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| author | Michael Turvey <mwturvey@users.noreply.github.com> | 2017-03-27 16:26:49 -0700 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2017-03-27 16:26:49 -0700 |
| commit | 885debded48e5c6d6a28c3193e572d623f15750c (patch) | |
| tree | 6d323f71926af9e1cb8e3f827ac5a613c77b97d0 /redist/linmath.c | |
| parent | 01c05b1a4df2dd85d9cafb4290616ecfe21304f4 (diff) | |
| parent | d8c4b23789fd3aedb150144bed6beb286d1504a9 (diff) | |
| download | libsurvive-885debded48e5c6d6a28c3193e572d623f15750c.tar.gz libsurvive-885debded48e5c6d6a28c3193e572d623f15750c.tar.bz2 | |
Merge pull request #45 from mwturvey/AddingPosers
Tori Tracking is getting VERY close
Diffstat (limited to 'redist/linmath.c')
| -rw-r--r-- | redist/linmath.c | 22 |
1 files changed, 22 insertions, 0 deletions
diff --git a/redist/linmath.c b/redist/linmath.c index 1724a13..caff1de 100644 --- a/redist/linmath.c +++ b/redist/linmath.c @@ -82,6 +82,28 @@ FLT anglebetween3d( FLT * a, FLT * b ) return FLT_ACOS(dot); } +// algorithm found here: http://inside.mines.edu/fs_home/gmurray/ArbitraryAxisRotation/ +void rotatearoundaxis(FLT *outvec3, FLT *invec3, FLT *axis, FLT angle) +{ + // TODO: this really should be external. + normalize3d(axis, axis); + + FLT s = FLT_SIN(angle); + FLT c = FLT_COS(angle); + + FLT u=axis[0]; + FLT v=axis[1]; + FLT w=axis[2]; + + FLT x=invec3[0]; + FLT y=invec3[1]; + FLT z=invec3[2]; + + outvec3[0] = u*(u*x + v*y + w*z)*(1-c) + x*c + (-w*y + v*z)*s; + outvec3[1] = v*(u*x + v*y + w*z)*(1-c) + y*c + ( w*x - u*z)*s; + outvec3[2] = w*(u*x + v*y + w*z)*(1-c) + z*c + (-v*x + u*y)*s; +} + /////////////////////////////////////QUATERNIONS////////////////////////////////////////// //Originally from Mercury (Copyright (C) 2009 by Joshua Allen, Charles Lohr, Adam Lowman) //Under the mit/X11 license. |