mirror of
https://github.com/mozilla/gecko-dev.git
synced 2024-11-30 16:22:00 +00:00
a8939590de
The bulk of this commit was generated by running:
run-clang-tidy.py \
-checks='-*,llvm-namespace-comment' \
-header-filter=^/.../mozilla-central/.* \
-fix
58 lines
1.6 KiB
C++
58 lines
1.6 KiB
C++
/* -*- Mode: C++; tab-width: 20; indent-tabs-mode: nil; c-basic-offset: 2 -*-
|
|
* This Source Code Form is subject to the terms of the Mozilla Public
|
|
* License, v. 2.0. If a copy of the MPL was not distributed with this
|
|
* file, You can obtain one at http://mozilla.org/MPL/2.0/. */
|
|
|
|
#include "Quaternion.h"
|
|
#include "Matrix.h"
|
|
#include "Tools.h"
|
|
#include <algorithm>
|
|
#include <ostream>
|
|
#include <math.h>
|
|
|
|
using namespace std;
|
|
|
|
namespace mozilla {
|
|
namespace gfx {
|
|
|
|
std::ostream&
|
|
operator<<(std::ostream& aStream, const Quaternion& aQuat)
|
|
{
|
|
return aStream << "< " << aQuat.x << " " << aQuat.y << " " << aQuat.z << " " << aQuat.w << ">";
|
|
}
|
|
|
|
void
|
|
Quaternion::SetFromRotationMatrix(const Matrix4x4& m)
|
|
{
|
|
// see http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm
|
|
const Float trace = m._11 + m._22 + m._33;
|
|
if (trace > 0.0) {
|
|
const Float s = 0.5f / sqrt(trace + 1.0f);
|
|
w = 0.25f / s;
|
|
x = (m._32 - m._23) * s;
|
|
y = (m._13 - m._31) * s;
|
|
z = (m._21 - m._12) * s;
|
|
} else if (m._11 > m._22 && m._11 > m._33) {
|
|
const Float s = 2.0f * sqrt(1.0f + m._11 - m._22 - m._33);
|
|
w = (m._32 - m._23) / s;
|
|
x = 0.25f * s;
|
|
y = (m._12 + m._21) / s;
|
|
z = (m._13 + m._31) / s;
|
|
} else if (m._22 > m._33) {
|
|
const Float s = 2.0 * sqrt(1.0f + m._22 - m._11 - m._33);
|
|
w = (m._13 - m._31) / s;
|
|
x = (m._12 + m._21) / s;
|
|
y = 0.25f * s;
|
|
z = (m._23 + m._32) / s;
|
|
} else {
|
|
const Float s = 2.0 * sqrt(1.0f + m._33 - m._11 - m._22);
|
|
w = (m._21 - m._12) / s;
|
|
x = (m._13 + m._31) / s;
|
|
y = (m._23 + m._32) / s;
|
|
z = 0.25f * s;
|
|
}
|
|
}
|
|
|
|
} // namespace gfx
|
|
} // namespace mozilla
|