[+] Added few functions for conveniance. Decompose overload.
Alexandr Arutjunov
parent
9e0f594aa3
commit
70614ce205
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@ -93,7 +93,15 @@ public:
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public:
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// array access operators
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/** @fn TReal* operator[] (unsigned int p_iIndex)
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* @param [in] p_iIndex - index of the row.
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* @return pointer to pointed row.
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*/
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TReal* operator[] (unsigned int p_iIndex);
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/** @fn const TReal* operator[] (unsigned int p_iIndex) const
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* @overload TReal* operator[] (unsigned int p_iIndex)
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*/
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const TReal* operator[] (unsigned int p_iIndex) const;
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// comparison operators
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@ -140,6 +148,25 @@ public:
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void Decompose (aiVector3t<TReal>& scaling, aiQuaterniont<TReal>& rotation,
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aiVector3t<TReal>& position) const;
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// -------------------------------------------------------------------
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/** @fn void Decompose(aiVector3t<TReal>& pScaling, aiVector3t<TReal>& pRotation, aiVector3t<TReal>& pPosition) const
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* @brief Decompose a trafo matrix into its original components
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* @param [out] pScaling - Receives the output scaling for the x,y,z axes.
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* @param [out] pRotation - Receives the output rotation as a Euler angles.
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* @param [out] pPosition - Receives the output position for the x,y,z axes.
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*/
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void Decompose(aiVector3t<TReal>& pScaling, aiVector3t<TReal>& pRotation, aiVector3t<TReal>& pPosition) const;
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// -------------------------------------------------------------------
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/** @fn void Decompose(aiVector3t<TReal>& pScaling, aiVector3t<TReal>& pRotationAxis, TReal& pRotationAngle, aiVector3t<TReal>& pPosition) const
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* @brief Decompose a trafo matrix into its original components
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* @param [out] pScaling - Receives the output scaling for the x,y,z axes.
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* @param [out] pRotationAxis - Receives the output rotation axis.
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* @param [out] pRotationAngle - Receives the output rotation angle for @ref pRotationAxis.
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* @param [out] pPosition - Receives the output position for the x,y,z axes.
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*/
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void Decompose(aiVector3t<TReal>& pScaling, aiVector3t<TReal>& pRotationAxis, TReal& pRotationAngle, aiVector3t<TReal>& pPosition) const;
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// -------------------------------------------------------------------
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/** @brief Decompose a trafo matrix with no scaling into its
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* original components
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@ -299,49 +299,45 @@ inline bool aiMatrix4x4t<TReal>::Equal(const aiMatrix4x4t<TReal>& m, TReal epsil
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}
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// ----------------------------------------------------------------------------------------
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#define ASSIMP_MATRIX4_4_DECOMPOSE_PART \
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const aiMatrix4x4t<TReal>& _this = *this;/* Create alias for conveniance. */ \
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\
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/* extract translation */ \
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pPosition.x = _this[0][3]; \
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pPosition.y = _this[1][3]; \
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pPosition.z = _this[2][3]; \
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\
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/* extract the rows of the matrix. */ \
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aiVector3t<TReal> vRows[3] = { \
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aiVector3t<TReal>(_this[0][0],_this[1][0],_this[2][0]), \
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aiVector3t<TReal>(_this[0][1],_this[1][1],_this[2][1]), \
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aiVector3t<TReal>(_this[0][2],_this[1][2],_this[2][2]) \
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}; \
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\
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/* extract the scaling factors */ \
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pScaling.x = vRows[0].Length(); \
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pScaling.y = vRows[1].Length(); \
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pScaling.z = vRows[2].Length(); \
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\
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/* and the sign of the scaling */ \
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if (Determinant() < 0) pScaling = -pScaling; \
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\
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/* and remove all scaling from the matrix */ \
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if(pScaling.x) vRows[0] /= pScaling.x; \
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if(pScaling.y) vRows[1] /= pScaling.y; \
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if(pScaling.z) vRows[2] /= pScaling.z; \
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\
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do {} while(false)
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template <typename TReal>
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inline void aiMatrix4x4t<TReal>::Decompose (aiVector3t<TReal>& scaling, aiQuaterniont<TReal>& rotation,
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aiVector3t<TReal>& position) const
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inline void aiMatrix4x4t<TReal>::Decompose (aiVector3t<TReal>& pScaling, aiQuaterniont<TReal>& pRotation,
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aiVector3t<TReal>& pPosition) const
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{
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const aiMatrix4x4t<TReal>& _this = *this;
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// extract translation
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position.x = _this[0][3];
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position.y = _this[1][3];
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position.z = _this[2][3];
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// extract the rows of the matrix
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aiVector3t<TReal> vRows[3] = {
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aiVector3t<TReal>(_this[0][0],_this[1][0],_this[2][0]),
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aiVector3t<TReal>(_this[0][1],_this[1][1],_this[2][1]),
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aiVector3t<TReal>(_this[0][2],_this[1][2],_this[2][2])
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};
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// extract the scaling factors
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scaling.x = vRows[0].Length();
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scaling.y = vRows[1].Length();
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scaling.z = vRows[2].Length();
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// and the sign of the scaling
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if (Determinant() < 0) {
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scaling.x = -scaling.x;
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scaling.y = -scaling.y;
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scaling.z = -scaling.z;
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}
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// and remove all scaling from the matrix
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if(scaling.x)
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{
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vRows[0] /= scaling.x;
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}
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if(scaling.y)
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{
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vRows[1] /= scaling.y;
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}
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if(scaling.z)
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{
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vRows[2] /= scaling.z;
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}
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ASSIMP_MATRIX4_4_DECOMPOSE_PART;
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// build a 3x3 rotation matrix
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aiMatrix3x3t<TReal> m(vRows[0].x,vRows[1].x,vRows[2].x,
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@ -349,7 +345,83 @@ inline void aiMatrix4x4t<TReal>::Decompose (aiVector3t<TReal>& scaling, aiQuater
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vRows[0].z,vRows[1].z,vRows[2].z);
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// and generate the rotation quaternion from it
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rotation = aiQuaterniont<TReal>(m);
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pRotation = aiQuaterniont<TReal>(m);
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}
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template <typename TReal>
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inline void aiMatrix4x4t<TReal>::Decompose(aiVector3t<TReal>& pScaling, aiVector3t<TReal>& pRotation, aiVector3t<TReal>& pPosition) const
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{
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ASSIMP_MATRIX4_4_DECOMPOSE_PART;
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/*
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| CE -CF -D 0 |
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M = | -BDE+AF BDF+AE -BC 0 |
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| ADE+BF -ADF+BE AC 0 |
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| 0 0 0 1 |
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A = cos(angle_x);
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B = sin(angle_x);
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C = cos(angle_y);
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D = sin(angle_y);
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E = cos(angle_z);
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F = sin(angle_z);
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*/
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// Use a small epsilon to solve floating-point inaccuracies
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constexpr TReal epsilon = 10e-3f;
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pRotation.y = -asin(_this[0][2]);// Angle around oY.
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TReal C = cos(pRotation.y);
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if(fabs(C) > epsilon)
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{
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// Finding angle around oX.
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TReal tan_x = _this[2][2] / C;
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TReal tan_y = -_this[1][2] / C;
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pRotation.x = atan2(tan_y, tan_x);
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// Finding angle around oZ.
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tan_x = _this[0][0] / C;
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tan_y = -_this[0][1] / C;
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pRotation.z = atan2(tan_y, tan_x);
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}
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else
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{
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pRotation.x = 0;// Set angle around oX to 0.
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// And finding angle around oZ.
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TReal tan_x = _this[1][1];
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TReal tan_y = _this[1][0];
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pRotation.z = atan2(tan_y, tan_x);
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}
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}
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#undef ASSIMP_MATRIX4_4_DECOMPOSE_PART
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template <typename TReal>
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inline void aiMatrix4x4t<TReal>::Decompose(aiVector3t<TReal>& pScaling, aiVector3t<TReal>& pRotationAxis, TReal& pRotationAngle,
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aiVector3t<TReal>& pPosition) const
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{
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aiQuaterniont<TReal> pRotation;
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Decompose(pScaling, pRotation, pPosition);
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pRotation.Normalize();
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TReal angle_cos = pRotation.w;
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TReal angle_sin = sqrt(1.0f - angle_cos * angle_cos);
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pRotationAngle = acos(angle_cos) * 2;
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// Use a small epsilon to solve floating-point inaccuracies
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constexpr TReal epsilon = 10e-3f;
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if(fabs(angle_sin) < epsilon) angle_sin = 1;
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pRotationAxis.x = pRotation.x / angle_sin;
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pRotationAxis.y = pRotation.y / angle_sin;
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pRotationAxis.z = pRotation.z / angle_sin;
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}
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// ----------------------------------------------------------------------------------------
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