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Fixed quaternion pow #346

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This commit is contained in:
Christophe Riccio 2015-07-24 02:11:55 +02:00
parent f602c8e7ad
commit 063c5c7367
2 changed files with 19 additions and 23 deletions
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41
glm/gtx/quaternion.inl
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@ -121,33 +121,28 @@ namespace glm
}
template <typename T, precision P>
GLM_FUNC_QUALIFIER tquat<T, P> pow
(
tquat<T, P> const & x,
T const & y
)
GLM_FUNC_QUALIFIER tquat<T, P> pow(tquat<T, P> const & x, T const & y)
{
if(abs(x.w) > (static_cast<T>(1) - epsilon<T>()))
return x;
T Angle = acos(y);
//Raising to the power of 0 should yield 1
//Needed to prevent a division by 0 error later on
if(y > -epsilon<T>() && y < epsilon<T>())
return tquat<T, P>(1,0,0,0);
//To deal with non-unit quaternions
T magnitude = sqrt(x.x * x.x + x.y * x.y + x.z * x.z + x.w *x.w);
//Equivalent to raising a real number to a power
//Needed to prevent a division by 0 error later on
if(abs(x.w / magnitude) > static_cast<T>(1) - epsilon<T>() && abs(x.w / magnitude) < static_cast<T>(1) + epsilon<T>())
return tquat<T, P>(pow(x.w, y),0,0,0);
T Angle = acos(x.w / magnitude);
T NewAngle = Angle * y;
T Div = sin(NewAngle) / sin(Angle);
return tquat<T, P>(
cos(NewAngle),
x.x * Div,
x.y * Div,
x.z * Div);
}
T Mag = pow(magnitude, y-1);
//template <typename T, precision P>
//GLM_FUNC_QUALIFIER tquat<T, P> sqrt
//(
// tquat<T, P> const & q
//)
//{
// T q0 = static_cast<T>(1) - dot(q, q);
// return T(2) * (T(1) + q0) * q;
//}
return tquat<T, P>(cos(NewAngle) * magnitude * Mag, x.x * Div * Mag, x.y * Div * Mag, x.z * Div * Mag);
}
template <typename T, precision P>
GLM_FUNC_QUALIFIER tvec3<T, P> rotate

1
readme.md
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@ -78,6 +78,7 @@ glm::mat4 camera(float Translate, glm::vec2 const & Rotate)
- Fixed isfinite with C++98 compilers #343
- Fixed Intel compiler build error on Linux #354
- Fixed use of libstdc++ with Clang #351
- Fixed quaternion pow #346
##### Deprecation:
- Removed integer specification for 'mod' in GTC_integer #308