oasisquaternion.cpp

使用stl技术,(还没看,是听说的)

/******************************************************************************
 * This source file is part of Bad Camel Gaming
 * Copyright (C) 2003  Zephie Greyvenstein
 * See Readme.html for acknowledgements
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 2.1 of the License, or (at your option) any later version.
 *
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *****************************************************************************/

/******************************************************************************
 * FILENAME    : oasisQuaternion.cpp
 * DESCRIPTION : Quaternion
 * AUTHOR      : Zephie Greyvenstein
 *****************************************************************************/

#include "oasisQuaternion.h"
#include "oasisVector3.h"

#include "OgreMath.h"

namespace Oasis {

  // Setup quaternion constants
  const quaternion quaternion::ZERO( 0, 0, 0, 0 );
  const quaternion quaternion::IDENTITY( 1, 0, 0, 0 );

  void quaternion::fromAxisAndAngle( const vector3 &axis, const real angle ) {
    real halfAngle = 0.5 * angle;
    real halfSin = Ogre::Math::Sin( halfAngle );

    w = Ogre::Math::Cos( halfAngle );
    x = halfSin * axis.x;
    y = halfSin * axis.y;
    z = halfSin * axis.z;
  }
}