From c9c656ce31efbd71dca1e3f0e959e80f0c37ca8a Mon Sep 17 00:00:00 2001 From: Sergey Krivohatskiy Date: Tue, 23 Mar 2021 14:27:00 +0300 Subject: [PATCH] axisAngle refactoring Signed-off-by: Sergey Krivohatskiy --- glm/gtx/matrix_interpolation.inl | 21 +++++++++------------ 1 file changed, 9 insertions(+), 12 deletions(-) diff --git a/glm/gtx/matrix_interpolation.inl b/glm/gtx/matrix_interpolation.inl index 28c3e816..10972974 100644 --- a/glm/gtx/matrix_interpolation.inl +++ b/glm/gtx/matrix_interpolation.inl @@ -1,11 +1,11 @@ /// @ref gtx_matrix_interpolation -#include "../gtc/constants.hpp" +#include "../ext/scalar_constants.hpp" namespace glm { template - GLM_FUNC_QUALIFIER void axisAngle(mat<4, 4, T, Q> const& m, vec<3, T, Q> & axis, T& angle) + GLM_FUNC_QUALIFIER void axisAngle(mat<4, 4, T, Q> const& m, vec<3, T, Q>& axis, T& angle) { T epsilon = static_cast(0.01); T epsilon2 = static_cast(0.1); @@ -15,12 +15,11 @@ namespace glm if ((abs(m[1][0] + m[0][1]) < epsilon2) && (abs(m[2][0] + m[0][2]) < epsilon2) && (abs(m[2][1] + m[1][2]) < epsilon2) && (abs(m[0][0] + m[1][1] + m[2][2] - static_cast(3.0)) < epsilon2)) { angle = static_cast(0.0); - axis.x = static_cast(1.0); - axis.y = static_cast(0.0); - axis.z = static_cast(0.0); + axis = vec<3, T, Q>( + static_cast(1.0), static_cast(0.0), static_cast(0.0)); return; } - angle = static_cast(3.1415926535897932384626433832795); + angle = pi(); T xx = (m[0][0] + static_cast(1.0)) * static_cast(0.5); T yy = (m[1][1] + static_cast(1.0)) * static_cast(0.5); T zz = (m[2][2] + static_cast(1.0)) * static_cast(0.5); @@ -74,9 +73,7 @@ namespace glm } return; } - T s = sqrt((m[2][1] - m[1][2]) * (m[2][1] - m[1][2]) + (m[2][0] - m[0][2]) * (m[2][0] - m[0][2]) + (m[1][0] - m[0][1]) * (m[1][0] - m[0][1])); - if (glm::abs(s) < T(0.001)) - s = static_cast(1); + T const angleCos = (m[0][0] + m[1][1] + m[2][2] - static_cast(1)) * static_cast(0.5); if(angleCos >= static_cast(1.0)) { @@ -90,9 +87,9 @@ namespace glm { angle = acos(angleCos); } - axis.x = (m[1][2] - m[2][1]) / s; - axis.y = (m[2][0] - m[0][2]) / s; - axis.z = (m[0][1] - m[1][0]) / s; + + axis = glm::normalize(glm::vec<3, T, Q>( + m[1][2] - m[2][1], m[2][0] - m[0][2], m[0][1] - m[1][0])); } template