From 6c743a89b93502ae035c7aa4061f6461520f756f Mon Sep 17 00:00:00 2001
From: Lynix <lynix680@gmail.com>
Date: Mon, 13 May 2013 12:52:39 +0200
Subject: [PATCH] Added Quaternion::(Make)RotationBetween

Former-commit-id: e28517580bd17970e77a38f54e7c114cdaf402d5
---
 include/Nazara/Math/Quaternion.hpp |  2 ++
 include/Nazara/Math/Quaternion.inl | 21 +++++++++++++++++++++
 2 files changed, 23 insertions(+)

diff --git a/include/Nazara/Math/Quaternion.hpp b/include/Nazara/Math/Quaternion.hpp
index 1702ab225..2d32d1b92 100644
--- a/include/Nazara/Math/Quaternion.hpp
+++ b/include/Nazara/Math/Quaternion.hpp
@@ -37,6 +37,7 @@ template<typename T> class NzQuaternion
 		NzQuaternion& Inverse();
 
 		NzQuaternion& MakeIdentity();
+		NzQuaternion& MakeRotationBetween(const NzVector3<T>& from, const NzVector3<T>& to);
 		NzQuaternion& MakeZero();
 
 		T Magnitude() const;
@@ -75,6 +76,7 @@ template<typename T> class NzQuaternion
 
 		static NzQuaternion Identity();
 		static NzQuaternion Lerp(const NzQuaternion& from, const NzQuaternion& to, T interpolation);
+		static NzQuaternion RotationBetween(const NzVector3<T>& from, const NzVector3<T>& to);
 		static NzQuaternion Slerp(const NzQuaternion& from, const NzQuaternion& to, T interpolation);
 		static NzQuaternion Zero();
 
diff --git a/include/Nazara/Math/Quaternion.inl b/include/Nazara/Math/Quaternion.inl
index c314690f4..4432eee21 100644
--- a/include/Nazara/Math/Quaternion.inl
+++ b/include/Nazara/Math/Quaternion.inl
@@ -129,6 +129,18 @@ NzQuaternion<T>& NzQuaternion<T>::MakeIdentity()
 	return Set(F(1.0), F(0.0), F(0.0), F(0.0));
 }
 
+template<typename T>
+NzQuaternion<T>& NzQuaternion<T>::MakeRotationBetween(const NzVector3<T>& from, const NzVector3<T>& to)
+{
+	NzVector3f a = from.CrossProduct(to);
+	x = a.x;
+	y = a.y;
+	z = a.z;
+	w = std::sqrt(std::pow(from.GetLength(), 2.f) * std::pow(to.GetLength(), 2.f)) + from.DotProduct(to);
+
+	return Normalize();
+}
+
 template<typename T>
 NzQuaternion<T>& NzQuaternion<T>::MakeZero()
 {
@@ -382,6 +394,15 @@ NzQuaternion<T> NzQuaternion<T>::Lerp(const NzQuaternion& from, const NzQuaterni
 	return interpolated;
 }
 
+template<typename T>
+NzQuaternion<T> NzQuaternion<T>::RotationBetween(const NzVector3<T>& from, const NzVector3<T>& to)
+{
+	NzQuaternion quaternion;
+	quaternion.MakeRotationBetween(from, to);
+
+	return quaternion;
+}
+
 template<typename T>
 NzQuaternion<T> NzQuaternion<T>::Slerp(const NzQuaternion& from, const NzQuaternion& to, T interpolation)
 {