YourWishes/cglm
1
0
Fork 0
mirror of https://github.com/recp/cglm.git synced 2026-02-17 03:39:05 +00:00
Code Issues Packages Projects Releases Wiki Activity

rotate vector using quaternion

Browse Source
This commit is contained in:
Recep Aslantas
2018-04-11 00:47:11 +03:00
parent d447876c70
commit 80d255e6d9
4 changed files with 60 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files

30
include/cglm/quat.h
View File

@@ -168,7 +168,7 @@ glm_quat_normalize_to(versor q, versor dest) {
x0 = _mm_load_ps(q);
xdot = glm_simd_dot(x0, x0);
dot = _mm_cvtss_f32(xdot);
dot = _mm_cvtss_f32(xdot);
if (dot <= 0.0f) {
glm_quat_identity(dest);
@@ -676,4 +676,32 @@ glm_quat_forp(vec3 from, vec3 to, vec3 fwd, vec3 up, versor dest) {
glm_quat_for(dir, fwd, up, dest);
}
/*!
* @brief rotate existing transform matrix using quaternion
*
* @param[in] q quaternion
* @param[in] v vector to rotate
* @param[out] dest destination vector
*/
CGLM_INLINE
void
glm_quat_rotatev(versor q, vec3 v, vec3 dest) {
versor p;
vec3 u, v1, v2;
float s;
glm_quat_normalize_to(q, p);
glm_quat_imag(p, u);
s = glm_quat_real(p);
glm_vec_scale(u, 2.0f * glm_vec_dot(u, v), v1);
glm_vec_scale(v, s * s - glm_vec_dot(u, u), v2);
glm_vec_add(v1, v2, v1);
glm_vec_cross(u, v, v2);
glm_vec_scale(v2, 2.0f * s, v2);
glm_vec_add(v1, v2, dest);
}
#endif /* cglm_quat_h */