QuaternionBaseAddons.h

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//
// Copyright (c) 2009, Markus Rickert
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are met:
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// * Redistributions in binary form must reproduce the above copyright notice,
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#ifndef _RL_MATH_QUATERNIONBASEADDONS_H_
#define _RL_MATH_QUATERNIONBASEADDONS_H_
 
void
fromUniform(const Scalar& rand0, const Scalar& rand1, const Scalar& rand2)
{
    eigen_assert(rand0 >= Scalar(0));
    eigen_assert(rand0 <= Scalar(1));
    eigen_assert(rand1 >= Scalar(0));
    eigen_assert(rand1 <= Scalar(1));
    eigen_assert(rand2 >= Scalar(0));
    eigen_assert(rand2 <= Scalar(1));
    
    Scalar sigma1 = ::std::sqrt(Scalar(1) - rand0);
    Scalar sigma2 = ::std::sqrt(rand0);
    Scalar theta1 = Scalar(2) * static_cast< Scalar >(M_PI) * rand1;
    Scalar theta2 = Scalar(2) * static_cast< Scalar >(M_PI) * rand2;
    
    this->w() = ::std::cos(theta2) * sigma2;
    this->x() = ::std::sin(theta1) * sigma1;
    this->y() = ::std::cos(theta1) * sigma1;
    this->z() = ::std::sin(theta2) * sigma2;
}
 
#endif // _RL_MATH_QUATERNIONBASEADDONS_H_