Subversion Repositories gelsvn

Rev

Rev 49 | Rev 89 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 49 Rev 51
Line 107... Line 107...
107 
			   0.0),
 107 
			   0.0),
108 
		     Vec4d(0.0, 0.0, 0.0, 1.0));
 108 
		     Vec4d(0.0, 0.0, 0.0, 1.0));
109 
    }
 109 
    }
110 
 
 110 
 
111 
    /// Obtain angle of rotation and axis
 111 
    /// Obtain angle of rotation and axis
112 
    void get_rot(double& angle, Vec3d& vec)
 112 
    void get_rot(double& angle, Vec3d& v)
113 
    {
 113 
    {
114 
      angle = 2*std::acos(qw);
 114 
      angle = 2*std::acos(qw);
115 
 
 115 
 
116 
      if(angle < TINY)
116 
      if(angle < TINY)
117 
	v = Vec3d(1.0, 0.0, 0.0);
 117 
	v = Vec3d(1.0, 0.0, 0.0);
Line 123... Line 123...
123 
 
 123 
 
124 
      v.normalize();
 124 
      v.normalize();
125 
    }
 125 
    }
126 
 
 126 
 
127 
    /// Construct a Quaternion from an angle and axis of rotation.
 127 
    /// Construct a Quaternion from an angle and axis of rotation.
128 
    void make_rot(double angle, const Vec3d&)
 128 
    void make_rot(double angle, const Vec3d& v)
129 
    {
 129 
    {
130 
      angle /= 2.0;
 130 
      angle /= 2.0;
131 
      qv = CGLA::normalize(v)*std::sin(angle);
 131 
      qv = CGLA::normalize(v)*std::sin(angle);
132 
      qw = std::cos(angle);
 132 
      qw = std::cos(angle);
133 
    }
 133 
    }
134 
 
 134 
 
135 
    /** Construct a Quaternion rotating from the direction given
 135 
    /** Construct a Quaternion rotating from the direction given
136 
	by the first argument to the direction given by the second.*/
 136 
	by the first argument to the direction given by the second.*/
137 
    void make_rot(const Vec3d&,const Vec3d&)
 137 
    void make_rot(const Vec3d& s,const Vec3d& t)
138 
    {
 138 
    {
139 
      double tmp = std::sqrt(2*(1 + dot(s, t)));
 139 
      double tmp = std::sqrt(2*(1 + dot(s, t)));
140 
      qv = cross(s, t)*(1.0/tmp);
 140 
      qv = cross(s, t)*(1.0/tmp);
141 
      qw = tmp/2.0;
141 
      qw = tmp/2.0;
142 
    }
 142 
    }