BlackMATov/vmath.hpp
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more safe vector angle

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BlackMATov
2021-02-10 17:49:59 +07:00
parent c15095c098
commit 7c79e05c89
1 changed files with 19 additions and 14 deletions
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31
headers/vmath.hpp/vmath_ext.hpp
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@@ -265,22 +265,26 @@ namespace vmath_hpp
const auto [qv, qs] = normalize(q);
const T xx = qv.x * qv.x;
const T yy = qv.y * qv.y;
const T zz = qv.z * qv.z;
const T x2 = qv.x * T(2);
const T y2 = qv.y * T(2);
const T z2 = qv.z * T(2);
const T xy = qv.x * qv.y;
const T xz = qv.x * qv.z;
const T yz = qv.y * qv.z;
const T sx2 = qs * x2;
const T sy2 = qs * y2;
const T sz2 = qs * z2;
const T xw = qv.x * qs;
const T yw = qv.y * qs;
const T zw = qv.z * qs;
const T xx2 = qv.x * x2;
const T xy2 = qv.x * y2;
const T xz2 = qv.x * z2;
const T yy2 = qv.y * y2;
const T yz2 = qv.y * z2;
const T zz2 = qv.z * z2;
return {
T(1) - (T(2) * (yy + zz)), T(2) * (xy + zw), T(2) * (xz - yw), 0,
T(2) * (xy - zw), T(1) - (T(2) * (xx + zz)), T(2) * (yz + xw), 0,
T(2) * (xz + yw), T(2) * (yz - xw), T(1) - (T(2) * (xx + yy)), 0,
T(1) - (yy2 + zz2), (xy2 + sz2), (xz2 - sy2), 0,
(xy2 - sz2), T(1) - (xx2 + zz2), (yz2 + sx2), 0,
(xz2 + sy2), (yz2 - sx2), T(1) - (xx2 + yy2), 0,
0, 0, 0, 1};
}
@@ -795,7 +799,8 @@ namespace vmath_hpp
template < typename T, std::size_t Size >
[[nodiscard]] T angle(const vec<T, Size>& x, const vec<T, Size>& y) {
return acos(dot(x, y) * rsqrt(length2(x) * length2(y)));
const T rs = rsqrt(length2(x) * length2(y));
return acos(clamp(dot(x, y) * rs, T(-1), T(1)));
}
// rotate