/// @ref gtx_rotate_normalized_axis | |
/// @file glm/gtx/rotate_normalized_axis.inl | |
namespace glm | |
{ | |
template <typename T, precision P> | |
GLM_FUNC_QUALIFIER tmat4x4<T, P> rotateNormalizedAxis | |
( | |
tmat4x4<T, P> const & m, | |
T const & angle, | |
tvec3<T, P> const & v | |
) | |
{ | |
T const a = angle; | |
T const c = cos(a); | |
T const s = sin(a); | |
tvec3<T, P> const axis(v); | |
tvec3<T, P> const temp((static_cast<T>(1) - c) * axis); | |
tmat4x4<T, P> Rotate(uninitialize); | |
Rotate[0][0] = c + temp[0] * axis[0]; | |
Rotate[0][1] = 0 + temp[0] * axis[1] + s * axis[2]; | |
Rotate[0][2] = 0 + temp[0] * axis[2] - s * axis[1]; | |
Rotate[1][0] = 0 + temp[1] * axis[0] - s * axis[2]; | |
Rotate[1][1] = c + temp[1] * axis[1]; | |
Rotate[1][2] = 0 + temp[1] * axis[2] + s * axis[0]; | |
Rotate[2][0] = 0 + temp[2] * axis[0] + s * axis[1]; | |
Rotate[2][1] = 0 + temp[2] * axis[1] - s * axis[0]; | |
Rotate[2][2] = c + temp[2] * axis[2]; | |
tmat4x4<T, P> Result(uninitialize); | |
Result[0] = m[0] * Rotate[0][0] + m[1] * Rotate[0][1] + m[2] * Rotate[0][2]; | |
Result[1] = m[0] * Rotate[1][0] + m[1] * Rotate[1][1] + m[2] * Rotate[1][2]; | |
Result[2] = m[0] * Rotate[2][0] + m[1] * Rotate[2][1] + m[2] * Rotate[2][2]; | |
Result[3] = m[3]; | |
return Result; | |
} | |
template <typename T, precision P> | |
GLM_FUNC_QUALIFIER tquat<T, P> rotateNormalizedAxis | |
( | |
tquat<T, P> const & q, | |
T const & angle, | |
tvec3<T, P> const & v | |
) | |
{ | |
tvec3<T, P> const Tmp(v); | |
T const AngleRad(angle); | |
T const Sin = sin(AngleRad * T(0.5)); | |
return q * tquat<T, P>(cos(AngleRad * static_cast<T>(0.5)), Tmp.x * Sin, Tmp.y * Sin, Tmp.z * Sin); | |
//return gtc::quaternion::cross(q, tquat<T, P>(cos(AngleRad * T(0.5)), Tmp.x * fSin, Tmp.y * fSin, Tmp.z * fSin)); | |
} | |
}//namespace glm |