26 lines
No EOL
896 B
WebGPU Shading Language
26 lines
No EOL
896 B
WebGPU Shading Language
/*
|
|
contributors: Patricio Gonzalez Vivo
|
|
description: given a quaternion, returns a rotation 3x3 matrix
|
|
use: <mat3> quat2mat3(<QUAT> Q)
|
|
license:
|
|
- Copyright (c) 2021 Patricio Gonzalez Vivo under Prosperity License - https://prosperitylicense.com/versions/3.0.0
|
|
- Copyright (c) 2021 Patricio Gonzalez Vivo under Patron License - https://lygia.xyz/license
|
|
*/
|
|
|
|
fn quat2mat3(q: vec4f) -> mat3x3<f32> {
|
|
let qxx = q.x * q.x;
|
|
let qyy = q.y * q.y;
|
|
let qzz = q.z * q.z;
|
|
let qxz = q.x * q.z;
|
|
let qxy = q.x * q.y;
|
|
let qyw = q.y * q.w;
|
|
let qzw = q.z * q.w;
|
|
let qyz = q.y * q.z;
|
|
let qxw = q.x * q.w;
|
|
|
|
return mat3x3<f32>(
|
|
vec3f(1.0 - 2.0 * (qyy + qzz), 2.0 * (qxy - qzw), 2.0 * (qxz + qyw)),
|
|
vec3f(2.0 * (qxy + qzw), 1.0 - 2.0 * (qxx + qzz), 2.0 * (qyz - qxw)),
|
|
vec3f(2.0 * (qxz - qyw), 2.0 * (qyz + qxw), 1.0 - 2.0 * (qxx + qyy))
|
|
);
|
|
} |