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Update leenkx/Sources/iron/math/Quat.hx

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Onek8 2025-04-06 14:30:52 +00:00
parent 8d072ae481
commit 559a3b8b39
1 changed files with 26 additions and 6 deletions
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32
leenkx/Sources/iron/math/Quat.hx
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@ -66,12 +66,32 @@ class Quat {
} }
public inline function fromAxisAngle(axis: Vec4, angle: FastFloat): Quat { public inline function fromAxisAngle(axis: Vec4, angle: FastFloat): Quat {
var s: FastFloat = Math.sin(angle * 0.5); //var s: FastFloat = Math.sin(angle * 0.5);
x = axis.x * s; //x = axis.x * s;
y = axis.y * s; //y = axis.y * s;
z = axis.z * s; //z = axis.z * s;
w = Math.cos(angle * 0.5); //w = Math.cos(angle * 0.5);
return normalize(); //return normalize();
// Normalize the axis vector first
var axisLen = Math.sqrt(axis.x * axis.x + axis.y * axis.y + axis.z * axis.z);
if (axisLen > 0.00001) {
var aL = 1.0 / axisLen;
var nX = axis.x * aL;
var nY = axis.y * aL;
var nZ = axis.z * aL;
var halfAngle = angle * 0.5;
var s: FastFloat = Math.sin(halfAngle);
x = nX * s;
y = nY * s;
z = nZ * s;
w = Math.cos(halfAngle);
} else {
x = 0.0;
y = 0.0;
z = 0.0;
w = 1.0;
}
return this;
} }
public inline function toAxisAngle(axis: Vec4): FastFloat { public inline function toAxisAngle(axis: Vec4): FastFloat {