Revision 2dd31024 utility/quaternion.h

View differences:

utility/quaternion.h
142 142 
        }
143 143 
    }
144 144 

  		




  145
  
  
    
    void toAxisAngle(Vector<3>& axis, float& angle) const


  		




  
  145
  
    
    void toAxisAngle(Vector<3>& axis, double& angle) const


  		




  146
  146
  
    
    {


  		




  147
  
  
    
        float sqw = sqrt(1-_w*_w);


  		




  148
  
  
    
        if(sqw == 0) //it's a singularity and divide by zero, avoid


  		




  
  147
  
    
        double sqw = sqrt(1-_w*_w);


  		




  
  148
  
    
        if (sqw == 0) //it's a singularity and divide by zero, avoid


  		




  149
  149
  
    
            return;


  		




  150
  150
  
    

  		




  151
  151
  
    
        angle = 2 * acos(_w);


  		




  ......




  198
  198
  
    
        return ret;


  		




  199
  199
  
    
    }


  		




  200
  200
  
    

  		




  201
  
  
    
    Vector<3> toAngularVelocity(float dt) const


  		




  
  201
  
    
    Vector<3> toAngularVelocity(double dt) const


  		




  202
  202
  
    
    {


  		




  203
  203
  
    
        Vector<3> ret;


  		




  204
  204
  
    
        Quaternion one(1.0, 0.0, 0.0, 0.0);


  		












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