void Vector3f::Rotate(float Angle, const Vector3f& Axis)
{
/*printf("\n");
printf("Angle %f\n", Angle);
printf("Before %f %f %f\n", x, y, z);*/
const float SinHalfAngle = sinf(ToRadian(Angle/2));
const float CosHalfAngle = cosf(ToRadian(Angle/2));
//printf("sin %f cos %f\n", SinHalfAngle, CosHalfAngle);
const float Rx = Axis.x * SinHalfAngle;
const float Ry = Axis.y * SinHalfAngle;
const float Rz = Axis.z * SinHalfAngle;
const float Rw = CosHalfAngle;
//printf("Rotation quaternion %f %f %f %f\n", Rx, Ry, Rz, Rw);
Quaternion RotationQ(Rx, Ry, Rz, Rw);
Quaternion ConjugateQ = RotationQ.Conjugate();
ConjugateQ.Normalize();
//printf("Conjugate %f %f %f %f\n", ConjugateQ.x, ConjugateQ.y, ConjugateQ.z, ConjugateQ.w);
Quaternion W = RotationQ * (*this);
// printf("Q * View: %f %f %f %f\n", W.x, W.y, W.z, W.w);
W *= ConjugateQ;
// printf("Q * View * Conjugate: %f %f %f %f\n", W.x, W.y, W.z, W.w);
x = W.x;
y = W.y;
z = W.z;
//printf("After %f %f %f\n", x, y, z);
}
void vec3D::Rotate(float Angle, const vec3D& Axe)
{
const float SinHalfAngle = sinf(ToRadian(Angle/2));
const float CosHalfAngle = cosf(ToRadian(Angle/2));
const float Rx = Axe.x * SinHalfAngle;
const float Ry = Axe.y * SinHalfAngle;
const float Rz = Axe.z * SinHalfAngle;
const float Rw = CosHalfAngle;
Quaternion RotationQ(Rx, Ry, Rz, Rw);
Quaternion ConjugateQ = RotationQ.Conjugate();
Quaternion W = RotationQ * (*this) * ConjugateQ;
x = W.x;
y = W.y;
z = W.z;
}
void Vector3f::rotate(float Angle, const Vector3f& Axis)
{
const float SinHalfAngle = sinf(ToRadian(Angle/2));
const float CosHalfAngle = cosf(ToRadian(Angle/2));
const float Rx = Axis.x * SinHalfAngle;
const float Ry = Axis.y * SinHalfAngle;
const float Rz = Axis.z * SinHalfAngle;
const float Rw = CosHalfAngle;
Quaternion RotationQ(Rx, Ry, Rz, Rw);
Quaternion ConjugateQ = RotationQ.conjugate();
//ConjugateQ.Normalize();
Quaternion W = RotationQ * (*this) * ConjugateQ;
x = W.x;
y = W.y;
z = W.z;
}
