rotate_normalized_axis.inl

 
 
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