diff options
Diffstat (limited to 'glm-master/glm/ext/quaternion_transform.inl')
| -rw-r--r-- | glm-master/glm/ext/quaternion_transform.inl | 24 |
1 files changed, 24 insertions, 0 deletions
diff --git a/glm-master/glm/ext/quaternion_transform.inl b/glm-master/glm/ext/quaternion_transform.inl new file mode 100644 index 0000000..b87ecb6 --- /dev/null +++ b/glm-master/glm/ext/quaternion_transform.inl @@ -0,0 +1,24 @@ +namespace glm +{ + template<typename T, qualifier Q> + GLM_FUNC_QUALIFIER qua<T, Q> rotate(qua<T, Q> const& q, T const& angle, vec<3, T, Q> const& v) + { + vec<3, T, Q> Tmp = v; + + // Axis of rotation must be normalised + T len = glm::length(Tmp); + if(abs(len - static_cast<T>(1)) > static_cast<T>(0.001)) + { + T oneOverLen = static_cast<T>(1) / len; + Tmp.x *= oneOverLen; + Tmp.y *= oneOverLen; + Tmp.z *= oneOverLen; + } + + T const AngleRad(angle); + T const Sin = sin(AngleRad * static_cast<T>(0.5)); + + return q * qua<T, Q>(cos(AngleRad * static_cast<T>(0.5)), Tmp.x * Sin, Tmp.y * Sin, Tmp.z * Sin); + } +}//namespace glm + |