39 lines
1.3 KiB
C
39 lines
1.3 KiB
C
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/******************************************************************************
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Copyright (C) 2013 by Hugh Bailey <obs.jim@gmail.com>
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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******************************************************************************/
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#include "axisang.h"
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#include "quat.h"
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void axisang_from_quat(struct axisang *dst, const struct quat *q)
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{
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float len, leni;
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len = q->x*q->x + q->y*q->y + q->z*q->z;
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if (!close_float(len, 0.0f, EPSILON)) {
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leni = 1.0f/sqrtf(len);
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dst->x = q->x * leni;
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dst->y = q->y * leni;
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dst->z = q->z * leni;
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dst->w = acosf(q->w)*2.0f;
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} else {
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dst->x = 0.0f;
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dst->y = 0.0f;
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dst->z = 0.0f;
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dst->w = 0.0f;
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}
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}
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