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Extras/FCollada/FMath/FMQuaternion.cpp

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+/*
+	Copyright (C) 2005-2006 Feeling Software Inc.
+	MIT License: http://www.opensource.org/licenses/mit-license.php
+*/
+
+#include "StdAfx.h"
+#include "FMath/FMath.h"
+#include "FMath/FMVector3.h"
+#include "FMath/FMQuaternion.h"
+
+// [Glaforte 03-08-2006] VERY EXPERIMENTAL CODE: DON'T USE.
+
+FMQuaternion::FMQuaternion(const FMVector3& axis, float angle)
+{
+	float s = sinf(angle / 2.0f);
+	x = axis.x * s;
+	y = axis.y * s;
+	z = axis.z * s;
+	w = cosf(angle / 2.0f);
+}
+
+FMQuaternion FMQuaternion::operator*(const FMQuaternion& q) const
+{
+	FMQuaternion r;
+	r.w = w * q.w - x * q.x - y * q.y - z * q.z;
+	r.x = w * q.x + x * q.w + y * q.z - z * q.y;
+	r.y = w * q.y + y * q.w + z * q.x - x * q.z;
+	r.z = w * q.z + z * q.w + x * q.y - y * q.x;
+	return r;
+}
+
+FMQuaternion FMQuaternion::EulerRotationQuaternion(float x, float y, float z)
+{
+	FMQuaternion qx(FMVector3::XAxis, x);
+	FMQuaternion qy(FMVector3::YAxis, y);
+	FMQuaternion qz(FMVector3::ZAxis, z);
+	return qx * qy * qz;
+}