| 1 | #include "scalar_constants.hpp" |
| 2 | |
| 3 | namespace glm |
| 4 | { |
| 5 | template<typename T, qualifier Q> |
| 6 | GLM_FUNC_QUALIFIER T angle(qua<T, Q> const& x) |
| 7 | { |
| 8 | if (abs(x.w) > cos_one_over_two<T>()) |
| 9 | { |
| 10 | T const a = asin(sqrt(x.x * x.x + x.y * x.y + x.z * x.z)) * static_cast<T>(2); |
| 11 | if(x.w < static_cast<T>(0)) |
| 12 | return pi<T>() * static_cast<T>(2) - a; |
| 13 | return a; |
| 14 | } |
| 15 | |
| 16 | return acos(x.w) * static_cast<T>(2); |
| 17 | } |
| 18 | |
| 19 | template<typename T, qualifier Q> |
| 20 | GLM_FUNC_QUALIFIER vec<3, T, Q> axis(qua<T, Q> const& x) |
| 21 | { |
| 22 | T const tmp1 = static_cast<T>(1) - x.w * x.w; |
| 23 | if(tmp1 <= static_cast<T>(0)) |
| 24 | return vec<3, T, Q>(0, 0, 1); |
| 25 | T const tmp2 = static_cast<T>(1) / sqrt(tmp1); |
| 26 | return vec<3, T, Q>(x.x * tmp2, x.y * tmp2, x.z * tmp2); |
| 27 | } |
| 28 | |
| 29 | template<typename T, qualifier Q> |
| 30 | GLM_FUNC_QUALIFIER qua<T, Q> angleAxis(T const& angle, vec<3, T, Q> const& v) |
| 31 | { |
| 32 | T const a(angle); |
| 33 | T const s = glm::sin(a * static_cast<T>(0.5)); |
| 34 | |
| 35 | return qua<T, Q>(glm::cos(a * static_cast<T>(0.5)), v * s); |
| 36 | } |
| 37 | }//namespace glm |