59 lines
1.6 KiB
Plaintext
59 lines
1.6 KiB
Plaintext
|
/// @ref gtx_rotate_normalized_axis
|
||
|
|
|
||
|
|
namespace glm
|
||
|
|
{
|
||
|
|
template<typename T, qualifier Q>
|
||
|
|
GLM_FUNC_QUALIFIER mat<4, 4, T, Q> rotateNormalizedAxis
|
||
|
|
(
|
||
|
|
mat<4, 4, T, Q> const& m,
|
||
|
|
T const& angle,
|
||
|
|
vec<3, T, Q> const& v
|
||
|
|
)
|
||
|
|
{
|
||
|
|
T const a = angle;
|
||
|
|
T const c = cos(a);
|
||
|
|
T const s = sin(a);
|
||
|
|
|
||
|
|
vec<3, T, Q> const axis(v);
|
||
|
|
|
||
|
|
vec<3, T, Q> const temp((static_cast<T>(1) - c) * axis);
|
||
|
|
|
||
|
|
mat<4, 4, T, Q> Rotate;
|
||
|
|
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];
|
||
|
|
|
||
|
|
mat<4, 4, T, Q> Result;
|
||
|
|
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, qualifier Q>
|
||
|
|
GLM_FUNC_QUALIFIER qua<T, Q> rotateNormalizedAxis
|
||
|
|
(
|
||
|
|
qua<T, Q> const& q,
|
||
|
|
T const& angle,
|
||
|
|
vec<3, T, Q> const& v
|
||
|
|
)
|
||
|
|
{
|
||
|
|
vec<3, T, Q> const Tmp(v);
|
||
|
|
|
||
|
|
T const AngleRad(angle);
|
||
|
|
T const Sin = sin(AngleRad * T(0.5));
|
||
|
|
|
||
|
|
return q * qua<T, Q>(cos(AngleRad * static_cast<T>(0.5)), Tmp.x * Sin, Tmp.y * Sin, Tmp.z * Sin);
|
||
|
|
//return gtc::quaternion::cross(q, tquat<T, Q>(cos(AngleRad * T(0.5)), Tmp.x * fSin, Tmp.y * fSin, Tmp.z * fSin));
|
||
|
|
}
|
||
|
|
}//namespace glm
|