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author | LaG1924 <12997935+LaG1924@users.noreply.github.com> | 2018-01-13 03:51:33 +0100 |
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committer | LaG1924 <12997935+LaG1924@users.noreply.github.com> | 2018-01-13 03:51:34 +0100 |
commit | 6f67371bb1b46579ae837d0e0c61ac1b291be743 (patch) | |
tree | 5a43692a064d84e5c5688b1b3639342555139c3c /external/include/glm/gtx/rotate_normalized_axis.inl | |
parent | Backported to C++14 (diff) | |
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Diffstat (limited to 'external/include/glm/gtx/rotate_normalized_axis.inl')
-rw-r--r-- | external/include/glm/gtx/rotate_normalized_axis.inl | 59 |
1 files changed, 59 insertions, 0 deletions
diff --git a/external/include/glm/gtx/rotate_normalized_axis.inl b/external/include/glm/gtx/rotate_normalized_axis.inl new file mode 100644 index 0000000..dc1b1a8 --- /dev/null +++ b/external/include/glm/gtx/rotate_normalized_axis.inl @@ -0,0 +1,59 @@ +/// @ref gtx_rotate_normalized_axis +/// @file glm/gtx/rotate_normalized_axis.inl + +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 |