From ec564d70daa8c1a66018f9606b02b873ae792c84 Mon Sep 17 00:00:00 2001 From: Mike Turvey Date: Thu, 28 Dec 2017 08:03:37 -0700 Subject: Start work on determining rotation using quaternions only Rotation was previously approximated using axis/angle This change starts down the path of using quaternions exclusively. This change appears to give at least as good as answers as the axis/angle model in basic cases (also only tested with 1 lighthouse), but it is currently much slower and runs in unpredictable time. --- redist/linmath.h | 2 ++ 1 file changed, 2 insertions(+) (limited to 'redist/linmath.h') diff --git a/redist/linmath.h b/redist/linmath.h index 8d6cf05..1876b34 100644 --- a/redist/linmath.h +++ b/redist/linmath.h @@ -72,6 +72,8 @@ FLT anglebetween3d( FLT * a, FLT * b ); void rotatearoundaxis(FLT *outvec3, FLT *invec3, FLT *axis, FLT angle); void angleaxisfrom2vect(FLT *angle, FLT *axis, FLT *src, FLT *dest); +void axisanglefromquat(FLT *angle, FLT *axis, FLT *quat); + //Quaternion things... -- cgit v1.2.3