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WXYZ quaternion layout

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This commit is contained in:
Jack Andersen
2016-04-06 17:39:24 -10:00
parent 65a49aca92
commit baaca3136b
4 changed files with 127 additions and 86 deletions
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18
src/CMatrix3f.cpp
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@@ -9,20 +9,20 @@ const CMatrix3f CMatrix3f::skIdentityMatrix3f = CMatrix3f();
CMatrix3f::CMatrix3f(const CQuaternion& quat)
{
CQuaternion nq = quat.normalized();
float x2 = nq.v[0] * nq.v[0];
float y2 = nq.v[1] * nq.v[1];
float z2 = nq.v[2] * nq.v[2];
float x2 = nq.x * nq.x;
float y2 = nq.y * nq.y;
float z2 = nq.z * nq.z;
m[0][0] = 1.0 - 2.0 * y2 - 2.0 * z2;
m[1][0] = 2.0 * nq.v[0] * nq.v[1] - 2.0 * nq.v[2] * nq.r;
m[2][0] = 2.0 * nq.v[0] * nq.v[2] + 2.0 * nq.v[1] * nq.r;
m[1][0] = 2.0 * nq.x * nq.y - 2.0 * nq.z * nq.w;
m[2][0] = 2.0 * nq.x * nq.z + 2.0 * nq.y * nq.w;
m[0][1] = 2.0 * nq.v[0] * nq.v[1] + 2.0 * nq.v[2] * nq.r;
m[0][1] = 2.0 * nq.x * nq.y + 2.0 * nq.z * nq.w;
m[1][1] = 1.0 - 2.0 * x2 - 2.0 * z2;
m[2][1] = 2.0 * nq.v[1] * nq.v[2] - 2.0 * nq.v[0] * nq.r;
m[2][1] = 2.0 * nq.y * nq.z - 2.0 * nq.x * nq.w;
m[0][2] = 2.0 * nq.v[0] * nq.v[2] - 2.0 * nq.v[1] * nq.r;
m[1][2] = 2.0 * nq.v[1] * nq.v[2] + 2.0 * nq.v[0] * nq.r;
m[0][2] = 2.0 * nq.x * nq.z - 2.0 * nq.y * nq.w;
m[1][2] = 2.0 * nq.y * nq.z + 2.0 * nq.x * nq.w;
m[2][2] = 1.0 - 2.0 * x2 - 2.0 * y2;
m[0][3] = 0.0f;