SE_Quat SE_Quat::inverse() const
{
SE_Quat conj = conjugate();
float len = length();
if(len == 0)
{
return IDENTITY;
}
return SE_Quat(conj.x / len, conj.y / len, conj.z / len, conj.w / len);
}
#include "SE_DynamicLibType.h"
#include "SE_Quat.h"
#include "SE_Math.h"
#include <math.h>
#include "SE_MemLeakDetector.h"
const SE_Quat SE_Quat::IDENTITY = SE_Quat(0, 0, 0, 1);
SE_Quat::SE_Quat(float angle, const SE_Vector3f& axis)
{
set(angle, axis);
}
void SE_Quat::set(float angle, const SE_Vector3f& axis)
{
if(axis.isZero())
{
identity();
return;
}
SE_Vector3f axisNorm = axis.normalize();
float radian = SE_AngleToRadian(angle) / 2;
float sinRadian = SE_Sinf(radian);
w = SE_Cosf(radian);
x = axisNorm.x * sinRadian;
y = axisNorm.y * sinRadian;
z = axisNorm.z * sinRadian;
}
SE_Quat SE_Quat::conjugate() const
{
return SE_Quat(-x, -y, -z, w);
}
SE_Quat SE_Quat::mul(const SE_Quat& rq) const
{
SE_Quat SE_Quat::conjugate() const
{
return SE_Quat(-x, -y, -z, w);
}
SE_Quat SE_BufferInput::readQuat()
{
SE_Vector4f v = readVector4f();
return SE_Quat(v.x, v.y, v.z, v.w);
}
