Added Quaternions

2026-09-05 21:01:52 +00:00 · 2021-08-25 22:19:02 +02:00
parent e239de52d6
commit 9dbf9fd501
2 changed files with 251 additions and 0 deletions
@@ -0,0 +1,41 @@
+using System;
+using GlitchyEngine.Math;
+using GlitchyEngine;
+
+namespace DirectX.Math
+{
+	extension Matrix
+	{
+		public static Self RotationQuaternion(Quaternion quat)
+		{
+			float xSq = quat.X * quat.X;
+			float ySq = quat.Y * quat.Y;
+			float zSq = quat.Z * quat.Z;
+
+			float xy = quat.X * quat.Y;
+			float xz = quat.X * quat.Z;
+			float xw = quat.X * quat.W;
+			float yz = quat.Y * quat.Z;
+			float yw = quat.Y * quat.W;
+			float zw = quat.Z * quat.W;
+
+			Self result = .(
+				1 - 2 * ySq - 2 * zSq, 2 * xy + 2 * zw, 2 * xz - 2 * yw, 0,
+				2 * xy - 2 * zw, 1 - 2 * xSq - 2 * zSq, 2 * yz + 2 * xw, 0,
+				2 * xz + 2 * yw, 2 * yz - 2 * xw, 1 - 2 * xSq - 2 * ySq, 0,
+				0, 0, 0, 1);
+
+			return result;
+		}
+
+		/*[Test]
+		static void TestQuaternionToMatrix()
+		{
+			// Rotation around Z-Axis by 90°
+			Quaternion quat = .(0, 0, 0.707107f, 0.707107f);
+			quat.Normalize();
+
+
+		}*/
+	}
+}