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