89 lines
3.2 KiB
C++
89 lines
3.2 KiB
C++
///////////////////////////////////////////////////////////////////////////////////
|
|
/// OpenGL Mathematics (glm.g-truc.net)
|
|
///
|
|
/// Copyright (c) 2005 - 2012 G-Truc Creation (www.g-truc.net)
|
|
/// Permission is hereby granted, free of charge, to any person obtaining a copy
|
|
/// of this software and associated documentation files (the "Software"), to deal
|
|
/// in the Software without restriction, including without limitation the rights
|
|
/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
|
/// copies of the Software, and to permit persons to whom the Software is
|
|
/// furnished to do so, subject to the following conditions:
|
|
///
|
|
/// The above copyright notice and this permission notice shall be included in
|
|
/// all copies or substantial portions of the Software.
|
|
///
|
|
/// Restrictions:
|
|
/// By making use of the Software for military purposes, you choose to make
|
|
/// a Bunny unhappy.
|
|
///
|
|
/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
|
/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
|
/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
|
/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
|
/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
|
/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
|
/// THE SOFTWARE.
|
|
///
|
|
/// @ref gtx_rotate_normalized_axis
|
|
/// @file glm/gtx/rotate_normalized_axis.inl
|
|
/// @date 2012-12-13 / 2012-12-13
|
|
/// @author Christophe Riccio
|
|
///////////////////////////////////////////////////////////////////////////////////
|
|
|
|
namespace glm
|
|
{
|
|
template <typename T, precision P>
|
|
GLM_FUNC_QUALIFIER tmat4x4<T, P> rotateNormalizedAxis
|
|
(
|
|
tmat4x4<T, P> const & m,
|
|
T const & angle,
|
|
tvec3<T, P> const & v
|
|
)
|
|
{
|
|
T const a = angle;
|
|
T const c = cos(a);
|
|
T const s = sin(a);
|
|
|
|
tvec3<T, P> const axis(v);
|
|
|
|
tvec3<T, P> const temp((static_cast<T>(1) - c) * axis);
|
|
|
|
tmat4x4<T, P> Rotate(uninitialize);
|
|
Rotate[0][0] = c + temp[0] * axis[0];
|
|
Rotate[0][1] = 0 + temp[0] * axis[1] + s * axis[2];
|
|
Rotate[0][2] = 0 + temp[0] * axis[2] - s * axis[1];
|
|
|
|
Rotate[1][0] = 0 + temp[1] * axis[0] - s * axis[2];
|
|
Rotate[1][1] = c + temp[1] * axis[1];
|
|
Rotate[1][2] = 0 + temp[1] * axis[2] + s * axis[0];
|
|
|
|
Rotate[2][0] = 0 + temp[2] * axis[0] + s * axis[1];
|
|
Rotate[2][1] = 0 + temp[2] * axis[1] - s * axis[0];
|
|
Rotate[2][2] = c + temp[2] * axis[2];
|
|
|
|
tmat4x4<T, P> Result(uninitialize);
|
|
Result[0] = m[0] * Rotate[0][0] + m[1] * Rotate[0][1] + m[2] * Rotate[0][2];
|
|
Result[1] = m[0] * Rotate[1][0] + m[1] * Rotate[1][1] + m[2] * Rotate[1][2];
|
|
Result[2] = m[0] * Rotate[2][0] + m[1] * Rotate[2][1] + m[2] * Rotate[2][2];
|
|
Result[3] = m[3];
|
|
return Result;
|
|
}
|
|
|
|
template <typename T, precision P>
|
|
GLM_FUNC_QUALIFIER tquat<T, P> rotateNormalizedAxis
|
|
(
|
|
tquat<T, P> const & q,
|
|
T const & angle,
|
|
tvec3<T, P> const & v
|
|
)
|
|
{
|
|
tvec3<T, P> const Tmp(v);
|
|
|
|
T const AngleRad(angle);
|
|
T const Sin = sin(AngleRad * T(0.5));
|
|
|
|
return q * tquat<T, P>(cos(AngleRad * static_cast<T>(0.5)), Tmp.x * Sin, Tmp.y * Sin, Tmp.z * Sin);
|
|
//return gtc::quaternion::cross(q, tquat<T, P>(cos(AngleRad * T(0.5)), Tmp.x * fSin, Tmp.y * fSin, Tmp.z * fSin));
|
|
}
|
|
}//namespace glm
|