void Orientation::RollGlobal(float p_angle)
{
if(p_angle == 0.0f)
return;
quat rotation(cos(radians(p_angle)/2), 0, 0, sin(radians(p_angle)/2));
RotateGlobal(rotation);
}
void Orientation::RotateGlobal(float p_angle, vec3 p_axis)
{
if(p_angle == 0)
return;
p_axis = normalize(p_axis);
float tmp = sin(radians(p_angle)/2);
quat rotation(cos(radians(p_angle) / 2), p_axis.x * tmp, p_axis.y * tmp, p_axis.z * tmp);
RotateGlobal(rotation);
}
// Constructor
Matrix::Matrix (Quaternion& quat, bool rightHanded)
{
this->SetToIdentity();
// extract the angle:
// w coordinate = cos (angle/2), in radians
float fHalfAngle = acosf (quat.w);
float fAngle = 2 * fHalfAngle * MATH_TRIG_RADIANS_TO_DEGREES;
if (!rightHanded)
fAngle *= -1;
// rotate
RotateGlobal (Vector (quat.x, quat.y, quat.z).Normalize(), fAngle);
}
void Orientation::SetOrientation(float p_angle, vec3 p_axis)
{
m_orientation = quat(1.0f, 0.0f, 0.0f, 0.0f);
RotateGlobal(p_angle, p_axis);
}
void Orientation::SetOrientation(float p_rotationX, float p_rotationY, float p_rotationZ)
{
m_orientation = quat(1.0f, 0.0f, 0.0f, 0.0f);
RotateGlobal(p_rotationX, p_rotationY, p_rotationZ);
}
