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author | german <german@thesoftwareartisans.com> | 2020-08-24 02:26:47 +0200 |
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committer | german <german@thesoftwareartisans.com> | 2020-08-28 00:19:21 +0200 |
commit | 2d207ec609d1280bbfcdb822cceb8adc42afac3a (patch) | |
tree | 2990f7f63b3f6847636c85d6e00aac323f6856de /src/common/quaternion.h | |
parent | Merge pull request #4530 from Morph1984/mjolnir-p1 (diff) | |
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Diffstat (limited to '')
-rw-r--r-- | src/common/quaternion.h | 30 |
1 files changed, 30 insertions, 0 deletions
diff --git a/src/common/quaternion.h b/src/common/quaternion.h index da44f35cd..4d0871eb4 100644 --- a/src/common/quaternion.h +++ b/src/common/quaternion.h @@ -36,6 +36,36 @@ public: T length = std::sqrt(xyz.Length2() + w * w); return {xyz / length, w / length}; } + + [[nodiscard]] std::array<decltype(-T{}), 16> ToMatrix() const { + const T x2 = xyz[0] * xyz[0]; + const T y2 = xyz[1] * xyz[1]; + const T z2 = xyz[2] * xyz[2]; + + const T xy = xyz[0] * xyz[1]; + const T wz = w * xyz[2]; + const T xz = xyz[0] * xyz[2]; + const T wy = w * xyz[1]; + const T yz = xyz[1] * xyz[2]; + const T wx = w * xyz[0]; + + return {1.0f - 2.0f * (y2 + z2), + 2.0f * (xy + wz), + 2.0f * (xz - wy), + 0.0f, + 2.0f * (xy - wz), + 1.0f - 2.0f * (x2 + z2), + 2.0f * (yz + wx), + 0.0f, + 2.0f * (xz + wy), + 2.0f * (yz - wx), + 1.0f - 2.0f * (x2 + y2), + 0.0f, + 0.0f, + 0.0f, + 0.0f, + 1.0f}; + } }; template <typename T> |