From 73e9629832f282af3608a6c118386a0e1bc2d4b9 Mon Sep 17 00:00:00 2001
From: Dander7BD <dander.1981@gmail.com>
Date: Fri, 14 Feb 2014 15:33:17 +0100
Subject: [PATCH] Removed incorrect Quaternion to AngAxis conversion

use Float3 AngularAxis( const Quaternion &rotation ) in ::Oyster::Math3D
instead
---
 .../DanBiasGame/GameClientState/GameState.cpp |  4 +-
 Code/OysterMath/LinearMath.h                  |  2 +-
 Code/OysterMath/OysterMath.cpp                | 46 -------------------
 Code/OysterMath/OysterMath.h                  |  6 ---
 4 files changed, 3 insertions(+), 55 deletions(-)

diff --git a/Code/Game/DanBiasGame/GameClientState/GameState.cpp b/Code/Game/DanBiasGame/GameClientState/GameState.cpp
index 1bc77921..66ca6c12 100644
--- a/Code/Game/DanBiasGame/GameClientState/GameState.cpp
+++ b/Code/Game/DanBiasGame/GameClientState/GameState.cpp
@@ -420,7 +420,7 @@ void GameState::DataRecieved( NetEvent<NetworkClient*, NetworkClient::ClientEven
 
 				// if is this player. Remember to change camera
 				if( this->myId == decoded.object_ID )
-					camera.SetAngular( QuaternionToAngularAxis(rotation).xyz );
+					camera.SetAngular( AngularAxis(rotation) );
 
 				int i = FindObject( this->dynamicObjects, decoded.object_ID );
 				if( i > -1 )
@@ -437,7 +437,7 @@ void GameState::DataRecieved( NetEvent<NetworkClient*, NetworkClient::ClientEven
 				if( this->myId == decoded.object_ID )
 				{
 					camera.SetPosition( position );
-					camera.SetAngular( QuaternionToAngularAxis(rotation).xyz );
+					camera.SetAngular( AngularAxis(rotation) );
 				}
 
 				int i = FindObject( this->dynamicObjects, decoded.object_ID );
diff --git a/Code/OysterMath/LinearMath.h b/Code/OysterMath/LinearMath.h
index 23fe0511..25b65331 100644
--- a/Code/OysterMath/LinearMath.h
+++ b/Code/OysterMath/LinearMath.h
@@ -375,7 +375,7 @@ namespace LinearAlgebra3D
 
 	template<typename ScalarType>
 	inline ::LinearAlgebra::Vector3<ScalarType> AngularAxis( const ::LinearAlgebra::Quaternion<ScalarType> &rotation )
-	{
+	{ // see http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToAngle/index.htm
 		ScalarType angle = ScalarType(2) * (ScalarType)::std::acos( rotation.real ),
 				   multiplier = angle / (ScalarType)::std::sqrt( ScalarType(1) - rotation.real * rotation.real );
 		return multiplier * rotation.imaginary;
diff --git a/Code/OysterMath/OysterMath.cpp b/Code/OysterMath/OysterMath.cpp
index 8db4e175..deac2d0b 100644
--- a/Code/OysterMath/OysterMath.cpp
+++ b/Code/OysterMath/OysterMath.cpp
@@ -102,52 +102,6 @@ namespace Oyster { namespace Math3D
 	//	return ::LinearAlgebra3D::ExtractAngularAxis( orientationMatrix );
 	//}
 
-	Float4 QuaternionToAngularAxis(Float4 quaternion)
-	{
-		Float4 axis = Float4::null;
-		Float s = sqrtf(1 - quaternion.w*quaternion.w);
-
-		axis.w = 2*acos(quaternion.w*quaternion.w);
-
-		if(1 - quaternion.w > 0.001f)
-		{
-			axis.x = quaternion.x/s;
-			axis.y = quaternion.y/s;
-			axis.z = quaternion.z/s;
-		}
-		else
-		{
-			axis.x = quaternion.x;
-			axis.y = quaternion.y;
-			axis.z = quaternion.z;
-		}
-
-		return axis;
-	}
-
-	Float4 QuaternionToAngularAxis(Quaternion quaternion)
-	{
-		Float4 axis = Float4::null;
-		Float s = sqrtf(1 - quaternion.real*quaternion.real);
-
-		axis.w = 2*acos(quaternion.real*quaternion.real);
-
-		if(1 - quaternion.real > 0.001f)
-		{
-			axis.x = quaternion.imaginary.x/s;
-			axis.y = quaternion.imaginary.y/s;
-			axis.z = quaternion.imaginary.z/s;
-		}
-		else
-		{
-			axis.x = quaternion.imaginary.x;
-			axis.y = quaternion.imaginary.y;
-			axis.z = quaternion.imaginary.z;
-		}
-
-		return axis;
-	}
-
 	Float4x4 & TranslationMatrix( const Float3 &position, Float4x4 &targetMem )
 	{
 		return ::LinearAlgebra3D::TranslationMatrix( position, targetMem );
diff --git a/Code/OysterMath/OysterMath.h b/Code/OysterMath/OysterMath.h
index 8de2759a..da23e16d 100644
--- a/Code/OysterMath/OysterMath.h
+++ b/Code/OysterMath/OysterMath.h
@@ -152,12 +152,6 @@ namespace Oyster { namespace Math3D //! Oyster's native math library specialized
 	////! Extracts the angularAxis from orientationMatrix
 	//Float4 ExtractAngularAxis( const Float4x4 &orientationMatrix );
 
-	//! Converts a quaternion as Float4 to angular axis as Float4
-	Float4 QuaternionToAngularAxis(Float4 quaternion);
-
-	//! Converts a quaternion to angular axis as Float4
-	Float4 QuaternionToAngularAxis(Quaternion quaternion);
-
 	//! Sets and returns targetMem to a translationMatrix with position as translation. 
 	Float4x4 & TranslationMatrix( const Float3 &position, Float4x4 &targetMem = Float4x4() );