Revision e8e79779 utility/quaternion.h
| utility/quaternion.h | ||
|---|---|---|
| 126 | 126 |
_z = axis.z() * sht; |
| 127 | 127 |
} |
| 128 | 128 |
|
| 129 |
void fromMatrix(Matrix<3> m)
|
|
| 129 |
void fromMatrix(const Matrix<3>& m)
|
|
| 130 | 130 |
{
|
| 131 |
float tr = m(0, 0) + m(1, 1) + m(2, 2);
|
|
| 131 |
double tr = m.trace();
|
|
| 132 | 132 |
|
| 133 |
float S = 0.0;
|
|
| 133 |
double S;
|
|
| 134 | 134 |
if (tr > 0) |
| 135 | 135 |
{
|
| 136 | 136 |
S = sqrt(tr+1.0) * 2; |
| ... | ... | |
| 139 | 139 |
_y = (m(0, 2) - m(2, 0)) / S; |
| 140 | 140 |
_z = (m(1, 0) - m(0, 1)) / S; |
| 141 | 141 |
} |
| 142 |
else if ((m(0, 0) < m(1, 1))&(m(0, 0) < m(2, 2)))
|
|
| 142 |
else if (m(0, 0) > m(1, 1) && m(0, 0) > m(2, 2))
|
|
| 143 | 143 |
{
|
| 144 | 144 |
S = sqrt(1.0 + m(0, 0) - m(1, 1) - m(2, 2)) * 2; |
| 145 | 145 |
_w = (m(2, 1) - m(1, 2)) / S; |
| ... | ... | |
| 147 | 147 |
_y = (m(0, 1) + m(1, 0)) / S; |
| 148 | 148 |
_z = (m(0, 2) + m(2, 0)) / S; |
| 149 | 149 |
} |
| 150 |
else if (m(1, 1) < m(2, 2))
|
|
| 150 |
else if (m(1, 1) > m(2, 2))
|
|
| 151 | 151 |
{
|
| 152 | 152 |
S = sqrt(1.0 + m(1, 1) - m(0, 0) - m(2, 2)) * 2; |
| 153 | 153 |
_w = (m(0, 2) - m(2, 0)) / S; |
Also available in: Unified diff