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Added quaternion to axis conversion functions.

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Бранимир Караџић
2021-09-25 19:13:32 -07:00
parent e50536ac03
commit 9768d3a728
2 changed files with 60 additions and 0 deletions
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51
include/bx/inline/math.inl
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@@ -909,6 +909,57 @@ namespace bx
};
}
inline BX_CONST_FUNC Vec3 toXAxis(const Quaternion _a)
{
const float xx = _a.x;
const float yy = _a.y;
const float zz = _a.z;
const float ww = _a.w;
const float ysq = square(yy);
const float zsq = square(zz);
return
{
1.0f - 2.0f * ysq - 2.0f * zsq,
2.0f * xx * yy + 2.0f * zz * ww,
2.0f * xx * zz - 2.0f * yy * ww,
};
}
inline BX_CONST_FUNC Vec3 toYAxis(const Quaternion _a)
{
const float xx = _a.x;
const float yy = _a.y;
const float zz = _a.z;
const float ww = _a.w;
const float xsq = square(xx);
const float zsq = square(zz);
return
{
2.0f * xx * yy - 2.0f * zz * ww,
1.0f - 2.0f * xsq - 2.0f * zsq,
2.0f * yy * zz + 2.0f * xx * ww,
};
}
inline BX_CONST_FUNC Vec3 toZAxis(const Quaternion _a)
{
const float xx = _a.x;
const float yy = _a.y;
const float zz = _a.z;
const float ww = _a.w;
const float xsq = square(xx);
const float ysq = square(yy);
return
{
2.0f * xx * zz + 2.0f * yy * ww,
2.0f * yy * zz - 2.0f * xx * ww,
1.0f - 2.0f * xsq - 2.0f * ysq,
};
}
inline BX_CONST_FUNC Quaternion rotateAxis(const Vec3 _axis, float _angle)
{
const float ha = _angle * 0.5f;

9
include/bx/math.h
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@@ -492,6 +492,15 @@ namespace bx
///
BX_CONST_FUNC Vec3 toEuler(const Quaternion _a);
///
BX_CONST_FUNC Vec3 toXAxis(const Quaternion _a);
///
BX_CONST_FUNC Vec3 toYAxis(const Quaternion _a);
///
BX_CONST_FUNC Vec3 toZAxis(const Quaternion _a);
///
BX_CONST_FUNC Quaternion rotateAxis(const Vec3 _axis, float _angle);