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Double - float conversions.

This commit is contained in:
Federico Ponchio 2004-03-09 20:54:57 +00:00
parent 86e23fb5d4
commit 499b368150
1 changed files with 10 additions and 10 deletions
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20
vcg/math/quaternion.h
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@ -164,32 +164,32 @@ template <class S> void Quaternion<S>::ToMatrix(Matrix44<S> &m) const {
///warning m deve essere una matrice di rotazione pena il disastro.
template <class S> void Quaternion<S>::FromMatrix(Matrix44<S> &m) {
double Sc;
double t = (m[0] + m[5] + m[10] + 1);
S Sc;
S t = (m[0] + m[5] + m[10] + (S)1.0);
if(t > 0) {
Sc = 0.5 / sqrt(t);
V(0) = 0.25 / Sc;
Sc = (S)0.5 / math::Sqrt(t);
V(0) = (S)0.25 / Sc;
V(1) = ( m[9] - m[6] ) * Sc;
V(2) = ( m[2] - m[8] ) * Sc;
V(3) = ( m[4] - m[1] ) * Sc;
} else {
if(m[0] > m[5] && m[0] > m[10]) {
Sc = sqrt( 1.0 + m[0] - m[5] - m[10] ) * 2;
V(1) = 0.5 / Sc;
Sc = math::Sqrt( (S)1.0 + m[0] - m[5] - m[10] ) * (S)2.0;
V(1) = (S)0.5 / Sc;
V(2) = (m[1] + m[4] ) / Sc;
V(3) = (m[2] + m[8] ) / Sc;
V(0) = (m[6] + m[9] ) / Sc;
} else if( m[5] > m[10]) {
Sc = sqrt( 1.0 + m[5] - m[0] - m[10] ) * 2;
Sc = math::Sqrt( (S)1.0 + m[5] - m[0] - m[10] ) * (S)2.0;
V(1) = (m[1] + m[4] ) / Sc;
V(2) = 0.5 / Sc;
V(2) = (S)0.5 / Sc;
V(3) = (m[6] + m[9] ) / Sc;
V(0) = (m[2] + m[8] ) / Sc;
} else {
Sc = sqrt( 1.0 + m[10] - m[0] - m[5] ) * 2;
Sc = math::Sqrt( (S)1.0 + m[10] - m[0] - m[5] ) * (S)2.0;
V(1) = (m[2] + m[8] ) / Sc;
V(2) = (m[6] + m[9] ) / Sc;
V(3) = 0.5 / Sc;
V(3) = (S)0.5 / Sc;
V(0) = (m[1] + m[4] ) / Sc;
}
}