upload base code

1 files changed, 37 insertions, 0 deletions

diff --git a/glm/ext/quaternion_trigonometric.inl b/glm/ext/quaternion_trigonometric.inl
new file mode 100644
index 0000000..896449a
--- /dev/null
+++ b/glm/ext/quaternion_trigonometric.inl
@@ -0,0 +1,37 @@
+#include "scalar_constants.hpp"
+
+namespace glm
+{
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER T angle(qua<T, Q> const& x)
+	{
+		if (abs(x.w) > cos_one_over_two<T>())
+		{
+			T const a = asin(sqrt(x.x * x.x + x.y * x.y + x.z * x.z)) * static_cast<T>(2);
+			if(x.w < static_cast<T>(0))
+				return pi<T>() * static_cast<T>(2) - a;
+			return a;
+		}
+
+		return acos(x.w) * static_cast<T>(2);
+	}
+
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER vec<3, T, Q> axis(qua<T, Q> const& x)
+	{
+		T const tmp1 = static_cast<T>(1) - x.w * x.w;
+		if(tmp1 <= static_cast<T>(0))
+			return vec<3, T, Q>(0, 0, 1);
+		T const tmp2 = static_cast<T>(1) / sqrt(tmp1);
+		return vec<3, T, Q>(x.x * tmp2, x.y * tmp2, x.z * tmp2);
+	}
+
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER qua<T, Q> angleAxis(T const& angle, vec<3, T, Q> const& v)
+	{
+		T const a(angle);
+		T const s = glm::sin(a * static_cast<T>(0.5));
+
+		return qua<T, Q>(glm::cos(a * static_cast<T>(0.5)), v * s);
+	}
+}//namespace glm