/*
-Copyright (C) 2001-2006, William Joseph.
-All Rights Reserved.
+ Copyright (C) 2001-2006, William Joseph.
+ All Rights Reserved.
-This file is part of GtkRadiant.
+ This file is part of GtkRadiant.
-GtkRadiant is free software; you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation; either version 2 of the License, or
-(at your option) any later version.
+ GtkRadiant is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
-GtkRadiant is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
+ GtkRadiant is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
-You should have received a copy of the GNU General Public License
-along with GtkRadiant; if not, write to the Free Software
-Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
-*/
+ You should have received a copy of the GNU General Public License
+ along with GtkRadiant; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ */
-#if !defined(INCLUDED_MATH_QUATERNION_H)
+#if !defined( INCLUDED_MATH_QUATERNION_H )
#define INCLUDED_MATH_QUATERNION_H
/// \file
/// \brief A quaternion stored in single-precision floating-point.
typedef Vector4 Quaternion;
-const Quaternion c_quaternion_identity(0, 0, 0, 1);
+const Quaternion c_quaternion_identity( 0, 0, 0, 1 );
-inline Quaternion quaternion_multiplied_by_quaternion(const Quaternion& quaternion, const Quaternion& other)
-{
- return Quaternion(
- quaternion[3]*other[0] + quaternion[0]*other[3] + quaternion[1]*other[2] - quaternion[2]*other[1],
- quaternion[3]*other[1] + quaternion[1]*other[3] + quaternion[2]*other[0] - quaternion[0]*other[2],
- quaternion[3]*other[2] + quaternion[2]*other[3] + quaternion[0]*other[1] - quaternion[1]*other[0],
- quaternion[3]*other[3] - quaternion[0]*other[0] - quaternion[1]*other[1] - quaternion[2]*other[2]
- );
+inline Quaternion quaternion_multiplied_by_quaternion( const Quaternion& quaternion, const Quaternion& other ){
+ return Quaternion(
+ quaternion[3] * other[0] + quaternion[0] * other[3] + quaternion[1] * other[2] - quaternion[2] * other[1],
+ quaternion[3] * other[1] + quaternion[1] * other[3] + quaternion[2] * other[0] - quaternion[0] * other[2],
+ quaternion[3] * other[2] + quaternion[2] * other[3] + quaternion[0] * other[1] - quaternion[1] * other[0],
+ quaternion[3] * other[3] - quaternion[0] * other[0] - quaternion[1] * other[1] - quaternion[2] * other[2]
+ );
}
-inline void quaternion_multiply_by_quaternion(Quaternion& quaternion, const Quaternion& other)
-{
- quaternion = quaternion_multiplied_by_quaternion(quaternion, other);
+inline void quaternion_multiply_by_quaternion( Quaternion& quaternion, const Quaternion& other ){
+ quaternion = quaternion_multiplied_by_quaternion( quaternion, other );
}
/// \brief Constructs a quaternion which rotates between two points on the unit-sphere, \p from and \p to.
-inline Quaternion quaternion_for_unit_vectors(const Vector3& from, const Vector3& to)
-{
- return Quaternion(vector3_cross(from, to), static_cast<float>(vector3_dot(from, to)));
+inline Quaternion quaternion_for_unit_vectors( const Vector3& from, const Vector3& to ){
+ return Quaternion( vector3_cross( from, to ), static_cast<float>( vector3_dot( from, to ) ) );
}
-inline Quaternion quaternion_for_axisangle(const Vector3& axis, double angle)
-{
- angle *= 0.5;
- float sa = static_cast<float>(sin(angle));
- return Quaternion(axis[0] * sa, axis[1] * sa, axis[2] * sa, static_cast<float>(cos(angle)));
+inline Quaternion quaternion_for_axisangle( const Vector3& axis, double angle ){
+ angle *= 0.5;
+ float sa = static_cast<float>( sin( angle ) );
+ return Quaternion( axis[0] * sa, axis[1] * sa, axis[2] * sa, static_cast<float>( cos( angle ) ) );
}
-inline Quaternion quaternion_for_x(double angle)
-{
- angle *= 0.5;
- return Quaternion(static_cast<float>(sin(angle)), 0, 0, static_cast<float>(cos(angle)));
+inline Quaternion quaternion_for_x( double angle ){
+ angle *= 0.5;
+ return Quaternion( static_cast<float>( sin( angle ) ), 0, 0, static_cast<float>( cos( angle ) ) );
}
-inline Quaternion quaternion_for_y(double angle)
-{
- angle *= 0.5;
- return Quaternion(0, static_cast<float>(sin(angle)), 0, static_cast<float>(cos(angle)));
+inline Quaternion quaternion_for_y( double angle ){
+ angle *= 0.5;
+ return Quaternion( 0, static_cast<float>( sin( angle ) ), 0, static_cast<float>( cos( angle ) ) );
}
-inline Quaternion quaternion_for_z(double angle)
-{
- angle *= 0.5;
- return Quaternion(0, 0, static_cast<float>(sin(angle)), static_cast<float>(cos(angle)));
+inline Quaternion quaternion_for_z( double angle ){
+ angle *= 0.5;
+ return Quaternion( 0, 0, static_cast<float>( sin( angle ) ), static_cast<float>( cos( angle ) ) );
}
-inline Quaternion quaternion_inverse(const Quaternion& quaternion)
-{
- return Quaternion(vector3_negated(vector4_to_vector3(quaternion)), quaternion[3]);
+inline Quaternion quaternion_inverse( const Quaternion& quaternion ){
+ return Quaternion( vector3_negated( vector4_to_vector3( quaternion ) ), quaternion[3] );
}
-inline void quaternion_conjugate(Quaternion& quaternion)
-{
- quaternion = quaternion_inverse(quaternion);
+inline void quaternion_conjugate( Quaternion& quaternion ){
+ quaternion = quaternion_inverse( quaternion );
}
-inline Quaternion quaternion_normalised(const Quaternion& quaternion)
-{
- const double n = (1.0 / (quaternion[0] * quaternion[0] + quaternion[1] * quaternion[1] + quaternion[2] * quaternion[2] + quaternion[3] * quaternion[3]));
- return Quaternion(
- static_cast<float>(quaternion[0] * n),
- static_cast<float>(quaternion[1] * n),
- static_cast<float>(quaternion[2] * n),
- static_cast<float>(quaternion[3] * n)
- );
+inline Quaternion quaternion_normalised( const Quaternion& quaternion ){
+ const double n = ( 1.0 / ( quaternion[0] * quaternion[0] + quaternion[1] * quaternion[1] + quaternion[2] * quaternion[2] + quaternion[3] * quaternion[3] ) );
+ return Quaternion(
+ static_cast<float>( quaternion[0] * n ),
+ static_cast<float>( quaternion[1] * n ),
+ static_cast<float>( quaternion[2] * n ),
+ static_cast<float>( quaternion[3] * n )
+ );
}
-inline void quaternion_normalise(Quaternion& quaternion)
-{
- quaternion = quaternion_normalised(quaternion);
+inline void quaternion_normalise( Quaternion& quaternion ){
+ quaternion = quaternion_normalised( quaternion );
}
/// \brief Constructs a pure-rotation matrix from \p quaternion.
-inline Matrix4 matrix4_rotation_for_quaternion(const Quaternion& quaternion)
-{
+inline Matrix4 matrix4_rotation_for_quaternion( const Quaternion& quaternion ){
#if 0
- const double xx = quaternion[0] * quaternion[0];
- const double xy = quaternion[0] * quaternion[1];
- const double xz = quaternion[0] * quaternion[2];
- const double xw = quaternion[0] * quaternion[3];
-
- const double yy = quaternion[1] * quaternion[1];
- const double yz = quaternion[1] * quaternion[2];
- const double yw = quaternion[1] * quaternion[3];
-
- const double zz = quaternion[2] * quaternion[2];
- const double zw = quaternion[2] * quaternion[3];
-
- return Matrix4(
- static_cast<float>( 1 - 2 * ( yy + zz ) ),
- static_cast<float>( 2 * ( xy + zw ) ),
- static_cast<float>( 2 * ( xz - yw ) ),
- 0,
- static_cast<float>( 2 * ( xy - zw ) ),
- static_cast<float>( 1 - 2 * ( xx + zz ) ),
- static_cast<float>( 2 * ( yz + xw ) ),
- 0,
- static_cast<float>( 2 * ( xz + yw ) ),
- static_cast<float>( 2 * ( yz - xw ) ),
- static_cast<float>( 1 - 2 * ( xx + yy ) ),
- 0,
- 0,
- 0,
- 0,
- 1
- );
+ const double xx = quaternion[0] * quaternion[0];
+ const double xy = quaternion[0] * quaternion[1];
+ const double xz = quaternion[0] * quaternion[2];
+ const double xw = quaternion[0] * quaternion[3];
+
+ const double yy = quaternion[1] * quaternion[1];
+ const double yz = quaternion[1] * quaternion[2];
+ const double yw = quaternion[1] * quaternion[3];
+
+ const double zz = quaternion[2] * quaternion[2];
+ const double zw = quaternion[2] * quaternion[3];
+
+ return Matrix4(
+ static_cast<float>( 1 - 2 * ( yy + zz ) ),
+ static_cast<float>( 2 * ( xy + zw ) ),
+ static_cast<float>( 2 * ( xz - yw ) ),
+ 0,
+ static_cast<float>( 2 * ( xy - zw ) ),
+ static_cast<float>( 1 - 2 * ( xx + zz ) ),
+ static_cast<float>( 2 * ( yz + xw ) ),
+ 0,
+ static_cast<float>( 2 * ( xz + yw ) ),
+ static_cast<float>( 2 * ( yz - xw ) ),
+ static_cast<float>( 1 - 2 * ( xx + yy ) ),
+ 0,
+ 0,
+ 0,
+ 0,
+ 1
+ );
#else
- const double x2 = quaternion[0] + quaternion[0];
- const double y2 = quaternion[1] + quaternion[1];
- const double z2 = quaternion[2] + quaternion[2];
- const double xx = quaternion[0] * x2;
- const double xy = quaternion[0] * y2;
- const double xz = quaternion[0] * z2;
- const double yy = quaternion[1] * y2;
- const double yz = quaternion[1] * z2;
- const double zz = quaternion[2] * z2;
- const double wx = quaternion[3] * x2;
- const double wy = quaternion[3] * y2;
- const double wz = quaternion[3] * z2;
-
- return Matrix4(
- static_cast<float>( 1.0 - (yy + zz) ),
- static_cast<float>(xy + wz),
- static_cast<float>(xz - wy),
- 0,
- static_cast<float>(xy - wz),
- static_cast<float>( 1.0 - (xx + zz) ),
- static_cast<float>(yz + wx),
- 0,
- static_cast<float>(xz + wy),
- static_cast<float>(yz - wx),
- static_cast<float>( 1.0 - (xx + yy) ),
- 0,
- 0,
- 0,
- 0,
- 1
- );
+ const double x2 = quaternion[0] + quaternion[0];
+ const double y2 = quaternion[1] + quaternion[1];
+ const double z2 = quaternion[2] + quaternion[2];
+ const double xx = quaternion[0] * x2;
+ const double xy = quaternion[0] * y2;
+ const double xz = quaternion[0] * z2;
+ const double yy = quaternion[1] * y2;
+ const double yz = quaternion[1] * z2;
+ const double zz = quaternion[2] * z2;
+ const double wx = quaternion[3] * x2;
+ const double wy = quaternion[3] * y2;
+ const double wz = quaternion[3] * z2;
+
+ return Matrix4(
+ static_cast<float>( 1.0 - ( yy + zz ) ),
+ static_cast<float>( xy + wz ),
+ static_cast<float>( xz - wy ),
+ 0,
+ static_cast<float>( xy - wz ),
+ static_cast<float>( 1.0 - ( xx + zz ) ),
+ static_cast<float>( yz + wx ),
+ 0,
+ static_cast<float>( xz + wy ),
+ static_cast<float>( yz - wx ),
+ static_cast<float>( 1.0 - ( xx + yy ) ),
+ 0,
+ 0,
+ 0,
+ 0,
+ 1
+ );
#endif
}
const double c_half_sqrt2 = 0.70710678118654752440084436210485;
-const float c_half_sqrt2f = static_cast<float>(c_half_sqrt2);
+const float c_half_sqrt2f = static_cast<float>( c_half_sqrt2 );
-inline bool quaternion_component_is_90(float component)
-{
- return (fabs(component) - c_half_sqrt2) < 0.001;
+inline bool quaternion_component_is_90( float component ){
+ return ( fabs( component ) - c_half_sqrt2 ) < 0.001;
}
-inline Matrix4 matrix4_rotation_for_quaternion_quantised(const Quaternion& quaternion)
-{
- if(quaternion.y() == 0
- && quaternion.z() == 0
- && quaternion_component_is_90(quaternion.x())
- && quaternion_component_is_90(quaternion.w()))
- {
- return matrix4_rotation_for_sincos_x((quaternion.x() > 0) ? 1.f : -1.f, 0);
- }
-
- if(quaternion.x() == 0
- && quaternion.z() == 0
- && quaternion_component_is_90(quaternion.y())
- && quaternion_component_is_90(quaternion.w()))
- {
- return matrix4_rotation_for_sincos_y((quaternion.y() > 0) ? 1.f : -1.f, 0);
- }
-
- if(quaternion.x() == 0
- && quaternion.y() == 0
- && quaternion_component_is_90(quaternion.z())
- && quaternion_component_is_90(quaternion.w()))
- {
- return matrix4_rotation_for_sincos_z((quaternion.z() > 0) ? 1.f : -1.f, 0);
- }
-
- return matrix4_rotation_for_quaternion(quaternion);
+inline Matrix4 matrix4_rotation_for_quaternion_quantised( const Quaternion& quaternion ){
+ if ( quaternion.y() == 0
+ && quaternion.z() == 0
+ && quaternion_component_is_90( quaternion.x() )
+ && quaternion_component_is_90( quaternion.w() ) ) {
+ return matrix4_rotation_for_sincos_x( ( quaternion.x() > 0 ) ? 1.f : -1.f, 0 );
+ }
+
+ if ( quaternion.x() == 0
+ && quaternion.z() == 0
+ && quaternion_component_is_90( quaternion.y() )
+ && quaternion_component_is_90( quaternion.w() ) ) {
+ return matrix4_rotation_for_sincos_y( ( quaternion.y() > 0 ) ? 1.f : -1.f, 0 );
+ }
+
+ if ( quaternion.x() == 0
+ && quaternion.y() == 0
+ && quaternion_component_is_90( quaternion.z() )
+ && quaternion_component_is_90( quaternion.w() ) ) {
+ return matrix4_rotation_for_sincos_z( ( quaternion.z() > 0 ) ? 1.f : -1.f, 0 );
+ }
+
+ return matrix4_rotation_for_quaternion( quaternion );
}
-inline Quaternion quaternion_for_matrix4_rotation(const Matrix4& matrix4)
-{
- Matrix4 transposed = matrix4_transposed(matrix4);
-
- double trace = transposed[0] + transposed[5] + transposed[10] + 1.0;
-
- if(trace > 0.0001)
- {
- double S = 0.5 / sqrt(trace);
- return Quaternion(
- static_cast<float>((transposed[9] - transposed[6]) * S),
- static_cast<float>((transposed[2] - transposed[8]) * S),
- static_cast<float>((transposed[4] - transposed[1]) * S),
- static_cast<float>(0.25 / S)
- );
- }
-
- if(transposed[0] >= transposed[5] && transposed[0] >= transposed[10])
- {
- double S = 2.0 * sqrt(1.0 + transposed[0] - transposed[5] - transposed[10]);
- return Quaternion(
- static_cast<float>(0.25 / S),
- static_cast<float>((transposed[1] + transposed[4]) / S),
- static_cast<float>((transposed[2] + transposed[8]) / S),
- static_cast<float>((transposed[6] + transposed[9]) / S)
- );
- }
-
- if(transposed[5] >= transposed[0] && transposed[5] >= transposed[10])
- {
- double S = 2.0 * sqrt(1.0 + transposed[5] - transposed[0] - transposed[10]);
- return Quaternion(
- static_cast<float>((transposed[1] + transposed[4]) / S),
- static_cast<float>(0.25 / S),
- static_cast<float>((transposed[6] + transposed[9]) / S),
- static_cast<float>((transposed[2] + transposed[8]) / S)
- );
- }
-
- double S = 2.0 * sqrt(1.0 + transposed[10] - transposed[0] - transposed[5]);
- return Quaternion(
- static_cast<float>((transposed[2] + transposed[8]) / S),
- static_cast<float>((transposed[6] + transposed[9]) / S),
- static_cast<float>(0.25 / S),
- static_cast<float>((transposed[1] + transposed[4]) / S)
- );
+inline Quaternion quaternion_for_matrix4_rotation( const Matrix4& matrix4 ){
+ Matrix4 transposed = matrix4_transposed( matrix4 );
+
+ double trace = transposed[0] + transposed[5] + transposed[10] + 1.0;
+
+ if ( trace > 0.0001 ) {
+ double S = 0.5 / sqrt( trace );
+ return Quaternion(
+ static_cast<float>( ( transposed[9] - transposed[6] ) * S ),
+ static_cast<float>( ( transposed[2] - transposed[8] ) * S ),
+ static_cast<float>( ( transposed[4] - transposed[1] ) * S ),
+ static_cast<float>( 0.25 / S )
+ );
+ }
+
+ if ( transposed[0] >= transposed[5] && transposed[0] >= transposed[10] ) {
+ double S = 2.0 * sqrt( 1.0 + transposed[0] - transposed[5] - transposed[10] );
+ return Quaternion(
+ static_cast<float>( 0.25 / S ),
+ static_cast<float>( ( transposed[1] + transposed[4] ) / S ),
+ static_cast<float>( ( transposed[2] + transposed[8] ) / S ),
+ static_cast<float>( ( transposed[6] + transposed[9] ) / S )
+ );
+ }
+
+ if ( transposed[5] >= transposed[0] && transposed[5] >= transposed[10] ) {
+ double S = 2.0 * sqrt( 1.0 + transposed[5] - transposed[0] - transposed[10] );
+ return Quaternion(
+ static_cast<float>( ( transposed[1] + transposed[4] ) / S ),
+ static_cast<float>( 0.25 / S ),
+ static_cast<float>( ( transposed[6] + transposed[9] ) / S ),
+ static_cast<float>( ( transposed[2] + transposed[8] ) / S )
+ );
+ }
+
+ double S = 2.0 * sqrt( 1.0 + transposed[10] - transposed[0] - transposed[5] );
+ return Quaternion(
+ static_cast<float>( ( transposed[2] + transposed[8] ) / S ),
+ static_cast<float>( ( transposed[6] + transposed[9] ) / S ),
+ static_cast<float>( 0.25 / S ),
+ static_cast<float>( ( transposed[1] + transposed[4] ) / S )
+ );
}
/// \brief Returns \p self concatenated with the rotation transform produced by \p rotation.
/// The concatenated rotation occurs before \p self.
-inline Matrix4 matrix4_rotated_by_quaternion(const Matrix4& self, const Quaternion& rotation)
-{
- return matrix4_multiplied_by_matrix4(self, matrix4_rotation_for_quaternion(rotation));
+inline Matrix4 matrix4_rotated_by_quaternion( const Matrix4& self, const Quaternion& rotation ){
+ return matrix4_multiplied_by_matrix4( self, matrix4_rotation_for_quaternion( rotation ) );
}
/// \brief Concatenates \p self with the rotation transform produced by \p rotation.
/// The concatenated rotation occurs before \p self.
-inline void matrix4_rotate_by_quaternion(Matrix4& self, const Quaternion& rotation)
-{
- self = matrix4_rotated_by_quaternion(self, rotation);
+inline void matrix4_rotate_by_quaternion( Matrix4& self, const Quaternion& rotation ){
+ self = matrix4_rotated_by_quaternion( self, rotation );
}
/// \brief Rotates \p self by \p rotation, using \p pivotpoint.
-inline void matrix4_pivoted_rotate_by_quaternion(Matrix4& self, const Quaternion& rotation, const Vector3& pivotpoint)
-{
- matrix4_translate_by_vec3(self, pivotpoint);
- matrix4_rotate_by_quaternion(self, rotation);
- matrix4_translate_by_vec3(self, vector3_negated(pivotpoint));
+inline void matrix4_pivoted_rotate_by_quaternion( Matrix4& self, const Quaternion& rotation, const Vector3& pivotpoint ){
+ matrix4_translate_by_vec3( self, pivotpoint );
+ matrix4_rotate_by_quaternion( self, rotation );
+ matrix4_translate_by_vec3( self, vector3_negated( pivotpoint ) );
}
-inline Vector3 quaternion_transformed_point(const Quaternion& quaternion, const Vector3& point)
-{
- double xx = quaternion.x() * quaternion.x();
- double yy = quaternion.y() * quaternion.y();
- double zz = quaternion.z() * quaternion.z();
- double ww = quaternion.w() * quaternion.w();
+inline Vector3 quaternion_transformed_point( const Quaternion& quaternion, const Vector3& point ){
+ double xx = quaternion.x() * quaternion.x();
+ double yy = quaternion.y() * quaternion.y();
+ double zz = quaternion.z() * quaternion.z();
+ double ww = quaternion.w() * quaternion.w();
- double xy2 = quaternion.x() * quaternion.y() * 2;
- double xz2 = quaternion.x() * quaternion.z() * 2;
- double xw2 = quaternion.x() * quaternion.w() * 2;
- double yz2 = quaternion.y() * quaternion.z() * 2;
- double yw2 = quaternion.y() * quaternion.w() * 2;
- double zw2 = quaternion.z() * quaternion.w() * 2;
+ double xy2 = quaternion.x() * quaternion.y() * 2;
+ double xz2 = quaternion.x() * quaternion.z() * 2;
+ double xw2 = quaternion.x() * quaternion.w() * 2;
+ double yz2 = quaternion.y() * quaternion.z() * 2;
+ double yw2 = quaternion.y() * quaternion.w() * 2;
+ double zw2 = quaternion.z() * quaternion.w() * 2;
return Vector3(
- static_cast<float>(ww * point.x() + yw2 * point.z() - zw2 * point.y() + xx * point.x() + xy2 * point.y() + xz2 * point.z() - zz * point.x() - yy * point.x()),
- static_cast<float>(xy2 * point.x() + yy * point.y() + yz2 * point.z() + zw2 * point.x() - zz * point.y() + ww * point.y() - xw2 * point.z() - xx * point.y()),
- static_cast<float>(xz2 * point.x() + yz2 * point.y() + zz * point.z() - yw2 * point.x() - yy * point.z() + xw2 * point.y() - xx * point.z() + ww * point.z())
- );
+ static_cast<float>( ww * point.x() + yw2 * point.z() - zw2 * point.y() + xx * point.x() + xy2 * point.y() + xz2 * point.z() - zz * point.x() - yy * point.x() ),
+ static_cast<float>( xy2 * point.x() + yy * point.y() + yz2 * point.z() + zw2 * point.x() - zz * point.y() + ww * point.y() - xw2 * point.z() - xx * point.y() ),
+ static_cast<float>( xz2 * point.x() + yz2 * point.y() + zz * point.z() - yw2 * point.x() - yy * point.z() + xw2 * point.y() - xx * point.z() + ww * point.z() )
+ );
}
/// \brief Constructs a pure-rotation transform from \p axis and \p angle (radians).
-inline Matrix4 matrix4_rotation_for_axisangle(const Vector3& axis, double angle)
-{
- return matrix4_rotation_for_quaternion(quaternion_for_axisangle(axis, angle));
+inline Matrix4 matrix4_rotation_for_axisangle( const Vector3& axis, double angle ){
+ return matrix4_rotation_for_quaternion( quaternion_for_axisangle( axis, angle ) );
}
/// \brief Rotates \p self about \p axis by \p angle.
-inline void matrix4_rotate_by_axisangle(Matrix4& self, const Vector3& axis, double angle)
-{
- matrix4_multiply_by_matrix4(self, matrix4_rotation_for_axisangle(axis, angle));
+inline void matrix4_rotate_by_axisangle( Matrix4& self, const Vector3& axis, double angle ){
+ matrix4_multiply_by_matrix4( self, matrix4_rotation_for_axisangle( axis, angle ) );
}
/// \brief Rotates \p self about \p axis by \p angle using \p pivotpoint.
-inline void matrix4_pivoted_rotate_by_axisangle(Matrix4& self, const Vector3& axis, double angle, const Vector3& pivotpoint)
-{
- matrix4_translate_by_vec3(self, pivotpoint);
- matrix4_rotate_by_axisangle(self, axis, angle);
- matrix4_translate_by_vec3(self, vector3_negated(pivotpoint));
+inline void matrix4_pivoted_rotate_by_axisangle( Matrix4& self, const Vector3& axis, double angle, const Vector3& pivotpoint ){
+ matrix4_translate_by_vec3( self, pivotpoint );
+ matrix4_rotate_by_axisangle( self, axis, angle );
+ matrix4_translate_by_vec3( self, vector3_negated( pivotpoint ) );
}
projects / xonotic / netradiant.git / blobdiff