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Removed all use of C library from the matrix namespace

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This commit is contained in:
Pavel Kirienko
2017-03-17 12:18:39 -04:00
committed by James Goppert
parent 552dad40a1
commit 9ebf5f89db
3 changed files with 17 additions and 17 deletions
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matrix/Quaternion.hpp
+9 -9
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@@ -97,28 +97,28 @@ public:
Quaternion &q = *this;
Type t = R.trace();
if (t > Type(0)) {
t = sqrtf(Type(1) + t);
t = sqrt(Type(1) + t);
q(0) = Type(0.5) * t;
t = Type(0.5) / t;
q(1) = (R(2,1) - R(1,2)) * t;
q(2) = (R(0,2) - R(2,0)) * t;
q(3) = (R(1,0) - R(0,1)) * t;
} else if (R(0,0) > R(1,1) && R(0,0) > R(2,2)) {
t = sqrtf(Type(1) + R(0,0) - R(1,1) - R(2,2));
t = sqrt(Type(1) + R(0,0) - R(1,1) - R(2,2));
q(1) = Type(0.5) * t;
t = Type(0.5) / t;
q(0) = (R(2,1) - R(1,2)) * t;
q(2) = (R(1,0) + R(0,1)) * t;
q(3) = (R(0,2) + R(2,0)) * t;
} else if (R(1,1) > R(2,2)) {
t = sqrtf(Type(1) - R(0,0) + R(1,1) - R(2,2));
t = sqrt(Type(1) - R(0,0) + R(1,1) - R(2,2));
q(2) = Type(0.5) * t;
t = Type(0.5) / t;
q(0) = (R(0,2) - R(2,0)) * t;
q(1) = (R(1,0) + R(0,1)) * t;
q(3) = (R(2,1) + R(1,2)) * t;
} else {
t = sqrtf(Type(1) - R(0,0) - R(1,1) + R(2,2));
t = sqrt(Type(1) - R(0,0) - R(1,1) + R(2,2));
q(3) = Type(0.5) * t;
t = Type(0.5) / t;
q(0) = (R(1,0) - R(0,1)) * t;
@@ -171,8 +171,8 @@ public:
q(0) = Type(1.0);
q(1) = q(2) = q(3) = 0;
} else {
Type magnitude = sinf(angle / 2.0f);
q(0) = cosf(angle / 2.0f);
Type magnitude = sin(angle / 2.0f);
q(0) = cos(angle / 2.0f);
q(1) = axis(0) * magnitude;
q(2) = axis(1) * magnitude;
q(3) = axis(2) * magnitude;
@@ -389,9 +389,9 @@ public:
q(1) = q(2) = q(3) = 0;
}
Type magnitude = sinf(theta / 2.0f);
Type magnitude = sin(theta / 2.0f);
q(0) = cosf(theta / 2.0f);
q(0) = cos(theta / 2.0f);
q(1) = axis(0) * magnitude;
q(2) = axis(1) * magnitude;
q(3) = axis(2) * magnitude;
@@ -418,7 +418,7 @@ public:
if (axis_magnitude >= Type(1e-10)) {
vec = vec / axis_magnitude;
vec = vec * wrap_pi(Type(2.0) * atan2f(axis_magnitude, q(0)));
vec = vec * wrap_pi(Type(2.0) * atan2(axis_magnitude, q(0)));
}
return vec;