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author | Campbell Barton <ideasman42@gmail.com> | 2015-10-22 19:08:17 +0300 |
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committer | Campbell Barton <ideasman42@gmail.com> | 2015-10-22 19:09:28 +0300 |
commit | 80470b639c1c5091541c56ae80212fa8e5148913 (patch) | |
tree | f86e47e0213f7e93a5aa9adfec33380700ff51c4 /source/blender/blenlib/intern/math_rotation.c | |
parent | 0d54aa9c024261851bef24a3ebfd2bd875fec380 (diff) |
BLI_math: axis_angle_to_quat_single
Useful to avoid defining a vector for an axis-aligned rotation.
Matches axis_angle_to_mat3_single behavior.
Diffstat (limited to 'source/blender/blenlib/intern/math_rotation.c')
-rw-r--r-- | source/blender/blenlib/intern/math_rotation.c | 14 |
1 files changed, 14 insertions, 0 deletions
diff --git a/source/blender/blenlib/intern/math_rotation.c b/source/blender/blenlib/intern/math_rotation.c index 575710e8d75..949473a8d86 100644 --- a/source/blender/blenlib/intern/math_rotation.c +++ b/source/blender/blenlib/intern/math_rotation.c @@ -1016,6 +1016,20 @@ void angle_to_mat2(float mat[2][2], const float angle) mat[1][1] = angle_cos; } +void axis_angle_to_quat_single(float q[4], const char axis, const float angle) +{ + const float angle_half = angle * 0.5f; + const float angle_cos = cosf(angle_half); + const float angle_sin = sinf(angle_half); + const int axis_index = (axis - 'X'); + + assert(axis >= 'X' && axis <= 'Z'); + + q[0] = angle_cos; + zero_v3(q + 1); + q[axis_index + 1] = angle_sin; +} + /****************************** Exponential Map ******************************/ void quat_normalized_to_expmap(float expmap[3], const float q[4]) |