| 1 | /// @ref gtx_rotate_vector |
| 2 | |
| 3 | namespace glm |
| 4 | { |
| 5 | template<typename T, qualifier Q> |
| 6 | GLM_FUNC_QUALIFIER vec<3, T, Q> slerp |
| 7 | ( |
| 8 | vec<3, T, Q> const& x, |
| 9 | vec<3, T, Q> const& y, |
| 10 | T const& a |
| 11 | ) |
| 12 | { |
| 13 | // get cosine of angle between vectors (-1 -> 1) |
| 14 | T CosAlpha = dot(x, y); |
| 15 | // get angle (0 -> pi) |
| 16 | T Alpha = acos(CosAlpha); |
| 17 | // get sine of angle between vectors (0 -> 1) |
| 18 | T SinAlpha = sin(Alpha); |
| 19 | // this breaks down when SinAlpha = 0, i.e. Alpha = 0 or pi |
| 20 | T t1 = sin((static_cast<T>(1) - a) * Alpha) / SinAlpha; |
| 21 | T t2 = sin(a * Alpha) / SinAlpha; |
| 22 | |
| 23 | // interpolate src vectors |
| 24 | return x * t1 + y * t2; |
| 25 | } |
| 26 | |
| 27 | template<typename T, qualifier Q> |
| 28 | GLM_FUNC_QUALIFIER vec<2, T, Q> rotate |
| 29 | ( |
| 30 | vec<2, T, Q> const& v, |
| 31 | T const& angle |
| 32 | ) |
| 33 | { |
| 34 | vec<2, T, Q> Result; |
| 35 | T const Cos(cos(angle)); |
| 36 | T const Sin(sin(angle)); |
| 37 | |
| 38 | Result.x = v.x * Cos - v.y * Sin; |
| 39 | Result.y = v.x * Sin + v.y * Cos; |
| 40 | return Result; |
| 41 | } |
| 42 | |
| 43 | template<typename T, qualifier Q> |
| 44 | GLM_FUNC_QUALIFIER vec<3, T, Q> rotate |
| 45 | ( |
| 46 | vec<3, T, Q> const& v, |
| 47 | T const& angle, |
| 48 | vec<3, T, Q> const& normal |
| 49 | ) |
| 50 | { |
| 51 | return mat<3, 3, T, Q>(glm::rotate(angle, normal)) * v; |
| 52 | } |
| 53 | /* |
| 54 | template<typename T, qualifier Q> |
| 55 | GLM_FUNC_QUALIFIER vec<3, T, Q> rotateGTX( |
| 56 | const vec<3, T, Q>& x, |
| 57 | T angle, |
| 58 | const vec<3, T, Q>& normal) |
| 59 | { |
| 60 | const T Cos = cos(radians(angle)); |
| 61 | const T Sin = sin(radians(angle)); |
| 62 | return x * Cos + ((x * normal) * (T(1) - Cos)) * normal + cross(x, normal) * Sin; |
| 63 | } |
| 64 | */ |
| 65 | template<typename T, qualifier Q> |
| 66 | GLM_FUNC_QUALIFIER vec<4, T, Q> rotate |
| 67 | ( |
| 68 | vec<4, T, Q> const& v, |
| 69 | T const& angle, |
| 70 | vec<3, T, Q> const& normal |
| 71 | ) |
| 72 | { |
| 73 | return rotate(angle, normal) * v; |
| 74 | } |
| 75 | |
| 76 | template<typename T, qualifier Q> |
| 77 | GLM_FUNC_QUALIFIER vec<3, T, Q> rotateX |
| 78 | ( |
| 79 | vec<3, T, Q> const& v, |
| 80 | T const& angle |
| 81 | ) |
| 82 | { |
| 83 | vec<3, T, Q> Result(v); |
| 84 | T const Cos(cos(angle)); |
| 85 | T const Sin(sin(angle)); |
| 86 | |
| 87 | Result.y = v.y * Cos - v.z * Sin; |
| 88 | Result.z = v.y * Sin + v.z * Cos; |
| 89 | return Result; |
| 90 | } |
| 91 | |
| 92 | template<typename T, qualifier Q> |
| 93 | GLM_FUNC_QUALIFIER vec<3, T, Q> rotateY |
| 94 | ( |
| 95 | vec<3, T, Q> const& v, |
| 96 | T const& angle |
| 97 | ) |
| 98 | { |
| 99 | vec<3, T, Q> Result = v; |
| 100 | T const Cos(cos(angle)); |
| 101 | T const Sin(sin(angle)); |
| 102 | |
| 103 | Result.x = v.x * Cos + v.z * Sin; |
| 104 | Result.z = -v.x * Sin + v.z * Cos; |
| 105 | return Result; |
| 106 | } |
| 107 | |
| 108 | template<typename T, qualifier Q> |
| 109 | GLM_FUNC_QUALIFIER vec<3, T, Q> rotateZ |
| 110 | ( |
| 111 | vec<3, T, Q> const& v, |
| 112 | T const& angle |
| 113 | ) |
| 114 | { |
| 115 | vec<3, T, Q> Result = v; |
| 116 | T const Cos(cos(angle)); |
| 117 | T const Sin(sin(angle)); |
| 118 | |
| 119 | Result.x = v.x * Cos - v.y * Sin; |
| 120 | Result.y = v.x * Sin + v.y * Cos; |
| 121 | return Result; |
| 122 | } |
| 123 | |
| 124 | template<typename T, qualifier Q> |
| 125 | GLM_FUNC_QUALIFIER vec<4, T, Q> rotateX |
| 126 | ( |
| 127 | vec<4, T, Q> const& v, |
| 128 | T const& angle |
| 129 | ) |
| 130 | { |
| 131 | vec<4, T, Q> Result = v; |
| 132 | T const Cos(cos(angle)); |
| 133 | T const Sin(sin(angle)); |
| 134 | |
| 135 | Result.y = v.y * Cos - v.z * Sin; |
| 136 | Result.z = v.y * Sin + v.z * Cos; |
| 137 | return Result; |
| 138 | } |
| 139 | |
| 140 | template<typename T, qualifier Q> |
| 141 | GLM_FUNC_QUALIFIER vec<4, T, Q> rotateY |
| 142 | ( |
| 143 | vec<4, T, Q> const& v, |
| 144 | T const& angle |
| 145 | ) |
| 146 | { |
| 147 | vec<4, T, Q> Result = v; |
| 148 | T const Cos(cos(angle)); |
| 149 | T const Sin(sin(angle)); |
| 150 | |
| 151 | Result.x = v.x * Cos + v.z * Sin; |
| 152 | Result.z = -v.x * Sin + v.z * Cos; |
| 153 | return Result; |
| 154 | } |
| 155 | |
| 156 | template<typename T, qualifier Q> |
| 157 | GLM_FUNC_QUALIFIER vec<4, T, Q> rotateZ |
| 158 | ( |
| 159 | vec<4, T, Q> const& v, |
| 160 | T const& angle |
| 161 | ) |
| 162 | { |
| 163 | vec<4, T, Q> Result = v; |
| 164 | T const Cos(cos(angle)); |
| 165 | T const Sin(sin(angle)); |
| 166 | |
| 167 | Result.x = v.x * Cos - v.y * Sin; |
| 168 | Result.y = v.x * Sin + v.y * Cos; |
| 169 | return Result; |
| 170 | } |
| 171 | |
| 172 | template<typename T, qualifier Q> |
| 173 | GLM_FUNC_QUALIFIER mat<4, 4, T, Q> orientation |
| 174 | ( |
| 175 | vec<3, T, Q> const& Normal, |
| 176 | vec<3, T, Q> const& Up |
| 177 | ) |
| 178 | { |
| 179 | if(all(equal(Normal, Up, epsilon<T>()))) |
| 180 | return mat<4, 4, T, Q>(static_cast<T>(1)); |
| 181 | |
| 182 | vec<3, T, Q> RotationAxis = cross(Up, Normal); |
| 183 | T Angle = acos(dot(Normal, Up)); |
| 184 | |
| 185 | return rotate(Angle, RotationAxis); |
| 186 | } |
| 187 | }//namespace glm |