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normalize axis quaternion axis-angle constructor

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Recep Aslantas
2018-04-11 00:36:39 +03:00
parent 010dcc9837
commit b1fa7ff597
1 changed files with 27 additions and 32 deletions
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59
include/cglm/quat.h
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@@ -89,6 +89,31 @@ glm_quat_init(versor q, float x, float y, float z, float w) {
q[3] = w; q[3] = w;
} }
/*!
* @brief creates NEW quaternion with axis vector
*
* @param[out] q quaternion
* @param[in] angle angle (radians)
* @param[in] axis axis
*/
CGLM_INLINE
void
glm_quatv(versor q, float angle, vec3 axis) {
vec3 k;
float a, c, s;
a = angle * 0.5f;
c = cosf(a);
s = sinf(a);
glm_normalize_to(axis, k);
q[0] = s * k[0];
q[1] = s * k[1];
q[2] = s * k[2];
q[3] = c;
}
/*! /*!
* @brief creates NEW quaternion with individual axis components * @brief creates NEW quaternion with individual axis components
* *
@@ -101,38 +126,8 @@ glm_quat_init(versor q, float x, float y, float z, float w) {
CGLM_INLINE CGLM_INLINE
void void
glm_quat(versor q, float angle, float x, float y, float z) { glm_quat(versor q, float angle, float x, float y, float z) {
float a, c, s; vec3 axis = {x, y, z};
glm_quatv(q, angle, axis);
a = angle * 0.5f;
c = cosf(a);
s = sinf(a);
q[0] = s * x;
q[1] = s * y;
q[2] = s * z;
q[3] = c;
}
/*!
* @brief creates NEW quaternion with axis vector
*
* @param[out] q quaternion
* @param[in] angle angle (radians)
* @param[in] axis axis
*/
CGLM_INLINE
void
glm_quatv(versor q, float angle, vec3 axis) {
float a, c, s;
a = angle * 0.5f;
c = cosf(a);
s = sinf(a);
q[0] = s * axis[0];
q[1] = s * axis[1];
q[2] = s * axis[2];
q[3] = c;
} }
/*! /*!