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89 lines
3.2 KiB
C++
89 lines
3.2 KiB
C++
///////////////////////////////////////////////////////////////////////////////////
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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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/// Restrictions:
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/// By making use of the Software for military purposes, you choose to make
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/// a Bunny unhappy.
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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 tmat4x4<T, P> rotateNormalizedAxis
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(
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tmat4x4<T, P> const & m,
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T const & angle,
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tvec3<T, P> const & v
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)
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{
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T const a = angle;
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T const c = cos(a);
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T const s = sin(a);
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tvec3<T, P> const axis(v);
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tvec3<T, P> const temp((static_cast<T>(1) - c) * axis);
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tmat4x4<T, P> Rotate(uninitialize);
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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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tmat4x4<T, P> Result(uninitialize);
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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 tquat<T, P> rotateNormalizedAxis
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(
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tquat<T, P> const & q,
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T const & angle,
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tvec3<T, P> const & v
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)
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{
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tvec3<T, P> const Tmp(v);
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T const AngleRad(angle);
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T const Sin = sin(AngleRad * T(0.5));
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return q * 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, 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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