Changeset 100 in flairsrc for trunk/lib/FlairCore/src/RotationMatrix.cpp
 Timestamp:
 10/05/16 16:11:18 (8 years ago)
 File:

 1 edited
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trunk/lib/FlairCore/src/RotationMatrix.cpp
r15 r100 19 19 #include "Object.h" 20 20 #include "Euler.h" 21 #include "Quaternion.h" 21 22 #include "math.h" 22 23 … … 50 51 } 51 52 53 void RotationMatrix::ToQuaternion(Quaternion &quaternion) const { 54 quaternion.q0 = 0.5f * sqrtf(1.0f + m[0][0] + m[1][1] + m[2][2]); 55 quaternion.q1 = 0.5f * sqrtf(1.0f + m[0][0]  m[1][1]  m[2][2]); 56 quaternion.q2 = 0.5f * sqrtf(1.0f  m[0][0] + m[1][1]  m[2][2]); 57 quaternion.q3 = 0.5f * sqrtf(1.0f  m[0][0]  m[1][1] + m[2][2]); 58 } 59 60 Quaternion RotationMatrix::ToQuaternion(void) const { 61 Quaternion quaternion; 62 ToQuaternion(quaternion); 63 return quaternion; 64 } 65 52 66 float &RotationMatrix::operator()(size_t row, size_t col) { 53 67 if (row < 3 && col < 3) {
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