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Added quatRotateAxis.

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Branimir Karadžić
2015-11-30 10:05:43 -08:00
parent d54a0534f8
commit 4c58d0ac0e
1 changed files with 45 additions and 0 deletions
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45
include/bx/fpumath.h
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@@ -278,6 +278,14 @@ namespace bx
_result[3] = 1.0f;
}
inline void quatMove(float* __restrict _result, const float* __restrict _a)
{
_result[0] = _a[0];
_result[1] = _a[1];
_result[2] = _a[2];
_result[3] = _a[3];
}
inline void quatMulXYZ(float* __restrict _result, const float* __restrict _qa, const float* __restrict _qb)
{
const float ax = _qa[0];
@@ -321,6 +329,32 @@ namespace bx
_result[3] = _quat[3];
}
inline float quatDot(const float* __restrict _a, const float* __restrict _b)
{
return _a[0]*_b[0]
+ _a[1]*_b[1]
+ _a[2]*_b[2]
+ _a[3]*_b[3]
;
}
inline void quatNorm(float* __restrict _result, const float* __restrict _quat)
{
const float norm = quatDot(_quat, _quat);
if (0.0f < norm)
{
const float invNorm = 1.0f / fsqrt(norm);
_result[0] = _quat[0] * invNorm;
_result[1] = _quat[1] * invNorm;
_result[2] = _quat[2] * invNorm;
_result[3] = _quat[3] * invNorm;
}
else
{
quatIdentity(_result);
}
}
inline void quatToEuler(float* __restrict _result, const float* __restrict _quat)
{
const float x = _quat[0];
@@ -337,6 +371,17 @@ namespace bx
_result[2] = asinf (2.0f * (x * y + z * w) );
}
inline void quatRotateAxis(float* __restrict _result, const float* _axis, float _angle)
{
const float ha = _angle * 0.5f;
const float ca = cosf(ha);
const float sa = sinf(ha);
_result[0] = _axis[0] * sa;
_result[1] = _axis[1] * sa;
_result[2] = _axis[2] * sa;
_result[3] = ca;
}
inline void quatRotateX(float* _result, float _ax)
{
const float hx = _ax * 0.5f;