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improve glm_vec_rotate

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Recep Aslantas
2018-04-11 00:46:23 +03:00
parent b1fa7ff597
commit d447876c70
1 changed files with 7 additions and 16 deletions
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23
include/cglm/vec3.h
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@@ -339,10 +339,6 @@ glm_vec_angle(vec3 v1, vec3 v2) {
return acosf(glm_vec_dot(v1, v2) * norm);
}
CGLM_INLINE
void
glm_quatv(versor q, float angle, vec3 axis);
/*!
* @brief rotate vec3 around axis by angle using Rodrigues' rotation formula
*
@@ -353,31 +349,26 @@ glm_quatv(versor q, float angle, vec3 axis);
CGLM_INLINE
void
glm_vec_rotate(vec3 v, float angle, vec3 axis) {
versor q;
vec3 v1, v2, v3;
vec3 v1, v2, k;
float c, s;
c = cosf(angle);
s = sinf(angle);
glm_vec_normalize_to(axis, k);
/* Right Hand, Rodrigues' rotation formula:
v = v*cos(t) + (kxv)sin(t) + k*(k.v)(1 - cos(t))
*/
/* quaternion */
glm_quatv(q, angle, v);
glm_vec_scale(v, c, v1);
glm_vec_cross(axis, v, v2);
glm_vec_cross(k, v, v2);
glm_vec_scale(v2, s, v2);
glm_vec_scale(axis,
glm_vec_dot(axis, v) * (1.0f - c),
v3);
glm_vec_add(v1, v2, v1);
glm_vec_add(v1, v3, v);
glm_vec_scale(k, glm_vec_dot(k, v) * (1.0f - c), v2);
glm_vec_add(v1, v2, v);
}
/*!