C++ (Cpp) axis_sq Examples

Example #1

File: basis.cpp Project: Paulloz/godot

void Basis::set_axis_angle(const Vector3 &p_axis, real_t p_phi) {
// Rotation matrix from axis and angle, see https://en.wikipedia.org/wiki/Rotation_matrix#Rotation_matrix_from_axis_angle
#ifdef MATH_CHECKS
	ERR_FAIL_COND(!p_axis.is_normalized());
#endif
	Vector3 axis_sq(p_axis.x * p_axis.x, p_axis.y * p_axis.y, p_axis.z * p_axis.z);
	real_t cosine = Math::cos(p_phi);
	elements[0][0] = axis_sq.x + cosine * (1.0 - axis_sq.x);
	elements[1][1] = axis_sq.y + cosine * (1.0 - axis_sq.y);
	elements[2][2] = axis_sq.z + cosine * (1.0 - axis_sq.z);

	real_t sine = Math::sin(p_phi);
	real_t t = 1 - cosine;

	real_t xyzt = p_axis.x * p_axis.y * t;
	real_t zyxs = p_axis.z * sine;
	elements[0][1] = xyzt - zyxs;
	elements[1][0] = xyzt + zyxs;

	xyzt = p_axis.x * p_axis.z * t;
	zyxs = p_axis.y * sine;
	elements[0][2] = xyzt + zyxs;
	elements[2][0] = xyzt - zyxs;

	xyzt = p_axis.y * p_axis.z * t;
	zyxs = p_axis.x * sine;
	elements[1][2] = xyzt - zyxs;
	elements[2][1] = xyzt + zyxs;
}

Example #2

File: matrix3.cpp Project: 03050903/godot

Matrix3::Matrix3(const Vector3& p_axis, real_t p_phi) {

	Vector3 axis_sq(p_axis.x*p_axis.x,p_axis.y*p_axis.y,p_axis.z*p_axis.z);

	real_t cosine= Math::cos(p_phi);
	real_t sine= Math::sin(p_phi);

	elements[0][0] = axis_sq.x + cosine * ( 1.0 - axis_sq.x );
	elements[0][1] = p_axis.x * p_axis.y *  ( 1.0 - cosine ) + p_axis.z * sine;
	elements[0][2] = p_axis.z * p_axis.x * ( 1.0 - cosine ) - p_axis.y * sine;

	elements[1][0] = p_axis.x * p_axis.y * ( 1.0 - cosine ) - p_axis.z * sine;
	elements[1][1] = axis_sq.y + cosine  * ( 1.0 - axis_sq.y );
	elements[1][2] = p_axis.y * p_axis.z * ( 1.0 - cosine ) + p_axis.x * sine;

	elements[2][0] = p_axis.z * p_axis.x * ( 1.0 - cosine ) + p_axis.y * sine;
	elements[2][1] = p_axis.y * p_axis.z * ( 1.0 - cosine ) - p_axis.x * sine;
	elements[2][2] = axis_sq.z + cosine  * ( 1.0 - axis_sq.z );

}

Example #3

File: matrix3.cpp Project: baekdahl/godot

Basis::Basis(const Vector3& p_axis, real_t p_phi) {
	// Rotation matrix from axis and angle, see https://en.wikipedia.org/wiki/Rotation_matrix#Rotation_matrix_from_axis_and_angle

	Vector3 axis_sq(p_axis.x*p_axis.x,p_axis.y*p_axis.y,p_axis.z*p_axis.z);

	real_t cosine= Math::cos(p_phi);
	real_t sine= Math::sin(p_phi);

	elements[0][0] = axis_sq.x + cosine * ( 1.0 - axis_sq.x );
	elements[0][1] = p_axis.x * p_axis.y *  ( 1.0 - cosine ) - p_axis.z * sine;
	elements[0][2] = p_axis.z * p_axis.x * ( 1.0 - cosine ) + p_axis.y * sine;

	elements[1][0] = p_axis.x * p_axis.y * ( 1.0 - cosine ) + p_axis.z * sine;
	elements[1][1] = axis_sq.y + cosine  * ( 1.0 - axis_sq.y );
	elements[1][2] = p_axis.y * p_axis.z * ( 1.0 - cosine ) - p_axis.x * sine;

	elements[2][0] = p_axis.z * p_axis.x * ( 1.0 - cosine ) - p_axis.y * sine;
	elements[2][1] = p_axis.y * p_axis.z * ( 1.0 - cosine ) + p_axis.x * sine;
	elements[2][2] = axis_sq.z + cosine  * ( 1.0 - axis_sq.z );

}