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authorjjesswan <jessica_wan@brown.edu>2024-05-07 06:02:29 -0400
committerjjesswan <jessica_wan@brown.edu>2024-05-07 06:02:29 -0400
commit6a45579dbbf991c0e12ce59958e3b533d19fc9d4 (patch)
tree83ad11d63c0a1d1c89b9469455ecbda4531fe6ac /glm-master/glm/gtx/rotate_normalized_axis.inl
parentcb868acadcae4e3f497ecdabeca507f3e73e01c7 (diff)
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+/// @ref gtx_rotate_normalized_axis
+
+namespace glm
+{
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER mat<4, 4, T, Q> rotateNormalizedAxis
+ (
+ mat<4, 4, T, Q> const& m,
+ T const& angle,
+ vec<3, T, Q> const& v
+ )
+ {
+ T const a = angle;
+ T const c = cos(a);
+ T const s = sin(a);
+
+ vec<3, T, Q> const axis(v);
+
+ vec<3, T, Q> const temp((static_cast<T>(1) - c) * axis);
+
+ mat<4, 4, T, Q> Rotate;
+ 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];
+
+ mat<4, 4, T, Q> Result;
+ 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, qualifier Q>
+ GLM_FUNC_QUALIFIER qua<T, Q> rotateNormalizedAxis
+ (
+ qua<T, Q> const& q,
+ T const& angle,
+ vec<3, T, Q> const& v
+ )
+ {
+ vec<3, T, Q> const Tmp(v);
+
+ T const AngleRad(angle);
+ T const Sin = sin(AngleRad * T(0.5));
+
+ return q * qua<T, Q>(cos(AngleRad * static_cast<T>(0.5)), Tmp.x * Sin, Tmp.y * Sin, Tmp.z * Sin);
+ //return gtc::quaternion::cross(q, tquat<T, Q>(cos(AngleRad * T(0.5)), Tmp.x * fSin, Tmp.y * fSin, Tmp.z * fSin));
+ }
+}//namespace glm