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REVIEWED: QuaternionFromAxisAngle() #1892

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raysan5 2021-07-27 23:30:08 +02:00
parent 4e363b5479
commit 70ed52dd5d
1 changed files with 11 additions and 10 deletions
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21
src/raymath.h
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@ -1422,20 +1422,21 @@ RMDEF Quaternion QuaternionFromAxisAngle(Vector3 axis, float angle)
Quaternion result = { 0.0f, 0.0f, 0.0f, 1.0f }; Quaternion result = { 0.0f, 0.0f, 0.0f, 1.0f };
if (Vector3Length(axis) != 0.0f) if (Vector3Length(axis) != 0.0f)
{
angle *= 0.5f;
angle *= 0.5f; axis = Vector3Normalize(axis);
axis = Vector3Normalize(axis); float sinres = sinf(angle);
float cosres = cosf(angle);
float sinres = sinf(angle); result.x = axis.x*sinres;
float cosres = cosf(angle); result.y = axis.y*sinres;
result.z = axis.z*sinres;
result.w = cosres;
result.x = axis.x*sinres; result = QuaternionNormalize(result);
result.y = axis.y*sinres; }
result.z = axis.z*sinres;
result.w = cosres;
result = QuaternionNormalize(result);
return result; return result;
} }