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Bug 1304886 - Part 7: Add mulitiplications for quaternions. r=boris,derf

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MozReview-Commit-ID: IZDnU26wj2Y

--HG--
extra : rebase_source : 492e2cb6aa8dc40d5f07661f4a5bac9061d2cca2
This commit is contained in:
Hiroyuki Ikezoe 2016-11-16 20:32:33 +09:00
parent 7edca15eba
commit 7a9cc3600d
1 changed files with 23 additions and 0 deletions
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23
gfx/thebes/gfxQuaternion.h
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@ -72,6 +72,29 @@ struct gfxQuaternion : public mozilla::gfx::BasePoint4D<gfxFloat, gfxQuaternion>
return left + right;
}
using Super::operator*=;
// Quaternion multiplication
// Reference:
// https://en.wikipedia.org/wiki/Quaternion#Ordered_list_form
//
// (w1, x1, y1, z1)(w2, x2, y2, z2) = (w1w2 - x1x2 - y1y2 - z1z2,
// w1x2 + x1w2 + y1z2 - z1y2,
// w1y2 - x1z2 + y1w2 + z1x2,
// w1z2 + x1y2 - y1x2 + z1w2)
gfxQuaternion operator*(const gfxQuaternion& aOther) const {
return gfxQuaternion(
w * aOther.x + x * aOther.w + y * aOther.z - z * aOther.y,
w * aOther.y - x * aOther.z + y * aOther.w + z * aOther.x,
w * aOther.z + x * aOther.y - y * aOther.x + z * aOther.w,
w * aOther.w - x * aOther.x - y * aOther.y - z * aOther.z
);
}
gfxQuaternion& operator*=(const gfxQuaternion& aOther) {
*this = *this * aOther;
return *this;
}
mozilla::gfx::Matrix4x4 ToMatrix() const {
mozilla::gfx::Matrix4x4 temp;