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Add a function to convert a quaternion to a rotation matrix.

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This commit is contained in:
Bill Currie 2010-10-18 23:27:42 +09:00
parent 28d9c7234c
commit eb205d73fd
2 changed files with 45 additions and 0 deletions
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2
include/QF/mathlib.h
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@ -251,6 +251,8 @@ void RotatePointAroundVector (vec3_t dst, const vec3_t axis,
void QuatMult (const quat_t q1, const quat_t q2, quat_t out); void QuatMult (const quat_t q1, const quat_t q2, quat_t out);
void QuatInverse (const quat_t in, quat_t out); void QuatInverse (const quat_t in, quat_t out);
void QuatToMatrix (const quat_t q, vec_t *m, int homogenous, int vertical);
#define BOX_ON_PLANE_SIDE(emins, emaxs, p) \ #define BOX_ON_PLANE_SIDE(emins, emaxs, p) \
(((p)->type < 3)? \ (((p)->type < 3)? \
( \ ( \

43
libs/util/mathlib.c
View file

@ -195,6 +195,49 @@ QuatInverse (const quat_t in, quat_t out)
QuatScale (q, 1 / m, out); QuatScale (q, 1 / m, out);
} }
VISIBLE void
QuatToMatrix (const quat_t q, vec_t *m, int homogenous, int vertical)
{
vec_t aa, ab, ac, ad, bb, bc, bd, cc, cd, dd;
vec_t *_m[4] = {
m + homogenous ? 0 : 0,
m + homogenous ? 4 : 3,
m + homogenous ? 8 : 6,
m + homogenous ? 12 : 9,
};
aa = q[0] * q[0];
ab = q[0] * q[1];
ac = q[0] * q[2];
ad = q[0] * q[3];
bb = q[1] * q[1];
bc = q[1] * q[2];
bd = q[1] * q[3];
cc = q[2] * q[2];
cd = q[2] * q[3];
dd = q[3] * q[3];
if (vertical) {
VectorSet (aa + bb - cc - dd, 2 * (bc + ad), 2 * (bd - ac), _m[0]);
VectorSet (2 * (bc - ad), aa - bb + cc - dd, 2 * (cd + ab), _m[1]);
VectorSet (2 * (bd + ac), 2 * (cd - ab), aa - bb - cc + dd, _m[2]);
} else {
VectorSet (aa + bb - cc - dd, 2 * (bc - ad), 2 * (bd + ac), _m[0]);
VectorSet (2 * (bc + ad), aa - bb + cc - dd, 2 * (cd - ab), _m[1]);
VectorSet (2 * (bd - ac), 2 * (cd + ab), aa - bb - cc + dd, _m[2]);
}
if (homogenous) {
_m[0][3] = 0;
_m[1][3] = 0;
_m[2][3] = 0;
VectorZero (_m[3]);
_m[3][3] = 1;
}
}
#if defined(_WIN32) && !defined(__GNUC__) #if defined(_WIN32) && !defined(__GNUC__)
# pragma optimize( "", on ) # pragma optimize( "", on )
#endif #endif