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quat: axis angle of quaternion

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Recep Aslantas
2018-04-09 23:12:44 +03:00
parent cc1d3b53ea
commit 93a08fce17
1 changed files with 50 additions and 0 deletions
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50
include/cglm/quat.h
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@@ -260,6 +260,56 @@ glm_quat_imag(versor q, vec3 dest) {
dest[2] = q[2];
}
/*!
* @brief returns normalized imaginary part of quaternion
*
* @param[in] q quaternion
*/
CGLM_INLINE
void
glm_quat_imagn(versor q, vec3 dest) {
glm_normalize_to(q, dest);
}
/*!
* @brief returns length of imaginary part of quaternion
*
* @param[in] q quaternion
*/
CGLM_INLINE
float
glm_quat_imaglen(versor q) {
return glm_vec_norm(q);
}
/*!
* @brief returns angle of quaternion
*
* @param[in] q quaternion
*/
CGLM_INLINE
float
glm_quat_angle(versor q) {
/*
sin(theta / 2) = length(x*x + y*y + z*z)
cos(theta / 2) = w
theta = 2 * atan(sin(theta / 2) / cos(theta / 2))
*/
return 2.0f * atan2f(glm_quat_imaglen(q), glm_quat_real(q));
}
/*!
* @brief axis of quaternion
*
* @param[in] q quaternion
* @param[out] dest axis of quaternion
*/
CGLM_INLINE
void
glm_quat_axis(versor q, versor dest) {
glm_quat_imagn(q, dest);
}
/*!
* @brief convert quaternion to mat4
*