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Merge pull request #33 from zhanrnl/fix-quat-from_angle

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Fix quat::Quat::from_angle_{x|y|z}
This commit is contained in:
Brendan Zabarauskas 2014-01-26 22:16:12 -08:00
parent a7c2ddf2ca e9fcf971da
commit 5023f4795f
1 changed files with 9 additions and 6 deletions
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15
src/cgmath/quaternion.rs
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@ -47,22 +47,25 @@ Quat<S> {
Quat { s: s, v: v } Quat { s: s, v: v }
} }
/// Create a matrix from a rotation around the `x` axis (pitch). /// Create a quaternion from a rotation around the `x` axis (pitch).
#[inline] #[inline]
pub fn from_angle_x(theta: Rad<S>) -> Quat<S> { pub fn from_angle_x(theta: Rad<S>) -> Quat<S> {
Quat::new(cos(theta.mul_s(cast(0.5).unwrap())), sin(theta), zero(), zero()) let (s, c) = sin_cos(theta.mul_s(cast(0.5).unwrap()));
Quat::new(c, s, zero(), zero())
} }
/// Create a matrix from a rotation around the `y` axis (yaw). /// Create a quaternion from a rotation around the `y` axis (yaw).
#[inline] #[inline]
pub fn from_angle_y(theta: Rad<S>) -> Quat<S> { pub fn from_angle_y(theta: Rad<S>) -> Quat<S> {
Quat::new(cos(theta.mul_s(cast(0.5).unwrap())), zero(), sin(theta), zero()) let (s, c) = sin_cos(theta.mul_s(cast(0.5).unwrap()));
Quat::new(c, zero(), s, zero())
} }
/// Create a matrix from a rotation around the `z` axis (roll). /// Create a quaternion from a rotation around the `z` axis (roll).
#[inline] #[inline]
pub fn from_angle_z(theta: Rad<S>) -> Quat<S> { pub fn from_angle_z(theta: Rad<S>) -> Quat<S> {
Quat::new(cos(theta.mul_s(cast(0.5).unwrap())), zero(), zero(), sin(theta)) let (s, c) = sin_cos(theta.mul_s(cast(0.5).unwrap()));
Quat::new(c, zero(), zero(), s)
} }
/// Create a quaternion from a set of euler angles. /// Create a quaternion from a set of euler angles.