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126bd9e1a4
This patch was generated automatically by the "modeline.py" script, available here: https://github.com/amccreight/moz-source-tools/blob/master/modeline.py For every file that is modified in this patch, the changes are as follows: (1) The patch changes the file to use the exact C++ mode lines from the Mozilla coding style guide, available here: https://developer.mozilla.org/en-US/docs/Mozilla/Developer_guide/Coding_Style#Mode_Line (2) The patch deletes any blank lines between the mode line & the MPL boilerplate comment. (3) If the file previously had the mode lines and MPL boilerplate in a single contiguous C++ comment, then the patch splits them into separate C++ comments, to match the boilerplate in the coding style. MozReview-Commit-ID: 77D61xpSmIl --HG-- extra : rebase_source : c6162fa3cf539a07177a19838324bf368faa162b
59 lines
1.7 KiB
C++
59 lines
1.7 KiB
C++
/* -*- Mode: C++; tab-width: 8; indent-tabs-mode: nil; c-basic-offset: 2 -*- */
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/* vim: set ts=8 sts=2 et sw=2 tw=80: */
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/* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/. */
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#include "Quaternion.h"
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#include "Matrix.h"
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#include "Tools.h"
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#include <algorithm>
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#include <ostream>
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#include <math.h>
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using namespace std;
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namespace mozilla {
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namespace gfx {
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std::ostream&
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operator<<(std::ostream& aStream, const Quaternion& aQuat)
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{
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return aStream << "< " << aQuat.x << " " << aQuat.y << " " << aQuat.z << " " << aQuat.w << ">";
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}
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void
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Quaternion::SetFromRotationMatrix(const Matrix4x4& m)
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{
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// see http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm
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const Float trace = m._11 + m._22 + m._33;
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if (trace > 0.0) {
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const Float s = 0.5f / sqrt(trace + 1.0f);
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w = 0.25f / s;
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x = (m._32 - m._23) * s;
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y = (m._13 - m._31) * s;
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z = (m._21 - m._12) * s;
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} else if (m._11 > m._22 && m._11 > m._33) {
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const Float s = 2.0f * sqrt(1.0f + m._11 - m._22 - m._33);
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w = (m._32 - m._23) / s;
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x = 0.25f * s;
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y = (m._12 + m._21) / s;
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z = (m._13 + m._31) / s;
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} else if (m._22 > m._33) {
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const Float s = 2.0 * sqrt(1.0f + m._22 - m._11 - m._33);
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w = (m._13 - m._31) / s;
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x = (m._12 + m._21) / s;
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y = 0.25f * s;
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z = (m._23 + m._32) / s;
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} else {
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const Float s = 2.0 * sqrt(1.0f + m._33 - m._11 - m._22);
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w = (m._21 - m._12) / s;
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x = (m._13 + m._31) / s;
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y = (m._23 + m._32) / s;
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z = 0.25f * s;
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}
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}
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} // namespace gfx
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} // namespace mozilla
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