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quat_from_vecs: incorporate PR comments

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* C89-style comments
* Move all variable declarations to function start
* Remove constant variables
* Remove newline for ‘else’
This commit is contained in:
Sundaram Ramaswamy
2021-06-15 19:04:51 +05:30
parent 01e2b74a29
commit 03b4594d9e
1 changed files with 11 additions and 10 deletions
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21
include/cglm/quat.h
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@@ -197,22 +197,23 @@ glm_quat_copy(versor q, versor dest) {
CGLM_INLINE
void
glm_quat_from_vecs(vec3 a, vec3 b, versor dest) {
float cos_theta = glm_vec3_dot(a, b);
if (cos_theta >= 1.f - GLM_FLT_EPSILON) { // a ∥ b
CGLM_ALIGN(8) vec3 axis;
float cos_theta;
float cos_half_theta;
cos_theta = glm_vec3_dot(a, b);
if (cos_theta >= 1.f - GLM_FLT_EPSILON) { /* a ∥ b */
glm_quat_identity(dest);
return;
}
CGLM_ALIGN(8) vec3 axis;
float cos_half_theta;
if (cos_theta < -1.f + GLM_FLT_EPSILON) { // angle(a, b) = 180°
if (cos_theta < -1.f + GLM_FLT_EPSILON) { /* angle(a, b) = π */
glm_vec3_ortho(a, axis);
cos_half_theta = 0.f;
}
else {
cos_half_theta = 0.f; /* cos π/2 */
} else {
glm_vec3_cross(a, b, axis);
const float cos_zero = 1.0f;
cos_half_theta = cos_zero + cos_theta;
cos_half_theta = 1.0f + cos_theta; /* cos 0 + cos θ */
}
glm_quat_init(dest, axis[0], axis[1], axis[2], cos_half_theta);
glm_quat_normalize(dest);
}