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Diffstat (limited to '3rdparty/include/glm/gtx/rotate_normalized_axis.inl')
| -rw-r--r-- | 3rdparty/include/glm/gtx/rotate_normalized_axis.inl | 88 |
1 files changed, 88 insertions, 0 deletions
diff --git a/3rdparty/include/glm/gtx/rotate_normalized_axis.inl b/3rdparty/include/glm/gtx/rotate_normalized_axis.inl new file mode 100644 index 0000000..9bb257c --- /dev/null +++ b/3rdparty/include/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 |