1) = f2yz + f2xw;
rot3x3(2, 2) = 1.0f - (f2xx + f2yy);
return rot3x3;
}
/*!
\since 5.5
Returns the 3 orthonormal axes (\a xAxis, \a yAxis, \a zAxis) defining the quaternion.
\sa fromAxes(), toRotationMatrix()
*/
void QQuaternion::getAxes(QVector3D *xAxis, QVector3D *yAxis, QVector3D *zAxis) const
{
Q_ASSERT(xAxis && yAxis && zAxis);
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));
}
/*!
\since 5.5
Constructs the quaternion using 3 axes (\a xAxis, \a yAxis, \a zAxis).
\note The axes are assumed to be orthonormal.
\sa getAxes(), fromRotationMatrix()
*/
QQuaternion QQuaternion::fromAxes(const QVector3D &xAxis, const QVector3D &yAxis, const QVector3D &zAxis)
{
QMatrix3x3 rot3x3(Qt::Uninitialized);
rot3x3(0, 0) = xAxis.x();
rot3x3(1, 0) = xAxis.y();
rot3x3(2, 0) = xAxis.z();
rot3x3(0, 1) = yAxis.x();
rot3x3(1, 1) = yAxis.y();
rot3x3(2, 1) = yAxis.z();
rot3x3(0, 2) = zAxis.x();
rot3x3(1, 2) = zAxis.y();
rot3x3(2, 2) = zAxis.z();
return QQuaternion::fromRotationMatrix(rot3x3);
}
void QgsPoint3DSymbolWidget::setSymbol( const QgsPoint3DSymbol &symbol )
{
cboAltClamping->setCurrentIndex( static_cast<int>( symbol.altitudeClamping() ) );
QVariantMap vm = symbol.shapeProperties();
int index = cboShape->findData( symbol.shape() );
cboShape->setCurrentIndex( index != -1 ? index : 1 ); // use cylinder by default if shape is not set
widgetMaterial->setEnabled( true );
switch ( cboShape->currentIndex() )
{
case 0: // sphere
spinRadius->setValue( vm[QStringLiteral( "radius" )].toDouble() );
break;
case 1: // cylinder
spinRadius->setValue( vm[QStringLiteral( "radius" )].toDouble() );
spinLength->setValue( vm[QStringLiteral( "length" )].toDouble() );
break;
case 2: // cube
spinSize->setValue( vm[QStringLiteral( "size" )].toDouble() );
break;
case 3: // cone
spinTopRadius->setValue( vm[QStringLiteral( "topRadius" )].toDouble() );
spinBottomRadius->setValue( vm[QStringLiteral( "bottomRadius" )].toDouble() );
spinLength->setValue( vm[QStringLiteral( "length" )].toDouble() );
break;
case 4: // plane
spinSize->setValue( vm[QStringLiteral( "size" )].toDouble() );
break;
case 5: // torus
spinRadius->setValue( vm[QStringLiteral( "radius" )].toDouble() );
spinMinorRadius->setValue( vm[QStringLiteral( "minorRadius" )].toDouble() );
break;
case 6: // 3d model
lineEditModel->setText( vm[QStringLiteral( "model" )].toString() );
bool overwriteMaterial = vm[QStringLiteral( "overwriteMaterial" )].toBool();
widgetMaterial->setEnabled( overwriteMaterial );
cbOverwriteMaterial->setChecked( overwriteMaterial );
break;
}
widgetMaterial->setMaterial( symbol.material() );
// decompose the transform matrix
// assuming the last row has values [0 0 0 1]
// see https://math.stackexchange.com/questions/237369/given-this-transformation-matrix-how-do-i-decompose-it-into-translation-rotati
QMatrix4x4 m = symbol.transform();
float *md = m.data(); // returns data in column-major order
float sx = QVector3D( md[0], md[1], md[2] ).length();
float sy = QVector3D( md[4], md[5], md[6] ).length();
float sz = QVector3D( md[8], md[9], md[10] ).length();
float rd[9] =
{
md[0] / sx, md[4] / sy, md[8] / sz,
md[1] / sx, md[5] / sy, md[9] / sz,
md[2] / sx, md[6] / sy, md[10] / sz,
};
QMatrix3x3 rot3x3( rd ); // takes data in row-major order
QVector3D rot = QQuaternion::fromRotationMatrix( rot3x3 ).toEulerAngles();
spinTX->setValue( md[12] );
spinTY->setValue( md[13] );
spinTZ->setValue( md[14] );
spinSX->setValue( sx );
spinSY->setValue( sy );
spinSZ->setValue( sz );
spinRX->setValue( rot.x() );
spinRY->setValue( rot.y() );
spinRZ->setValue( rot.z() );
}
