////  Quat.cpp//  libraries/script-engine/src////  Created by Brad Hefta-Gaub on 1/29/14.//  Copyright 2014 High Fidelity, Inc.//  Copyright 2023 Overte e.V.////  Distributed under the Apache License, Version 2.0.//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html//  SPDX-License-Identifier: Apache-2.0// #include "Quat.h" #include <glm/gtx/vector_angle.hpp>#include <glm/gtx/string_cast.hpp> #include <QDebug> #include "ScriptEngineLogging.h"#include "ScriptEngine.h"#include "ScriptManager.h" quat Quat::normalize(const glm::quat& q) {    return glm::normalize(q);} quat Quat::conjugate(const glm::quat& q) {    return glm::conjugate(q);} glm::quat Quat::rotationBetween(const glm::vec3& v1, const glm::vec3& v2) {    return ::rotationBetween(v1, v2);} glm::quat Quat::lookAt(const glm::vec3& eye, const glm::vec3& center, const glm::vec3& up) {    return glm::inverse(glm::quat_cast(glm::lookAt(eye, center, up)));  // OpenGL view matrix is inverse of our camera matrix.} glm::quat Quat::lookAtSimple(const glm::vec3& eye, const glm::vec3& center) {    auto dir = glm::normalize(center - eye);    // if the direction is nearly aligned with the Y axis, then use the X axis for 'up'    const float MAX_ABS_Y_COMPONENT = 0.9999991f;    if (fabsf(dir.y) > MAX_ABS_Y_COMPONENT) {        return lookAt(eye, center, Vectors::UNIT_X);    }    return lookAt(eye, center, Vectors::UNIT_Y);} glm::quat Quat::multiply(const glm::quat& q1, const glm::quat& q2) {    return q1 * q2;} glm::quat Quat::fromVec3Degrees(const glm::vec3& eulerAngles) {    return glm::quat(glm::radians(eulerAngles));} glm::quat Quat::fromVec3Radians(const glm::vec3& eulerAngles) {    return glm::quat(eulerAngles);} glm::quat Quat::fromPitchYawRollDegrees(float pitch, float yaw, float roll) {    return glm::quat(glm::radians(glm::vec3(pitch, yaw, roll)));} glm::quat Quat::fromPitchYawRollRadians(float pitch, float yaw, float roll) {    return glm::quat(glm::vec3(pitch, yaw, roll));} glm::quat Quat::inverse(const glm::quat& q) {    return glm::inverse(q);} glm::vec3 Quat::getForward(const glm::quat& orientation) {    return orientation * Vectors::FRONT;} glm::vec3 Quat::getRight(const glm::quat& orientation) {    return orientation * Vectors::RIGHT;} glm::vec3 Quat::getUp(const glm::quat& orientation) {    return orientation * Vectors::UP;} glm::vec3 Quat::safeEulerAngles(const glm::quat& orientation) {    return glm::degrees(::safeEulerAngles(orientation));} glm::quat Quat::angleAxis(float angle, const glm::vec3& v) {    return glm::angleAxis(glm::radians(angle), v);} glm::vec3 Quat::axis(const glm::quat& orientation) {    return glm::axis(orientation);} float Quat::angle(const glm::quat& orientation) {    return glm::angle(orientation);} glm::quat Quat::mix(const glm::quat& q1, const glm::quat& q2, float alpha) {    return safeMix(q1, q2, alpha);} /// Spherical Linear Interpolationglm::quat Quat::slerp(const glm::quat& q1, const glm::quat& q2, float alpha) {    return glm::slerp(q1, q2, alpha);} // Spherical Quadratic Interpolationglm::quat Quat::squad(const glm::quat& q1, const glm::quat& q2, const glm::quat& s1, const glm::quat& s2, float h) {    return glm::squad(q1, q2, s1, s2, h);} float Quat::dot(const glm::quat& q1, const glm::quat& q2) {    return glm::dot(q1, q2);} void Quat::print(const QString& label, const glm::quat& q, bool asDegrees) {    QString message = QString("%1 %2").arg(qPrintable(label));    if (asDegrees) {        message = message.arg(glm::to_string(glm::dvec3(safeEulerAngles(q))).c_str());    } else {        message = message.arg(glm::to_string(glm::dquat(q)).c_str());    }    qCDebug(scriptengine) << message;    Q_ASSERT(engine());    if (ScriptManager* scriptManager = engine()->manager()) {        scriptManager->print(message);    }} bool Quat::equal(const glm::quat& q1, const glm::quat& q2) {    return q1 == q2;} glm::quat Quat::cancelOutRollAndPitch(const glm::quat& q) {    return ::cancelOutRollAndPitch(q);} glm::quat Quat::cancelOutRoll(const glm::quat& q) {    return ::cancelOutRoll(q);}