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DavidWyand-GG 2012-09-19 11:15:01 -04:00
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Engine/source/math/mAngAxis.cpp Normal file
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//-----------------------------------------------------------------------------
// Copyright (c) 2012 GarageGames, LLC
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to
// deal in the Software without restriction, including without limitation the
// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
// sell copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
//-----------------------------------------------------------------------------
#include "math/mAngAxis.h"
#include "math/mQuat.h"
#include "math/mMatrix.h"
AngAxisF & AngAxisF::set( const QuatF & q )
{
angle = 2.0f * mAcos( q.w );
F32 sinHalfAngle = mSqrt(q.x * q.x + q.y * q.y + q.z * q.z);
if (sinHalfAngle != 0.0f)
axis.set( q.x / sinHalfAngle, q.y / sinHalfAngle, q.z / sinHalfAngle );
else
axis.set(1.0f,0.0f,0.0f);
return *this;
}
AngAxisF & AngAxisF::set( const MatrixF & mat )
{
QuatF q( mat );
set( q );
return *this;
}
MatrixF * AngAxisF::setMatrix( MatrixF * mat ) const
{
QuatF q( *this );
return q.setMatrix( mat );
}
void AngAxisF::RotateX(F32 angle, MatrixF * mat)
{
// for now...do it the easy way
AngAxisF rotX(Point3F(1.0f,0.0f,0.0f),angle);
rotX.setMatrix(mat);
}
void AngAxisF::RotateY(F32 angle, MatrixF * mat)
{
// for now...do it the easy way
AngAxisF rotY(Point3F(0.0f,1.0f,0.0f),angle);
rotY.setMatrix(mat);
}
void AngAxisF::RotateZ(F32 angle, MatrixF * mat)
{
// for now...do it the easy way
AngAxisF rotZ(Point3F(0.0f,0.0f,1.0f),angle);
rotZ.setMatrix(mat);
}
void AngAxisF::RotateX(F32 angle, const Point3F & from, Point3F * to)
{
// for now...do it the easy way
MatrixF mat;
AngAxisF::RotateX(angle,&mat);
mat.mulV(from,to);
}
void AngAxisF::RotateY(F32 angle, const Point3F & from, Point3F * to)
{
// for now...do it the easy way
MatrixF mat;
AngAxisF::RotateY(angle,&mat);
mat.mulV(from,to);
}
void AngAxisF::RotateZ(F32 angle, const Point3F & from, Point3F * to)
{
// for now...do it the easy way
MatrixF mat;
AngAxisF::RotateZ(angle,&mat);
mat.mulV(from,to);
}