CS计算机代考程序代写 ///////////////////////////////////////////////////////////////////////////////////

///////////////////////////////////////////////////////////////////////////////////
/// OpenGL Mathematics (glm.g-truc.net)
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/// @ref gtx_rotate_normalized_axis
/// @file glm/gtx/rotate_normalized_axis.inl
/// @date 2012-12-13 / 2012-12-13
/// @author Christophe Riccio
///////////////////////////////////////////////////////////////////////////////////

namespace glm
{
template
GLM_FUNC_QUALIFIER tmat4x4 rotateNormalizedAxis
(
tmat4x4 const & m,
T const & angle,
tvec3 const & v
)
{
T const a = angle;
T const c = cos(a);
T const s = sin(a);

tvec3 const axis(v);

tvec3 const temp((static_cast(1) – c) * axis);

tmat4x4 Rotate(uninitialize);
Rotate[0][0] = c + temp[0] * axis[0];
Rotate[0][1] = 0 + temp[0] * axis[1] + s * axis[2];
Rotate[0][2] = 0 + temp[0] * axis[2] – s * axis[1];

Rotate[1][0] = 0 + temp[1] * axis[0] – s * axis[2];
Rotate[1][1] = c + temp[1] * axis[1];
Rotate[1][2] = 0 + temp[1] * axis[2] + s * axis[0];

Rotate[2][0] = 0 + temp[2] * axis[0] + s * axis[1];
Rotate[2][1] = 0 + temp[2] * axis[1] – s * axis[0];
Rotate[2][2] = c + temp[2] * axis[2];

tmat4x4 Result(uninitialize);
Result[0] = m[0] * Rotate[0][0] + m[1] * Rotate[0][1] + m[2] * Rotate[0][2];
Result[1] = m[0] * Rotate[1][0] + m[1] * Rotate[1][1] + m[2] * Rotate[1][2];
Result[2] = m[0] * Rotate[2][0] + m[1] * Rotate[2][1] + m[2] * Rotate[2][2];
Result[3] = m[3];
return Result;
}

template
GLM_FUNC_QUALIFIER tquat rotateNormalizedAxis
(
tquat const & q,
T const & angle,
tvec3 const & v
)
{
tvec3 const Tmp(v);

T const AngleRad(angle);
T const Sin = sin(AngleRad * T(0.5));

return q * tquat(cos(AngleRad * static_cast(0.5)), Tmp.x * Sin, Tmp.y * Sin, Tmp.z * Sin);
//return gtc::quaternion::cross(q, tquat(cos(AngleRad * T(0.5)), Tmp.x * fSin, Tmp.y * fSin, Tmp.z * fSin));
}
}//namespace glm