Resolved issue #4, added GLM_GTX_rotate_normalized_axis

glm/gtc/matrix_transform.hpp

@@ -87,7 +87,7 @@ namespace glm
 	/// 
 	/// @param m Input matrix multiplied by this rotation matrix.
 	/// @param angle Rotation angle expressed in radians if GLM_FORCE_RADIANS is define or degrees otherwise.
-	/// @param axis Rotation axis, recommanded to be normalized.
+	/// @param axis Rotation axis.
 	/// @tparam T Value type used to build the matrix. Currently supported: half (not recommanded), float or double.
 	/// @see gtc_matrix_transform
 	/// @see gtx_transform

glm/gtc/matrix_transform.inl

@@ -51,7 +51,7 @@ namespace glm
 #ifdef GLM_FORCE_RADIANS
 		T a = angle;
 #else
-		T a = radians(angle);		
+		T a = radians(angle);
 #endif
 		T c = cos(a);
 		T s = sin(a);

glm/gtc/quaternion.hpp

@@ -192,11 +192,11 @@ namespace detail
 	detail::tquat<T> inverse(
 		detail::tquat<T> const & q);
 
-	/// Rotates a quaternion from an vector of 3 components axis and an angle.
+	/// Rotates a quaternion from a vector of 3 components axis and an angle.
 	/// 
 	/// @param q Source orientation
 	/// @param angle Angle expressed in radians if GLM_FORCE_RADIANS is define or degrees otherwise.
-	/// @param axis Axis of the rotation, must be normalized.
+	/// @param axis Axis of the rotation
 	/// 
 	/// @see gtc_quaternion
 	template <typename T> 

glm/gtx/rotate_normalized_axis.hpp

@@ -0,0 +1,92 @@
+///////////////////////////////////////////////////////////////////////////////////
+/// OpenGL Mathematics (glm.g-truc.net)
+///
+/// Copyright (c) 2005 - 2012 G-Truc Creation (www.g-truc.net)
+/// Permission is hereby granted, free of charge, to any person obtaining a copy
+/// of this software and associated documentation files (the "Software"), to deal
+/// in the Software without restriction, including without limitation the rights
+/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+/// copies of the Software, and to permit persons to whom the Software is
+/// furnished to do so, subject to the following conditions:
+/// 
+/// The above copyright notice and this permission notice shall be included in
+/// all copies or substantial portions of the Software.
+/// 
+/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+/// THE SOFTWARE.
+///
+/// @ref gtx_rotate_normalized_axis
+/// @file glm/gtx/rotate_normalized_axis.hpp
+/// @date 2012-12-13 / 2012-12-13
+/// @author Christophe Riccio
+///
+/// @see core (dependence)
+/// @see gtc_matrix_transform
+/// @see gtc_quaternion
+/// 
+/// @defgroup gtx_rotate_normalized_axis GLM_GTX_rotate_normalized_axis
+/// @ingroup gtc
+/// 
+/// @brief Quaternions and matrices rotations around normalized axis.
+/// 
+/// <glm/gtx/rotate_normalized_axis.hpp> need to be included to use these functionalities.
+///////////////////////////////////////////////////////////////////////////////////
+
+#ifndef GLM_GTX_rotate_normalized_axis
+#define GLM_GTX_rotate_normalized_axis GLM_VERSION
+
+// Dependency:
+#include "../glm.hpp"
+#include "../gtc/epsilon.hpp"
+#include "../gtc/quaternion.hpp"
+
+#if(defined(GLM_MESSAGES) && !defined(glm_ext))
+#	pragma message("GLM: GLM_GTX_rotate_normalized_axis extension included")
+#endif
+
+namespace glm
+{
+	/// @addtogroup gtx_rotate_normalized_axis
+	/// @{
+
+	/// Builds a rotation 4 * 4 matrix created from a normalized axis and an angle. 
+	/// 
+	/// @param m Input matrix multiplied by this rotation matrix.
+	/// @param angle Rotation angle expressed in radians if GLM_FORCE_RADIANS is define or degrees otherwise.
+	/// @param axis Rotation axis, must be normalized.
+	/// @tparam T Value type used to build the matrix. Currently supported: half (not recommanded), float or double.
+	/// 
+	/// @see gtx_rotate_normalized_axis
+	/// @see - rotate(T angle, T x, T y, T z) 
+	/// @see - rotate(detail::tmat4x4<T> const & m, T angle, T x, T y, T z) 
+	/// @see - rotate(T angle, detail::tvec3<T> const & v) 
+	template <typename T> 
+	detail::tmat4x4<T> rotateNormalizedAxis(
+		detail::tmat4x4<T> const & m,
+		T const & angle, 
+		detail::tvec3<T> const & axis);
+
+	/// Rotates a quaternion from a vector of 3 components normalized axis and an angle.
+	/// 
+	/// @param q Source orientation
+	/// @param angle Angle expressed in radians if GLM_FORCE_RADIANS is define or degrees otherwise.
+	/// @param axis Normalized axis of the rotation, must be normalized.
+	/// 
+	/// @see gtx_rotate_normalized_axis
+	template <typename T> 
+	detail::tquat<T> rotateNormalizedAxis(
+		detail::tquat<T> const & q, 
+		typename detail::tquat<T>::value_type const & angle, 
+		detail::tvec3<T> const & axis);
+
+	/// @}
+}//namespace glm
+
+#include "rotate_normalized_axis.inl"
+
+#endif//GLM_GTX_rotate_normalized_axis

glm/gtx/rotate_normalized_axis.inl

@@ -0,0 +1,92 @@
+///////////////////////////////////////////////////////////////////////////////////
+/// OpenGL Mathematics (glm.g-truc.net)
+///
+/// Copyright (c) 2005 - 2012 G-Truc Creation (www.g-truc.net)
+/// Permission is hereby granted, free of charge, to any person obtaining a copy
+/// of this software and associated documentation files (the "Software"), to deal
+/// in the Software without restriction, including without limitation the rights
+/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+/// copies of the Software, and to permit persons to whom the Software is
+/// furnished to do so, subject to the following conditions:
+/// 
+/// The above copyright notice and this permission notice shall be included in
+/// all copies or substantial portions of the Software.
+/// 
+/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+/// THE SOFTWARE.
+///
+/// @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 <typename T> 
+	GLM_FUNC_QUALIFIER detail::tmat4x4<T> rotateNormalizedAxis
+	(
+		detail::tmat4x4<T> const & m,
+		T const & angle, 
+		detail::tvec3<T> const & v
+	)
+	{
+#ifdef GLM_FORCE_RADIANS
+		T a = angle;
+#else
+		T a = radians(angle);
+#endif
+		T c = cos(a);
+		T s = sin(a);
+
+		detail::tvec3<T> axis = v;
+
+		detail::tvec3<T> temp = (T(1) - c) * axis;
+
+		detail::tmat4x4<T> Rotate(detail::tmat4x4<T>::null);
+		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];
+
+		detail::tmat4x4<T> Result(detail::tmat4x4<T>::null);
+		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 <typename T> 
+	GLM_FUNC_QUALIFIER detail::tquat<T> rotateNormalizedAxis
+	(
+		detail::tquat<T> const & q, 
+		typename detail::tquat<T>::value_type const & angle, 
+		detail::tvec3<T> const & v
+	)
+	{
+		detail::tvec3<T> Tmp = v;
+
+#ifdef GLM_FORCE_RADIANS
+		typename detail::tquat<T>::value_type const AngleRad(angle);
+#else
+		typename detail::tquat<T>::value_type const AngleRad = radians(angle);
+#endif
+		typename detail::tquat<T>::value_type const Sin = sin(AngleRad * T(0.5));
+
+		return q * detail::tquat<T>(cos(AngleRad * T(0.5)), Tmp.x * Sin, Tmp.y * Sin, Tmp.z * Sin);
+		//return gtc::quaternion::cross(q, detail::tquat<T>(cos(AngleRad * T(0.5)), Tmp.x * fSin, Tmp.y * fSin, Tmp.z * fSin));
+	}
+}//namespace glm

glm/gtx/transform.hpp

@@ -54,71 +54,71 @@ namespace glm
 	/// @addtogroup gtx_transform
 	/// @{
 
-	//! Builds a translation 4 * 4 matrix created from 3 scalars.
-	//! - From \link gtx_transform GLM_GTX_transform \endlink extension
-	// - See also: \link glm::translate GLM_GTC_matrix_transform \endlink
+	/// Builds a translation 4 * 4 matrix created from 3 scalars.
+	/// - From \link gtx_transform GLM_GTX_transform \endlink extension
+	/// - See also: \link glm::translate GLM_GTC_matrix_transform \endlink
 	template <typename T> 
 	detail::tmat4x4<T> translate(
 		T x, T y, T z);
 		
-	//! Transforms a matrix with a translation 4 * 4 matrix created from 3 scalars. 
-	//! - From \link gtx_transform GLM_GTX_transform \endlink extension
-	// - See also: \link glm::translate GLM_GTC_matrix_transform \endlink
+	/// Transforms a matrix with a translation 4 * 4 matrix created from 3 scalars. 
+	/// - From \link gtx_transform GLM_GTX_transform \endlink extension
+	/// - See also: \link glm::translate GLM_GTC_matrix_transform \endlink
 	template <typename T> 
 	detail::tmat4x4<T> translate(
 		detail::tmat4x4<T> const & m, 
 		T x, T y, T z);
 		
-	//! Transforms a matrix with a translation 4 * 4 matrix created from 3 scalars. 
-	//! - From \link gtx_transform GLM_GTX_transform \endlink extension
-	// - See also: \link glm::translate GLM_GTC_matrix_transform \endlink
+	/// Transforms a matrix with a translation 4 * 4 matrix created from 3 scalars. 
+	/// - From \link gtx_transform GLM_GTX_transform \endlink extension
+	/// - See also: \link glm::translate GLM_GTC_matrix_transform \endlink
 	template <typename T> 
 	detail::tmat4x4<T> translate(
 		detail::tvec3<T> const & v);
 
-	//! Builds a rotation 4 * 4 matrix created from an axis of 3 scalars and an angle expressed in degrees. 
-	//! - From \link gtx_transform GLM_GTX_transform \endlink extension
-	// - See also: \link glm::rotate GLM_GTC_matrix_transform \endlink
+	/// Builds a rotation 4 * 4 matrix created from an axis of 3 scalars and an angle expressed in degrees. 
+	/// - From \link gtx_transform GLM_GTX_transform \endlink extension
+	/// - See also: \link glm::rotate GLM_GTC_matrix_transform \endlink
 	template <typename T> 
 	detail::tmat4x4<T> rotate(
 		T angle, 
 		T x, T y, T z);
 
-	//! Builds a rotation 4 * 4 matrix created from an axis of 3 scalars and an angle expressed in degrees. 
-	//! - From \link gtx_transform GLM_GTX_transform \endlink extension
-	// - See also: \link glm::rotate GLM_GTC_matrix_transform \endlink
+	/// Builds a rotation 4 * 4 matrix created from an axis of 3 scalars and an angle expressed in degrees. 
+	/// - From \link gtx_transform GLM_GTX_transform \endlink extension
+	/// - See also: \link glm::rotate GLM_GTC_matrix_transform \endlink
 	template <typename T> 
 	detail::tmat4x4<T> rotate(
 		T angle, 
 		detail::tvec3<T> const & v);
 
-	//! Transforms a matrix with a rotation 4 * 4 matrix created from an axis of 3 scalars and an angle expressed in degrees. 
-	//! - From \link gtx_transform GLM_GTX_transform \endlink extension
-	// - See also: \link glm::rotate GLM_GTC_matrix_transform \endlink
+	/// Transforms a matrix with a rotation 4 * 4 matrix created from an axis of 3 scalars and an angle expressed in degrees. 
+	/// - From \link gtx_transform GLM_GTX_transform \endlink extension
+	/// - See also: \link glm::rotate GLM_GTC_matrix_transform \endlink
 	template <typename T> 
 	detail::tmat4x4<T> rotate(
 		detail::tmat4x4<T> const & m, 
 		T angle, 
 		T x, T y, T z);
 		
-	//! Builds a scale 4 * 4 matrix created from 3 scalars. 
-	//! - From \link gtx_transform GLM_GTX_transform \endlink extension
-	// - See also: \link glm::scale GLM_GTC_matrix_transform \endlink
+	/// Builds a scale 4 * 4 matrix created from 3 scalars. 
+	/// - From \link gtx_transform GLM_GTX_transform \endlink extension
+	/// - See also: \link glm::scale GLM_GTC_matrix_transform \endlink
 	template <typename T> 
 	detail::tmat4x4<T> scale(
 		T x, T y, T z);
 		
-	//! Transforms a matrix with a scale 4 * 4 matrix created from 3 scalars.
-	//! - From \link gtx_transform GLM_GTX_transform \endlink extension
-	// - See also: \link glm::scale GLM_GTC_matrix_transform \endlink
+	/// Transforms a matrix with a scale 4 * 4 matrix created from 3 scalars.
+	/// - From \link gtx_transform GLM_GTX_transform \endlink extension
+	/// - See also: \link glm::scale GLM_GTC_matrix_transform \endlink
 	template <typename T> 
 	detail::tmat4x4<T> scale(
 		detail::tmat4x4<T> const & m, 
 		T x, T y, T z);
 
-	//! Transforms a matrix with a scale 4 * 4 matrix created from a vector of 3 components.
-	//! - From \link gtx_transform GLM_GTX_transform \endlink extension
-	// - See also: \link glm::scale GLM_GTC_matrix_transform \endlink
+	/// Transforms a matrix with a scale 4 * 4 matrix created from a vector of 3 components.
+	/// - From \link gtx_transform GLM_GTX_transform \endlink extension
+	/// - See also: \link glm::scale GLM_GTC_matrix_transform \endlink
 	template <typename T> 
 	detail::tmat4x4<T> scale(
 		detail::tvec3<T> const & v);

glm/gtx/transform.inl

@@ -9,82 +9,82 @@
 
 namespace glm
 {
-    template <typename T> 
-    GLM_FUNC_QUALIFIER detail::tmat4x4<T> translate(
+	template <typename T> 
+	GLM_FUNC_QUALIFIER detail::tmat4x4<T> translate(
 		T x, T y, T z)
-    {
+	{
 		return translate(
 			detail::tmat4x4<T>(1.0f), 
 			detail::tvec3<T>(x, y , z));
-    }
+	}
 
-    template <typename T> 
-    GLM_FUNC_QUALIFIER detail::tmat4x4<T> translate(
+	template <typename T> 
+	GLM_FUNC_QUALIFIER detail::tmat4x4<T> translate(
 		detail::tmat4x4<T> const & m, 
 		T x, T y, T z)
-    {
-        return translate(
+	{
+		return translate(
 			m, detail::tvec3<T>(x, y , z));
-    }
+	}
 
-    template <typename T> 
-    GLM_FUNC_QUALIFIER detail::tmat4x4<T> translate(
+	template <typename T> 
+	GLM_FUNC_QUALIFIER detail::tmat4x4<T> translate(
 		detail::tvec3<T> const & v)
-    {
+	{
 		return translate(
 			detail::tmat4x4<T>(1.0f), v);
-    }
+	}
 
-    template <typename T> 
-    GLM_FUNC_QUALIFIER detail::tmat4x4<T> rotate(
+	template <typename T> 
+	GLM_FUNC_QUALIFIER detail::tmat4x4<T> rotate(
 		T angle, 
 		T x, T y, T z)
-    {
+	{
 		return rotate(
 			detail::tmat4x4<T>(1), angle, detail::tvec3<T>(x, y, z));
-    }
+	}
 
-    template <typename T> 
-    GLM_FUNC_QUALIFIER detail::tmat4x4<T> rotate(
+	template <typename T> 
+	GLM_FUNC_QUALIFIER detail::tmat4x4<T> rotate(
 		T angle, 
 		detail::tvec3<T> const & v)
-    {
+	{
 		return rotate(
 			detail::tmat4x4<T>(1), angle, v);
-    }
+	}
 
-    template <typename T> 
-    GLM_FUNC_QUALIFIER detail::tmat4x4<T> rotate(
+	template <typename T> 
+	GLM_FUNC_QUALIFIER detail::tmat4x4<T> rotate(
 		detail::tmat4x4<T> const & m, 
 		T angle, 
 		T x, T y, T z)
-    {
+	{
 		return rotate(
 			m, angle, detail::tvec3<T>(x, y, z));
-    }
+	}
 
-    template <typename T> 
-    GLM_FUNC_QUALIFIER detail::tmat4x4<T> scale(T x, T y, T z)
-    {
+	template <typename T> 
+	GLM_FUNC_QUALIFIER detail::tmat4x4<T> scale(T x, T y, T z)
+	{
 		return scale(
 			detail::tmat4x4<T>(1), detail::tvec3<T>(x, y, z));
-    }
+	}
 
-    template <typename T> 
-    GLM_FUNC_QUALIFIER detail::tmat4x4<T> scale(
+	template <typename T> 
+	GLM_FUNC_QUALIFIER detail::tmat4x4<T> scale(
 		detail::tmat4x4<T> const & m, 
 		T x, T y, T z)
-    {
-        return scale(
+	{
+		return scale(
 			m, detail::tvec3<T>(x, y, z));
-    }
+	}
 
-    template <typename T> 
-    GLM_FUNC_QUALIFIER detail::tmat4x4<T> scale(
+	template <typename T> 
+	GLM_FUNC_QUALIFIER detail::tmat4x4<T> scale(
 		detail::tvec3<T> const & v)
-    {
-        return scale(
+	{
+		return scale(
 			detail::tmat4x4<T>(1.0f), v);
-    }
+	}
 
 }//namespace glm

test/gtx/CMakeLists.txt

@@ -5,6 +5,7 @@ glmCreateTestGTC(gtx_matrix_interpolation)
 glmCreateTestGTC(gtx_matrix_query)
 glmCreateTestGTC(gtx_multiple)
 glmCreateTestGTC(gtx_quaternion)
+glmCreateTestGTC(gtx_rotate_normalized_axis)
 glmCreateTestGTC(gtx_rotate_vector)
 glmCreateTestGTC(gtx_simd_vec4)
 glmCreateTestGTC(gtx_simd_mat4)

test/gtx/gtx_rotate_normalized_axis.cpp

@@ -0,0 +1,37 @@
+///////////////////////////////////////////////////////////////////////////////////
+/// OpenGL Mathematics (glm.g-truc.net)
+///
+/// Copyright (c) 2005 - 2012 G-Truc Creation (www.g-truc.net)
+/// Permission is hereby granted, free of charge, to any person obtaining a copy
+/// of this software and associated documentation files (the "Software"), to deal
+/// in the Software without restriction, including without limitation the rights
+/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+/// copies of the Software, and to permit persons to whom the Software is
+/// furnished to do so, subject to the following conditions:
+/// 
+/// The above copyright notice and this permission notice shall be included in
+/// all copies or substantial portions of the Software.
+/// 
+/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+/// THE SOFTWARE.
+///
+/// @ref gtx_rotate_normalized_axis
+/// @file test/gtx/rotate_normalized_axis.cpp
+/// @date 2012-12-13 / 2012-12-13
+/// @author Christophe Riccio
+///////////////////////////////////////////////////////////////////////////////////////////////////
+
+#include <glm/glm.hpp>
+#include <glm/gtx/rotate_normalized_axis.hpp>
+
+int main()
+{
+	int Error(0);
+	
+	return Error;
+}