32 lines
No EOL
968 B
Text
32 lines
No EOL
968 B
Text
#include "type.msl"
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/*
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contributors: Patricio Gonzalez Vivo
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description: given a quaternion, returns a rotation 3x3 matrix
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use: <mat3> quat2mat3(<QUAT> Q)
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license:
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- Copyright (c) 2021 Patricio Gonzalez Vivo under Prosperity License - https://prosperitylicense.com/versions/3.0.0
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- Copyright (c) 2021 Patricio Gonzalez Vivo under Patron License - https://lygia.xyz/license
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*/
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#ifndef FNC_QUAT2MAT3
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#define FNC_QUAT2MAT3
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mat3 quat2mat3(QUAT q) {
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float qxx = q.x * q.x;
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float qyy = q.y * q.y;
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float qzz = q.z * q.z;
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float qxz = q.x * q.z;
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float qxy = q.x * q.y;
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float qyw = q.y * q.w;
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float qzw = q.z * q.w;
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float qyz = q.y * q.z;
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float qxw = q.x * q.w;
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return mat3(
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float3(1.0 - 2.0 * (qyy + qzz), 2.0 * (qxy - qzw), 2.0 * (qxz + qyw)),
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float3(2.0 * (qxy + qzw), 1.0 - 2.0 * (qxx + qzz), 2.0 * (qyz - qxw)),
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float3(2.0 * (qxz - qyw), 2.0 * (qyz + qxw), 1.0 - 2.0 * (qxx + qyy))
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);
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}
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#endif |