From 5773da9e78a61daf5bd2a3ee0504683e56af72f5 Mon Sep 17 00:00:00 2001
From: Stijn Buys <ingar@osirion.org>
Date: Sun, 30 Dec 2012 23:15:48 +0000
Subject: Added math::Axis::rotate() variant.
---
src/math/axis.cc | 9 +++++----
src/math/axis.h | 2 ++
2 files changed, 7 insertions(+), 4 deletions(-)
(limited to 'src/math')
diff --git a/src/math/axis.cc b/src/math/axis.cc
index 60d3797..a5ea397 100644
--- a/src/math/axis.cc
+++ b/src/math/axis.cc
@@ -104,11 +104,8 @@ void Axis::change_roll(const float angle)
/* notes:
http://mathworld.wolfram.com/RotationFormula.html
*/
-void Axis::rotate(Vector3f const &normal, float rad)
+void Axis::rotate(Vector3f const &normal, float cosa, float sina)
{
- float cosa = cosf(rad);
- float sina = sinf(rad);
-
for (size_t i = 0; i < 3; i++) {
axis_vector[i] =
axis_vector[i] * cosa +
@@ -116,6 +113,10 @@ void Axis::rotate(Vector3f const &normal, float rad)
crossproduct(axis_vector[i], normal) * sina;
}
}
+void Axis::rotate(Vector3f const &normal, float rad)
+{
+ rotate(normal, cosf(rad), sinf(rad));
+}
const Axis Axis::transpose() const
{
diff --git a/src/math/axis.h b/src/math/axis.h
index 3991843..ef90654 100644
--- a/src/math/axis.h
+++ b/src/math/axis.h
@@ -86,6 +86,8 @@ public:
* @brief rotation about an arbitrary vector
* @param rad angle in radians
**/
+ void rotate(Vector3f const &normal, float cosa, float sina);
+
void rotate(const Vector3f & normal, const float rad);
/// return the transpose of this matrix
--
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