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Diffstat (limited to 'inc/glm/gtx/rotate_normalized_axis.inl')
| -rw-r--r-- | inc/glm/gtx/rotate_normalized_axis.inl | 88 |
1 files changed, 88 insertions, 0 deletions
diff --git a/inc/glm/gtx/rotate_normalized_axis.inl b/inc/glm/gtx/rotate_normalized_axis.inl new file mode 100644 index 0000000..54f95a4 --- /dev/null +++ b/inc/glm/gtx/rotate_normalized_axis.inl @@ -0,0 +1,88 @@ +///////////////////////////////////////////////////////////////////////////////////
+/// OpenGL Mathematics (glm.g-truc.net)
+///
+/// Copyright (c) 2005 - 2012 G-Truc Creation (www.g-truc.net)
+/// Permission is hereby granted, free of charge, to any person obtaining a copy
+/// of this software and associated documentation files (the "Software"), to deal
+/// in the Software without restriction, including without limitation the rights
+/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+/// copies of the Software, and to permit persons to whom the Software is
+/// furnished to do so, subject to the following conditions:
+///
+/// The above copyright notice and this permission notice shall be included in
+/// all copies or substantial portions of the Software.
+///
+/// Restrictions:
+/// By making use of the Software for military purposes, you choose to make
+/// a Bunny unhappy.
+///
+/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+/// THE SOFTWARE.
+///
+/// @ref gtx_rotate_normalized_axis
+/// @file glm/gtx/rotate_normalized_axis.inl
+/// @date 2012-12-13 / 2012-12-13
+/// @author Christophe Riccio
+///////////////////////////////////////////////////////////////////////////////////
+
+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
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