| 1 | /// @ref gtx_rotate_normalized_axis |
| 2 | |
| 3 | namespace glm |
| 4 | { |
| 5 | template<typename T, qualifier Q> |
| 6 | GLM_FUNC_QUALIFIER mat<4, 4, T, Q> rotateNormalizedAxis |
| 7 | ( |
| 8 | mat<4, 4, T, Q> const& m, |
| 9 | T const& angle, |
| 10 | vec<3, T, Q> const& v |
| 11 | ) |
| 12 | { |
| 13 | T const a = angle; |
| 14 | T const c = cos(a); |
| 15 | T const s = sin(a); |
| 16 | |
| 17 | vec<3, T, Q> const axis(v); |
| 18 | |
| 19 | vec<3, T, Q> const temp((static_cast<T>(1) - c) * axis); |
| 20 | |
| 21 | mat<4, 4, T, Q> Rotate; |
| 22 | Rotate[0][0] = c + temp[0] * axis[0]; |
| 23 | Rotate[0][1] = 0 + temp[0] * axis[1] + s * axis[2]; |
| 24 | Rotate[0][2] = 0 + temp[0] * axis[2] - s * axis[1]; |
| 25 | |
| 26 | Rotate[1][0] = 0 + temp[1] * axis[0] - s * axis[2]; |
| 27 | Rotate[1][1] = c + temp[1] * axis[1]; |
| 28 | Rotate[1][2] = 0 + temp[1] * axis[2] + s * axis[0]; |
| 29 | |
| 30 | Rotate[2][0] = 0 + temp[2] * axis[0] + s * axis[1]; |
| 31 | Rotate[2][1] = 0 + temp[2] * axis[1] - s * axis[0]; |
| 32 | Rotate[2][2] = c + temp[2] * axis[2]; |
| 33 | |
| 34 | mat<4, 4, T, Q> Result; |
| 35 | Result[0] = m[0] * Rotate[0][0] + m[1] * Rotate[0][1] + m[2] * Rotate[0][2]; |
| 36 | Result[1] = m[0] * Rotate[1][0] + m[1] * Rotate[1][1] + m[2] * Rotate[1][2]; |
| 37 | Result[2] = m[0] * Rotate[2][0] + m[1] * Rotate[2][1] + m[2] * Rotate[2][2]; |
| 38 | Result[3] = m[3]; |
| 39 | return Result; |
| 40 | } |
| 41 | |
| 42 | template<typename T, qualifier Q> |
| 43 | GLM_FUNC_QUALIFIER qua<T, Q> rotateNormalizedAxis |
| 44 | ( |
| 45 | qua<T, Q> const& q, |
| 46 | T const& angle, |
| 47 | vec<3, T, Q> const& v |
| 48 | ) |
| 49 | { |
| 50 | vec<3, T, Q> const Tmp(v); |
| 51 | |
| 52 | T const AngleRad(angle); |
| 53 | T const Sin = sin(AngleRad * T(0.5)); |
| 54 | |
| 55 | return q * qua<T, Q>::wxyz(cos(AngleRad * static_cast<T>(0.5)), Tmp.x * Sin, Tmp.y * Sin, Tmp.z * Sin); |
| 56 | //return gtc::quaternion::cross(q, tquat<T, Q>(cos(AngleRad * T(0.5)), Tmp.x * fSin, Tmp.y * fSin, Tmp.z * fSin)); |
| 57 | } |
| 58 | }//namespace glm |