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Common: Add Matrix33::FromQuaternion.

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This commit is contained in:
Jordan Woyak 2020-01-02 15:16:37 -06:00
parent 7a6a4510f6
commit 8ab3694f51
2 changed files with 17 additions and 0 deletions
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16
Source/Core/Common/Matrix.cpp
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@ -45,6 +45,22 @@ Matrix33 Matrix33::Identity()
return mtx;
}
Matrix33 Matrix33::FromQuaternion(float qx, float qy, float qz, float qw)
{
// Normalize.
const float n = 1.0f / sqrt(qx * qx + qy * qy + qz * qz + qw * qw);
qx *= n;
qy *= n;
qz *= n;
qw *= n;
return {
1 - 2 * qy * qy - 2 * qz * qz, 2 * qx * qy - 2 * qz * qw, 2 * qx * qz + 2 * qy * qw,
2 * qx * qy + 2 * qz * qw, 1 - 2 * qx * qx - 2 * qz * qz, 2 * qy * qz - 2 * qx * qw,
2 * qx * qz - 2 * qy * qw, 2 * qy * qz + 2 * qx * qw, 1 - 2 * qx * qx - 2 * qy * qy,
};
}
Matrix33 Matrix33::RotateX(float rad)
{
const float s = std::sin(rad);

1
Source/Core/Common/Matrix.h
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@ -273,6 +273,7 @@ class Matrix33
{
public:
static Matrix33 Identity();
static Matrix33 FromQuaternion(float x, float y, float z, float w);
// Return a rotation matrix around the x,y,z axis
static Matrix33 RotateX(float rad);