diff options
Diffstat (limited to 'src/include/glm/ext/quaternion_transform.inl')
| -rw-r--r-- | src/include/glm/ext/quaternion_transform.inl | 24 |
1 files changed, 24 insertions, 0 deletions
diff --git a/src/include/glm/ext/quaternion_transform.inl b/src/include/glm/ext/quaternion_transform.inl new file mode 100644 index 0000000..4191b52 --- /dev/null +++ b/src/include/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
+
|