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Promoted angle axis interaction with quaternion

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This commit is contained in:
Christophe Riccio 2012-04-06 21:04:46 +01:00
parent 631240eefa
commit cb017c5bca
4 changed files with 98 additions and 98 deletions
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37
glm/gtc/quaternion.hpp
View File

@ -241,6 +241,43 @@ namespace detail
detail::tquat<T> quat_cast(
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.
///
/// @see gtc_quaternion

61
glm/gtc/quaternion.inl
View File

@ -615,4 +615,65 @@ namespace detail
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

37
glm/gtx/quaternion.hpp
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@ -135,43 +135,6 @@ namespace glm
detail::tquat<valType> const & q,
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.
///
/// @see gtx_quaternion

61
glm/gtx/quaternion.inl
View File

@ -141,67 +141,6 @@ namespace glm
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>
GLM_FUNC_QUALIFIER T extractRealComponent
(