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SnapAngularAxis introduced

This commit is contained in:
Dander7BD 2014-01-31 13:42:17 +01:00
parent c7bc7281d8
commit 190f7e2882
2 changed files with 16 additions and 0 deletions
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15
Code/OysterMath/LinearMath.h
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@ -325,6 +325,12 @@ namespace LinearAlgebra2D
namespace LinearAlgebra3D namespace LinearAlgebra3D
{ {
template<typename ScalarType>
inline ::LinearAlgebra::Vector3<ScalarType> WorldAxisOf( const ::LinearAlgebra::Quaternion<ScalarType> &rotation, const ::LinearAlgebra::Vector3<ScalarType> &localAxis )
{
return (rotation*localAxis*rotation.GetConjugate()).imaginary;
}
// All Matrix to AngularAxis conversions here is incorrect // All Matrix to AngularAxis conversions here is incorrect
//template<typename ScalarType> //template<typename ScalarType>
//inline ::LinearAlgebra::Vector4<ScalarType> AngularAxis( const ::LinearAlgebra::Matrix3x3<ScalarType> &rotationMatrix ) //inline ::LinearAlgebra::Vector4<ScalarType> AngularAxis( const ::LinearAlgebra::Matrix3x3<ScalarType> &rotationMatrix )
@ -741,6 +747,15 @@ namespace LinearAlgebra3D
inline ::LinearAlgebra::Vector4<ScalarType> NormalProjection( const ::LinearAlgebra::Vector4<ScalarType> &vector, const ::LinearAlgebra::Vector4<ScalarType> &normalizedAxis ) inline ::LinearAlgebra::Vector4<ScalarType> NormalProjection( const ::LinearAlgebra::Vector4<ScalarType> &vector, const ::LinearAlgebra::Vector4<ScalarType> &normalizedAxis )
{ return normalizedAxis * ( vector.Dot(normalizedAxis) ); } { return normalizedAxis * ( vector.Dot(normalizedAxis) ); }
template<typename ScalarType>
::LinearAlgebra::Vector3<ScalarType> & SnapAngularAxis( ::LinearAlgebra::Vector4<ScalarType> &startAngularAxis, const ::LinearAlgebra::Vector4<ScalarType> &localStartNormal, const ::LinearAlgebra::Vector4<ScalarType> &worldEndNormal, ::LinearAlgebra::Vector3<ScalarType> &targetMem = ::LinearAlgebra::Vector3<ScalarType>() )
{
::LinearAlgebra::Vector4<ScalarType> worldStartNormal( WorldAxisOf(Rotation(startAngularAxis), localStartNormal), (ScalarType)0 );
targetMem = worldStartNormal.xyz.Cross(worldEndNormal.xyz);
targetMem *= (ScalarType)::std::asin( worldStartNormal.Dot(worldEndNormal) );
return targetMem;
}
template<typename ScalarType> template<typename ScalarType>
::LinearAlgebra::Matrix4x4<ScalarType> & SnapAxisYToNormal_UsingNlerp( ::LinearAlgebra::Matrix4x4<ScalarType> &rotation, const ::LinearAlgebra::Vector4<ScalarType> &normalizedAxis ) ::LinearAlgebra::Matrix4x4<ScalarType> & SnapAxisYToNormal_UsingNlerp( ::LinearAlgebra::Matrix4x4<ScalarType> &rotation, const ::LinearAlgebra::Vector4<ScalarType> &normalizedAxis )
{ {

1
Code/OysterMath/OysterMath.h
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@ -324,6 +324,7 @@ namespace Oyster { namespace Math3D //! Oyster's native math library specialized
using ::LinearAlgebra3D::InterpolateAxisYToNormal_UsingNlerp; using ::LinearAlgebra3D::InterpolateAxisYToNormal_UsingNlerp;
using ::LinearAlgebra3D::InterpolateOrientation_UsingNonRigidNlerp; using ::LinearAlgebra3D::InterpolateOrientation_UsingNonRigidNlerp;
using ::LinearAlgebra3D::InterpolateOrientation_UsingSlerp; using ::LinearAlgebra3D::InterpolateOrientation_UsingSlerp;
using ::LinearAlgebra3D::SnapAngularAxis;
} } } }
#endif #endif