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Math lib: add axis_angle_normalized_to_quat, use when length is known

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Campbell Barton
2014-02-01 21:32:34 +11:00
parent a9e7c7b848
commit 5fce3457b7
5 changed files with 17 additions and 13 deletions
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19
source/blender/blenlib/intern/math_rotation.c
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@@ -677,19 +677,22 @@ void print_qt(const char *str, const float q[4])
/******************************** Axis Angle *********************************/
/* Axis angle to Quaternions */
void axis_angle_normalized_to_quat(float q[4], const float axis[3], const float angle)
{
const float phi = 0.5f * angle;
const float si = sinf(phi);
const float co = cosf(phi);
BLI_ASSERT_UNIT_V3(axis);
q[0] = co;
mul_v3_v3fl(q + 1, axis, si);
}
void axis_angle_to_quat(float q[4], const float axis[3], const float angle)
{
float nor[3];
if (LIKELY(normalize_v3_v3(nor, axis) != 0.0f)) {
const float phi = angle / 2.0f;
float si;
si = sinf(phi);
q[0] = cosf(phi);
q[1] = nor[0] * si;
q[2] = nor[1] * si;
q[3] = nor[2] * si;
axis_angle_normalized_to_quat(q, nor, angle);
}
else {
unit_qt(q);