41 lines
1.2 KiB
C
41 lines
1.2 KiB
C
#ifndef GL_TEMPLATE_ROTOR_H
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#define GL_TEMPLATE_ROTOR_H
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#include <glm/vec4.hpp>
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#include <glm/mat4x4.hpp>
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#include <glm/gtc/type_ptr.hpp>
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#include <vsr/vsr.h>
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glm::mat4 rotor(glm::vec4 u, glm::vec4 v, float angle) {
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using Vec = vsr::euclidean_vector<4, float>;
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auto eu = *((Vec *) (void *) &u);
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auto ev = *((Vec *) (void *) &v);
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auto biv = (eu ^ ev).unit() * angle / 2;
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Vec col[4] = {
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Vec(1, 0, 0, 0).rotate(biv),
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Vec(0, 1, 0, 0).rotate(biv),
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Vec(0, 0, 1, 0).rotate(biv),
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Vec(0, 0, 0, 1).rotate(biv)
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};
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return glm::make_mat4((float *) col);
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}
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glm::mat4 rot_xy(float angle) { return rotor(glm::vec4(1, 0, 0, 0), glm::vec4(0, 1, 0, 0), angle); }
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glm::mat4 rot_xz(float angle) { return rotor(glm::vec4(1, 0, 0, 0), glm::vec4(0, 0, 1, 0), angle); }
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glm::mat4 rot_xw(float angle) { return rotor(glm::vec4(1, 0, 0, 0), glm::vec4(0, 0, 0, 1), angle); }
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glm::mat4 rot_yz(float angle) { return rotor(glm::vec4(0, 1, 0, 0), glm::vec4(0, 0, 1, 0), angle); }
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glm::mat4 rot_yw(float angle) { return rotor(glm::vec4(0, 1, 0, 0), glm::vec4(0, 0, 0, 1), angle); }
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glm::mat4 rot_zw(float angle) { return rotor(glm::vec4(0, 0, 1, 0), glm::vec4(0, 0, 0, 1), angle); }
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#endif //GL_TEMPLATE_ROTOR_H
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