Revision 2dd31024
| utility/quaternion.h | ||
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} |
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} |
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void toAxisAngle(Vector<3>& axis, float& angle) const
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void toAxisAngle(Vector<3>& axis, double& angle) const
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{
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float sqw = sqrt(1-_w*_w);
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if(sqw == 0) //it's a singularity and divide by zero, avoid |
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double sqw = sqrt(1-_w*_w);
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if (sqw == 0) //it's a singularity and divide by zero, avoid
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return; |
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angle = 2 * acos(_w); |
| ... | ... | |
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return ret; |
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} |
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Vector<3> toAngularVelocity(float dt) const
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Vector<3> toAngularVelocity(double dt) const
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{
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Vector<3> ret; |
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Quaternion one(1.0, 0.0, 0.0, 0.0); |
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