mirror of
https://github.com/g-truc/glm.git
synced 2024-11-10 04:31:47 +00:00
Promoted angle axis interaction with quaternion
This commit is contained in:
parent
631240eefa
commit
cb017c5bca
@ -241,6 +241,43 @@ namespace detail
|
|||||||
detail::tquat<T> quat_cast(
|
detail::tquat<T> quat_cast(
|
||||||
detail::tmat4x4<T> const & x);
|
detail::tmat4x4<T> const & x);
|
||||||
|
|
||||||
|
/// Returns the quaternion rotation angle.
|
||||||
|
///
|
||||||
|
/// @see gtc_quaternion
|
||||||
|
template <typename valType>
|
||||||
|
valType angle(
|
||||||
|
detail::tquat<valType> const & x);
|
||||||
|
|
||||||
|
/// Returns the q rotation axis.
|
||||||
|
///
|
||||||
|
/// @see gtc_quaternion
|
||||||
|
template <typename valType>
|
||||||
|
detail::tvec3<valType> axis(
|
||||||
|
detail::tquat<valType> const & x);
|
||||||
|
|
||||||
|
/// Build a quaternion from an angle and a normalized axis.
|
||||||
|
///
|
||||||
|
/// @param angle Angle expressed in radians if GLM_FORCE_RADIANS is define or degrees otherwise.
|
||||||
|
///
|
||||||
|
/// @see gtc_quaternion
|
||||||
|
template <typename valType>
|
||||||
|
detail::tquat<valType> angleAxis(
|
||||||
|
valType const & angle,
|
||||||
|
valType const & x,
|
||||||
|
valType const & y,
|
||||||
|
valType const & z);
|
||||||
|
|
||||||
|
/// Build a quaternion from an angle and a normalized axis.
|
||||||
|
///
|
||||||
|
/// @param angle Angle expressed in radians if GLM_FORCE_RADIANS is define or degrees otherwise.
|
||||||
|
/// @param axis Axis of the quaternion, must be normalized.
|
||||||
|
///
|
||||||
|
/// @see gtc_quaternion
|
||||||
|
template <typename valType>
|
||||||
|
detail::tquat<valType> angleAxis(
|
||||||
|
valType const & angle,
|
||||||
|
detail::tvec3<valType> const & axis);
|
||||||
|
|
||||||
/// Quaternion of floating-point numbers.
|
/// Quaternion of floating-point numbers.
|
||||||
///
|
///
|
||||||
/// @see gtc_quaternion
|
/// @see gtc_quaternion
|
||||||
|
@ -615,4 +615,65 @@ namespace detail
|
|||||||
return quat_cast(detail::tmat3x3<T>(m4));
|
return quat_cast(detail::tmat3x3<T>(m4));
|
||||||
}
|
}
|
||||||
|
|
||||||
|
template <typename T>
|
||||||
|
GLM_FUNC_QUALIFIER T angle
|
||||||
|
(
|
||||||
|
detail::tquat<T> const & x
|
||||||
|
)
|
||||||
|
{
|
||||||
|
#ifdef GLM_FORCE_RADIANS
|
||||||
|
return acos(x.w) * T(2);
|
||||||
|
#else
|
||||||
|
return glm::degrees(acos(x.w) * T(2));
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
template <typename T>
|
||||||
|
GLM_FUNC_QUALIFIER detail::tvec3<T> axis
|
||||||
|
(
|
||||||
|
detail::tquat<T> const & x
|
||||||
|
)
|
||||||
|
{
|
||||||
|
T tmp1 = T(1) - x.w * x.w;
|
||||||
|
if(tmp1 <= T(0))
|
||||||
|
return detail::tvec3<T>(0, 0, 1);
|
||||||
|
T tmp2 = T(1) / sqrt(tmp1);
|
||||||
|
return detail::tvec3<T>(x.x * tmp2, x.y * tmp2, x.z * tmp2);
|
||||||
|
}
|
||||||
|
|
||||||
|
template <typename valType>
|
||||||
|
GLM_FUNC_QUALIFIER detail::tquat<valType> angleAxis
|
||||||
|
(
|
||||||
|
valType const & angle,
|
||||||
|
valType const & x,
|
||||||
|
valType const & y,
|
||||||
|
valType const & z
|
||||||
|
)
|
||||||
|
{
|
||||||
|
return angleAxis(angle, detail::tvec3<valType>(x, y, z));
|
||||||
|
}
|
||||||
|
|
||||||
|
template <typename valType>
|
||||||
|
GLM_FUNC_QUALIFIER detail::tquat<valType> angleAxis
|
||||||
|
(
|
||||||
|
valType const & angle,
|
||||||
|
detail::tvec3<valType> const & v
|
||||||
|
)
|
||||||
|
{
|
||||||
|
detail::tquat<valType> result;
|
||||||
|
|
||||||
|
#ifdef GLM_FORCE_RADIANS
|
||||||
|
valType a(angle);
|
||||||
|
#else
|
||||||
|
valType a(glm::radians(angle));
|
||||||
|
#endif
|
||||||
|
valType s = glm::sin(a * valType(0.5));
|
||||||
|
|
||||||
|
result.w = glm::cos(a * valType(0.5));
|
||||||
|
result.x = v.x * s;
|
||||||
|
result.y = v.y * s;
|
||||||
|
result.z = v.z * s;
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
}//namespace glm
|
}//namespace glm
|
||||||
|
@ -134,43 +134,6 @@ namespace glm
|
|||||||
detail::tvec4<valType> rotate(
|
detail::tvec4<valType> rotate(
|
||||||
detail::tquat<valType> const & q,
|
detail::tquat<valType> const & q,
|
||||||
detail::tvec4<valType> const & v);
|
detail::tvec4<valType> const & v);
|
||||||
|
|
||||||
/// Returns the quaternion rotation angle.
|
|
||||||
///
|
|
||||||
/// @see gtx_quaternion
|
|
||||||
template <typename valType>
|
|
||||||
valType angle(
|
|
||||||
detail::tquat<valType> const & x);
|
|
||||||
|
|
||||||
/// Returns the q rotation axis.
|
|
||||||
///
|
|
||||||
/// @see gtx_quaternion
|
|
||||||
template <typename valType>
|
|
||||||
detail::tvec3<valType> axis(
|
|
||||||
detail::tquat<valType> const & x);
|
|
||||||
|
|
||||||
/// Build a quaternion from an angle and a normalized axis.
|
|
||||||
///
|
|
||||||
/// @param angle Angle expressed in radians if GLM_FORCE_RADIANS is define or degrees otherwise.
|
|
||||||
///
|
|
||||||
/// @see gtx_quaternion
|
|
||||||
template <typename valType>
|
|
||||||
detail::tquat<valType> angleAxis(
|
|
||||||
valType const & angle,
|
|
||||||
valType const & x,
|
|
||||||
valType const & y,
|
|
||||||
valType const & z);
|
|
||||||
|
|
||||||
/// Build a quaternion from an angle and a normalized axis.
|
|
||||||
///
|
|
||||||
/// @param angle Angle expressed in radians if GLM_FORCE_RADIANS is define or degrees otherwise.
|
|
||||||
/// @param axis Axis of the quaternion, must be normalized.
|
|
||||||
///
|
|
||||||
/// @see gtx_quaternion
|
|
||||||
template <typename valType>
|
|
||||||
detail::tquat<valType> angleAxis(
|
|
||||||
valType const & angle,
|
|
||||||
detail::tvec3<valType> const & axis);
|
|
||||||
|
|
||||||
/// Extract the real component of a quaternion.
|
/// Extract the real component of a quaternion.
|
||||||
///
|
///
|
||||||
|
@ -141,67 +141,6 @@ namespace glm
|
|||||||
return q * v;
|
return q * v;
|
||||||
}
|
}
|
||||||
|
|
||||||
template <typename T>
|
|
||||||
GLM_FUNC_QUALIFIER T angle
|
|
||||||
(
|
|
||||||
detail::tquat<T> const & x
|
|
||||||
)
|
|
||||||
{
|
|
||||||
#ifdef GLM_FORCE_RADIANS
|
|
||||||
return acos(x.w) * T(2);
|
|
||||||
#else
|
|
||||||
return glm::degrees(acos(x.w) * T(2));
|
|
||||||
#endif
|
|
||||||
}
|
|
||||||
|
|
||||||
template <typename T>
|
|
||||||
GLM_FUNC_QUALIFIER detail::tvec3<T> axis
|
|
||||||
(
|
|
||||||
detail::tquat<T> const & x
|
|
||||||
)
|
|
||||||
{
|
|
||||||
T tmp1 = T(1) - x.w * x.w;
|
|
||||||
if(tmp1 <= T(0))
|
|
||||||
return detail::tvec3<T>(0, 0, 1);
|
|
||||||
T tmp2 = T(1) / sqrt(tmp1);
|
|
||||||
return detail::tvec3<T>(x.x * tmp2, x.y * tmp2, x.z * tmp2);
|
|
||||||
}
|
|
||||||
|
|
||||||
template <typename valType>
|
|
||||||
GLM_FUNC_QUALIFIER detail::tquat<valType> angleAxis
|
|
||||||
(
|
|
||||||
valType const & angle,
|
|
||||||
valType const & x,
|
|
||||||
valType const & y,
|
|
||||||
valType const & z
|
|
||||||
)
|
|
||||||
{
|
|
||||||
return angleAxis(angle, detail::tvec3<valType>(x, y, z));
|
|
||||||
}
|
|
||||||
|
|
||||||
template <typename valType>
|
|
||||||
GLM_FUNC_QUALIFIER detail::tquat<valType> angleAxis
|
|
||||||
(
|
|
||||||
valType const & angle,
|
|
||||||
detail::tvec3<valType> const & v
|
|
||||||
)
|
|
||||||
{
|
|
||||||
detail::tquat<valType> result;
|
|
||||||
|
|
||||||
#ifdef GLM_FORCE_RADIANS
|
|
||||||
valType a(angle);
|
|
||||||
#else
|
|
||||||
valType a(glm::radians(angle));
|
|
||||||
#endif
|
|
||||||
valType s = glm::sin(a * valType(0.5));
|
|
||||||
|
|
||||||
result.w = glm::cos(a * valType(0.5));
|
|
||||||
result.x = v.x * s;
|
|
||||||
result.y = v.y * s;
|
|
||||||
result.z = v.z * s;
|
|
||||||
return result;
|
|
||||||
}
|
|
||||||
|
|
||||||
template <typename T>
|
template <typename T>
|
||||||
GLM_FUNC_QUALIFIER T extractRealComponent
|
GLM_FUNC_QUALIFIER T extractRealComponent
|
||||||
(
|
(
|
||||||
|
Loading…
Reference in New Issue
Block a user