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quat->mat

This commit is contained in:
aap 2016-02-18 18:23:38 +01:00
parent 9bc57a0641
commit 91291709d8
2 changed files with 36 additions and 0 deletions
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34
src/rwbase.cpp
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@ -84,6 +84,24 @@ cross(const V3d &a, const V3d &b)
a.x*b.y - a.y*b.x);
}
Matrix
Matrix::makeRotation(const Quat &q)
{
Matrix res;
res.right.x = q.w*q.w + q.x*q.x - q.y*q.y - q.z*q.z;
res.right.y = 2*q.w*q.z + 2*q.x*q.y;
res.right.z = 2*q.x*q.z - 2*q.w*q.y;
res.up.x = 2*q.x*q.y - 2*q.w*q.z;
res.up.y = q.w*q.w - q.x*q.x + q.y*q.y - q.z*q.z;
res.up.z = 2*q.w*q.x + 2*q.y*q.z;
res.at.x = 2*q.w*q.y + 2*q.x*q.z;
res.at.y = 2*q.y*q.z - 2*q.w*q.x;
res.at.z = q.w*q.w - q.x*q.x - q.y*q.y + q.z*q.z;
res.rightw = res.upw = res.atw = 0.0f;
res.posw = 1.0f;
return res;
}
void
Matrix::setIdentity(void)
{
@ -135,6 +153,22 @@ Matrix::transpose(Matrix *m1, Matrix *m2)
}
Matrix3
Matrix3::makeRotation(const Quat &q)
{
Matrix3 res;
res.right.x = q.w*q.w + q.x*q.x - q.y*q.y - q.z*q.z;
res.right.y = 2*q.w*q.z + 2*q.x*q.y;
res.right.z = 2*q.x*q.z - 2*q.w*q.y;
res.up.x = 2*q.x*q.y - 2*q.w*q.z;
res.up.y = q.w*q.w - q.x*q.x + q.y*q.y - q.z*q.z;
res.up.z = 2*q.w*q.x + 2*q.y*q.z;
res.at.x = 2*q.w*q.y + 2*q.x*q.z;
res.at.y = 2*q.y*q.z - 2*q.w*q.x;
res.at.z = q.w*q.w - q.x*q.x - q.y*q.y + q.z*q.z;
return res;
}
void
Matrix3::setIdentity(void)
{

2
src/rwbase.h
View File

@ -118,6 +118,7 @@ struct Matrix
V3d pos;
float32 posw;
static Matrix makeRotation(const Quat &q);
void setIdentity(void);
V3d transPoint(const V3d &p);
V3d transVec(const V3d &v);
@ -132,6 +133,7 @@ struct Matrix3
{
V3d right, up, at;
static Matrix3 makeRotation(const Quat &q);
void setIdentity(void);
V3d transVec(const V3d &v);
bool32 isIdentity(void);