Utils/Libs/Maths/axisangle.cpp

@@ -0,0 +1,41 @@
+#include "axisangle.h"
+#include "mathtypes.h"
+#include "quat.h"
+#include "matrix4x4.h"
+
+
+void AxisAngle::ToQuaternion( Quaternion &q ) const
+{
+	real ca = (real)cos(angle*0.5f);
+	real sa = (real)sin(angle*0.5f);
+	q.x = sa * x;
+	q.y = sa * y;
+	q.z = sa * z;
+	q.w = ca;
+}
+
+void AxisAngle::ToMatrix( Matrix4x4 &m ) const
+{
+	real sa=(real)sin(angle);
+	real ca=(real)cos(angle);
+	real t = 1.0f - ca;
+
+	real sx = sa * x;
+	real sy = sa * y;
+	real sz = sa * z;
+	real tx = t * x;
+	real ty = t * y;
+	real tz = t * z;
+
+	m._11 = (tx * x) + ca;
+	m._21 = (tx * y) + sz;
+	m._31 = (tx * z) - sy;
+
+	m._12 = (tx * y) - sz;
+	m._22 = (ty * y) + ca;
+	m._32 = (ty * z) + sx;
+
+	m._13 = (tx * z) - sy;
+	m._23 = (ty * z) + sx;
+	m._33 = (tz * z) + ca;
+}