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Syncs up llmath stuffs.

Thanks to Shyotl for the CMakeLists fix for Wbemuuid.
This commit is contained in:
Inusaito Sayori
2014-07-11 20:36:19 -04:00
parent bc8947289b
commit 8a2e24ecd0
52 changed files with 1456 additions and 1435 deletions
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48
indra/llmath/llquaternion.h
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@@ -304,43 +304,29 @@ inline const LLQuaternion& LLQuaternion::setQuat(const F32 *q)
return (*this);
}
// There may be a cheaper way that avoids the sqrt.
// Does sin_a = VX*VX + VY*VY + VZ*VZ?
// Copied from Matrix and Quaternion FAQ 1.12
inline void LLQuaternion::getAngleAxis(F32* angle, F32* x, F32* y, F32* z) const
{
F32 cos_a = mQ[VW];
if (cos_a > 1.0f) cos_a = 1.0f;
if (cos_a < -1.0f) cos_a = -1.0f;
F32 sin_a = (F32) sqrt( 1.0f - cos_a * cos_a );
if ( fabs( sin_a ) < 0.0005f )
sin_a = 1.0f;
else
sin_a = 1.f/sin_a;
F32 temp_angle = 2.0f * (F32) acos( cos_a );
if (temp_angle > F_PI)
F32 v = sqrtf(mQ[VX] * mQ[VX] + mQ[VY] * mQ[VY] + mQ[VZ] * mQ[VZ]); // length of the vector-component
if (v > FP_MAG_THRESHOLD)
{
// The (angle,axis) pair should never have angles outside [PI, -PI]
// since we want the _shortest_ (angle,axis) solution.
// Since acos is defined for [0, PI], and we multiply by 2.0, we
// can push the angle outside the acceptible range.
// When this happens we set the angle to the other portion of a
// full 2PI rotation, and negate the axis, which reverses the
// direction of the rotation (by the right-hand rule).
*angle = 2.f * F_PI - temp_angle;
*x = - mQ[VX] * sin_a;
*y = - mQ[VY] * sin_a;
*z = - mQ[VZ] * sin_a;
F32 oomag = 1.0f / v;
F32 w = mQ[VW];
if (w < 0.0f)
{
w = -w; // make VW positive
oomag = -oomag; // invert the axis
}
*x = mQ[VX] * oomag; // normalize the axis
*y = mQ[VY] * oomag;
*z = mQ[VZ] * oomag;
*angle = 2.0f * atan2f(v, w); // get the angle
}
else
{
*angle = temp_angle;
*x = mQ[VX] * sin_a;
*y = mQ[VY] * sin_a;
*z = mQ[VZ] * sin_a;
*angle = 0.0f; // no rotation
*x = 0.0f; // around some dummy axis
*y = 0.0f;
*z = 1.0f;
}
}