59 lines
1.6 KiB
Text
59 lines
1.6 KiB
Text
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/// @ref gtx_rotate_normalized_axis
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namespace glm
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{
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template<typename T, qualifier Q>
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GLM_FUNC_QUALIFIER mat<4, 4, T, Q> rotateNormalizedAxis
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(
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mat<4, 4, T, Q> const& m,
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T const& angle,
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vec<3, T, Q> const& v
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)
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{
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T const a = angle;
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T const c = cos(a);
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T const s = sin(a);
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vec<3, T, Q> const axis(v);
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vec<3, T, Q> const temp((static_cast<T>(1) - c) * axis);
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mat<4, 4, T, Q> Rotate;
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Rotate[0][0] = c + temp[0] * axis[0];
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Rotate[0][1] = 0 + temp[0] * axis[1] + s * axis[2];
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Rotate[0][2] = 0 + temp[0] * axis[2] - s * axis[1];
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Rotate[1][0] = 0 + temp[1] * axis[0] - s * axis[2];
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Rotate[1][1] = c + temp[1] * axis[1];
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Rotate[1][2] = 0 + temp[1] * axis[2] + s * axis[0];
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Rotate[2][0] = 0 + temp[2] * axis[0] + s * axis[1];
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Rotate[2][1] = 0 + temp[2] * axis[1] - s * axis[0];
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Rotate[2][2] = c + temp[2] * axis[2];
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mat<4, 4, T, Q> Result;
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Result[0] = m[0] * Rotate[0][0] + m[1] * Rotate[0][1] + m[2] * Rotate[0][2];
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Result[1] = m[0] * Rotate[1][0] + m[1] * Rotate[1][1] + m[2] * Rotate[1][2];
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Result[2] = m[0] * Rotate[2][0] + m[1] * Rotate[2][1] + m[2] * Rotate[2][2];
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Result[3] = m[3];
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return Result;
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}
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template<typename T, qualifier Q>
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GLM_FUNC_QUALIFIER qua<T, Q> rotateNormalizedAxis
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(
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qua<T, Q> const& q,
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T const& angle,
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vec<3, T, Q> const& v
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)
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{
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vec<3, T, Q> const Tmp(v);
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T const AngleRad(angle);
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T const Sin = sin(AngleRad * T(0.5));
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return q * qua<T, Q>(cos(AngleRad * static_cast<T>(0.5)), Tmp.x * Sin, Tmp.y * Sin, Tmp.z * Sin);
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//return gtc::quaternion::cross(q, tquat<T, Q>(cos(AngleRad * T(0.5)), Tmp.x * fSin, Tmp.y * fSin, Tmp.z * fSin));
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}
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}//namespace glm
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