Changeset 100 in flair-src for trunk/lib/FlairCore/src/RotationMatrix.cpp

Timestamp:

10/05/16 16:11:18 (8 years ago)

Author:

Sanahuja Guillaume

Message:

passage quaternoin 3dmgx3

File:

• trunk/lib/FlairCore/src/RotationMatrix.cpp (modified) (2 diffs)

trunk/lib/FlairCore/src/RotationMatrix.cpp

@@ -19 +19 @@
 #include "Object.h"
 #include "Euler.h"
+#include "Quaternion.h"
 #include "math.h"
 
@@ -50 +51 @@
 }
 
+void RotationMatrix::ToQuaternion(Quaternion &quaternion) const {
+                quaternion.q0 = 0.5f * sqrtf(1.0f + m[0][0] + m[1][1] + m[2][2]);
+                quaternion.q1 = 0.5f * sqrtf(1.0f + m[0][0] - m[1][1] - m[2][2]);
+                quaternion.q2 = 0.5f * sqrtf(1.0f - m[0][0] + m[1][1] - m[2][2]);
+                quaternion.q3 = 0.5f * sqrtf(1.0f - m[0][0] - m[1][1] + m[2][2]);
+}
+
+Quaternion RotationMatrix::ToQuaternion(void) const {
+  Quaternion quaternion;
+  ToQuaternion(quaternion);
+  return quaternion;
+}
+
 float &RotationMatrix::operator()(size_t row, size_t col) {
   if (row < 3 && col < 3) {