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Implemented Matrix4::GetRotation 

Former-commit-id: 90e0b6942497c1337ac3873d3990515284df4aa6
This commit is contained in:
Lynix 2013-05-16 22:21:16 +02:00
parent f434266a88
commit 6d2a1118bc
1 changed files with 48 additions and 0 deletions
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48
include/Nazara/Math/Matrix4.inl
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@ -385,6 +385,54 @@ bool NzMatrix4<T>::GetInverseAffine(NzMatrix4* dest) const
} }
} }
template<typename T>
NzQuaternion<T> NzMatrix4<T>::GetRotation() const
{
// http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/
NzQuaternion<T> quat;
T trace = m11 + m22 + m33;
if (trace > F(0.0))
{
float s = F(0.5)/std::sqrt(trace + F(1.0));
quat.w = F(0.25) / s;
quat.x = (m32 - m23) * s;
quat.y = (m13 - m31) * s;
quat.z = (m21 - m12) * s;
}
else
{
if (m11 > m22 && m11 > m33)
{
float s = F(2.0) * std::sqrt(F(1.0) + m11 - m22 - m33);
quat.w = (m32 - m23) / s;
quat.x = F(0.25) * s;
quat.y = (m12 + m21) / s;
quat.z = (m13 + m31) / s;
}
else if (m22 > m33)
{
float s = F(2.0) * std::sqrt(F(1.0) + m22 - m11 - m33);
quat.w = (m13 - m31) / s;
quat.x = (m12 + m21) / s;
quat.y = F(0.25) * s;
quat.z = (m23 + m32) / s;
}
else
{
float s = F(2.0) * std::sqrt(F(1.0) + m33 - m11 - m22);
quat.w = (m21 - m12) / s;
quat.x = (m13 + m31) / s;
quat.y = (m23 + m32) / s;
quat.z = F(0.25) * s;
}
}
return quat;
}
template<typename T> template<typename T>
NzVector3<T> NzMatrix4<T>::GetScale() const NzVector3<T> NzMatrix4<T>::GetScale() const