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implemented matrix to quaternion conversion

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aap 2017-10-22 12:19:00 +02:00
parent 9609a91848
commit b62da21ef8
2 changed files with 35 additions and 0 deletions
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34
src/base.cpp
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@ -343,6 +343,40 @@ Matrix::transform(Matrix *mat, CombineOp op)
return this;
}
Quat
Matrix::getRotation(void)
{
Quat q = { 0.0f, 0.0f, 0.0f, 1.0f };
float32 tr = right.x + up.y + at.z;
float s;
if(tr > 0.0f){
s = sqrt(1.0f + tr) * 2.0f;
q.w = s / 4.0f;
q.x = (up.z - at.y) / s;
q.y = (at.x - right.z) / s;
q.z = (right.y - up.x) / s;
}else if(right.x > up.y && right.x > at.z){
s = sqrt(1.0f + right.x - up.y - at.z) * 2.0f;
q.w = (up.z - at.y) / s;
q.x = s / 4.0f;
q.y = (up.x + right.y) / s;
q.z = (at.x + right.z) / s;
}else if(up.y > at.z){
s = sqrt(1.0f + up.y - right.x - at.z) * 2.0f;
q.w = (at.x - right.z) / s;
q.x = (up.x + right.y) / s;
q.y = s / 4.0f;
q.z = (at.y + up.z) / s;
}else{
s = sqrt(1.0f + at.z - right.x - up.y) * 2.0f;
q.w = (right.y - up.x) / s;
q.x = (at.x + right.z) / s;
q.y = (at.y + up.z) / s;
q.z = s / 4.0f;
}
return q;
}
void
Matrix::lookAt(const V3d &dir, const V3d &up)
{

1
src/rwbase.h
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@ -321,6 +321,7 @@ struct Matrix
Matrix *translate(V3d *translation, CombineOp op);
Matrix *scale(V3d *scl, CombineOp op);
Matrix *transform(Matrix *mat, CombineOp op);
Quat getRotation(void);
void lookAt(const V3d &dir, const V3d &up);
// helper functions. consider private