diff options
Diffstat (limited to 'maths.cpp')
| -rw-r--r-- | maths.cpp | 33 |
1 files changed, 33 insertions, 0 deletions
@@ -190,6 +190,39 @@ m4f m4f::rotate(m4f m, float a, v3f v) { return m * r; } +m4f m4f::rotate(m4f r, const v4f& q) { + float qx, qy, qz, qw, qx2, qy2, qz2, qxqx2, qyqy2, qzqz2, qxqy2, qyqz2, qzqw2, qxqz2, qyqw2, qxqw2; + qx = -q.x; + qy = -q.y; + qz = -q.z; + qw = q.w; + qx2 = (qx + qx); + qy2 = (qy + qy); + qz2 = (qz + qz); + qxqx2 = (qx * qx2); + qxqy2 = (qx * qy2); + qxqz2 = (qx * qz2); + qxqw2 = (qw * qx2); + qyqy2 = (qy * qy2); + qyqz2 = (qy * qz2); + qyqw2 = (qw * qy2); + qzqz2 = (qz * qz2); + qzqw2 = (qw * qz2); + r.m[0][0] = ((1.0f - qyqy2) - qzqz2); + r.m[0][1] = qxqy2 - qzqw2; + r.m[0][2] = qxqz2 + qyqw2; + r.m[0][3] = 0.0f; + r.m[1][0] = qxqy2 + qzqw2; + r.m[1][1] = (1.0f - qxqx2) - qzqz2; + r.m[1][2] = qyqz2 - qxqw2; + r.m[1][3] = 0.0f; + r.m[2][0] = qxqz2 - qyqw2; + r.m[2][1] = qyqz2 + qxqw2; + r.m[2][2] = (1.0f - qxqx2) - qyqy2; + r.m[2][3] = 0.0f; + return r; +} + m4f m4f::scale(m4f m, v3f v) { m4f r(1.0f); |