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Fixed axisAngle
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8eee19e183
commit
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@ -26,7 +26,7 @@ GLM_FUNC_QUALIFIER void axisAngle(
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axis.z = (T)0.0;
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return;
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}
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angle = M_1_PI;
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angle = T(3.1415926535897932384626433832795);
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T xx = (mat[0][0] + (T)1.0) / (T)2.0;
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T yy = (mat[1][1] + (T)1.0) / (T)2.0;
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T zz = (mat[2][2] + (T)1.0) / (T)2.0;
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@ -58,34 +58,6 @@ GLM_FUNC_QUALIFIER void axisAngle(
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axis.x = (T)0.7071;
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axis.y = (T)0.7071;
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axis.z = (T)0.0;
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angle = T(3.1415926535897932384626433832795);
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T xx = (mat[0][0] + (T)1.0) / (T)2.0;
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T yy = (mat[1][1] + (T)1.0) / (T)2.0;
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T zz = (mat[2][2] + (T)1.0) / (T)2.0;
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T xy = (mat[1][0] + mat[0][1]) / (T)4.0;
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T xz = (mat[2][0] + mat[0][2]) / (T)4.0;
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T yz = (mat[2][1] + mat[1][2]) / (T)4.0;
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if ((xx > yy) && (xx > zz)) {
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if (xx < epsilon) {
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axis.x = (T)0.0;
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axis.y = (T)0.7071;
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axis.z = (T)0.7071;
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} else {
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axis.x = sqrt(xx);
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axis.y = xy / axis.x;
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axis.z = xz / axis.x;
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}
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} else if (yy > zz) {
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if (yy < epsilon) {
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axis.x = (T)0.7071;
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axis.y = (T)0.0;
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axis.z = (T)0.7071;
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} else {
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axis.y = sqrt(yy);
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axis.x = xy / axis.y;
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axis.z = yz / axis.y;
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}
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} else {
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axis.z = sqrt(zz);
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axis.x = xz / axis.z;
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