Quaternions Quaternions::qFromAngleAxis(float theta, Vector4D axis)
{
Vector4D axisn = axis.normalize();
Quaternions q;
float a = theta * (float)DEGREES_TO_RADIANS;
q.t = cos(a / 2.0f);
float s = sin(a / 2.0f);
q.x = axisn.getX() * s;
q.y = axisn.getY() * s;
q.z = axisn.getZ() * s;
qClean(q);
return qNormalize(q);
}
const Quaternion QuaternionManipulator::qFromAngleAxis(float theta, Vector axis)
{
Vector axisn = vNormalize(axis);
Quaternion q;
float a = theta * (float)DEGREES_TO_RADIANS;
q.t = cos(a / 2.0f);
float s = sin(a / 2.0f);
q.x = axisn.x * s;
q.y = axisn.y * s;
q.z = axisn.z * s;
qClean(q);
return qNormalize(q);
//return q;
}
