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Transposed matrix resulting from RotationQuaternion

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Simon Lübeß
2021-08-27 20:54:34 +02:00
parent 22252f9161
commit eafdc2f17f
1 changed files with 31 additions and 15 deletions
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GlitchyEngine/src/Math/MatrixExtension.bf
+31 -15
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@@ -6,24 +6,40 @@ namespace DirectX.Math
{ {
extension Matrix extension Matrix
{ {
public static Self RotationQuaternion(Quaternion quat) public static Self RotationQuaternion(Quaternion rotation)
{ {
float xSq = quat.X * quat.X; float xSq = 2 * rotation.X * rotation.X;
float ySq = quat.Y * quat.Y; float ySq = 2 * rotation.Y * rotation.Y;
float zSq = quat.Z * quat.Z; float zSq = 2 * rotation.Z * rotation.Z;
float xy = quat.X * quat.Y; float xy = 2 * rotation.X * rotation.Y;
float xz = quat.X * quat.Z; float xz = 2 * rotation.X * rotation.Z;
float xw = quat.X * quat.W; float xw = 2 * rotation.X * rotation.W;
float yz = quat.Y * quat.Z; float yz = 2 * rotation.Y * rotation.Z;
float yw = quat.Y * quat.W; float yw = 2 * rotation.Y * rotation.W;
float zw = quat.Z * quat.W; float zw = 2 * rotation.Z * rotation.W;
Self result = .( 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, result.V._11 = 1 - ySq - zSq;
2 * xz + 2 * yw, 2 * yz - 2 * xw, 1 - 2 * xSq - 2 * ySq, 0, result.V._21 = xy + zw;
0, 0, 0, 1); result.V._31 = xz - yw;
result.V._41 = 0;
result.V._12 = xy - zw;
result.V._22 = 1 - xSq - zSq;
result.V._32 = yz + xw;
result.V._42 = 0;
result.V._13 = xz + yw;
result.V._23 = yz - xw;
result.V._33 = 1 - xSq - ySq;
result.V._43 = 0;
result.V._14 = 0;
result.V._24 = 0;
result.V._34 = 0;
result.V._44 = 1;
return result; return result;
} }