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improve quaternion to matrix

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Recep Aslantas
2018-04-09 00:53:14 +03:00
parent f0daaca58b
commit 7615f785ac
1 changed files with 21 additions and 19 deletions
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40
include/cglm/quat.h
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@@ -185,18 +185,19 @@ glm_quat_mat4(versor q, mat4 dest) {
float w, x, y, z,
xx, yy, zz,
xy, yz, xz,
wx, wy, wz, norm;
wx, wy, wz, norm, s;
norm = 1.0f / glm_quat_norm(q);
norm = glm_quat_norm(q);
s = norm > 0.0f ? 2.0f / norm : 0.0f;
w = q[0] * norm;
x = q[1] * norm;
y = q[2] * norm;
z = q[3] * norm;
w = q[0];
x = q[1];
y = q[2];
z = q[3];
xx = 2.0f * x * x; xy = 2.0f * x * y; wx = 2.0f * w * x;
yy = 2.0f * y * y; yz = 2.0f * y * z; wy = 2.0f * w * y;
zz = 2.0f * z * z; xz = 2.0f * x * z; wz = 2.0f * w * z;
xx = s * x * x; xy = s * x * y; wx = s * w * x;
yy = s * y * y; yz = s * y * z; wy = s * w * y;
zz = s * z * z; xz = s * x * z; wz = s * w * z;
dest[0][0] = 1.0f - yy - zz;
dest[1][1] = 1.0f - xx - zz;
@@ -210,8 +211,8 @@ glm_quat_mat4(versor q, mat4 dest) {
dest[2][1] = yz - wx;
dest[0][2] = xz - wy;
dest[1][3] = 0.0f;
dest[0][3] = 0.0f;
dest[1][3] = 0.0f;
dest[2][3] = 0.0f;
dest[3][0] = 0.0f;
dest[3][1] = 0.0f;
@@ -231,18 +232,19 @@ glm_quat_mat3(versor q, mat3 dest) {
float w, x, y, z,
xx, yy, zz,
xy, yz, xz,
wx, wy, wz, norm;
wx, wy, wz, norm, s;
norm = 1.0f / glm_quat_norm(q);
norm = glm_quat_norm(q);
s = norm > 0.0f ? 2.0f / norm : 0.0f;
w = q[0] * norm;
x = q[1] * norm;
y = q[2] * norm;
z = q[3] * norm;
w = q[0];
x = q[1];
y = q[2];
z = q[3];
xx = 2.0f * x * x; xy = 2.0f * x * y; wx = 2.0f * w * x;
yy = 2.0f * y * y; yz = 2.0f * y * z; wy = 2.0f * w * y;
zz = 2.0f * z * z; xz = 2.0f * x * z; wz = 2.0f * w * z;
xx = s * x * x; xy = s * x * y; wx = s * w * x;
yy = s * y * y; yz = s * y * z; wy = s * w * y;
zz = s * z * z; xz = s * x * z; wz = s * w * z;
dest[0][0] = 1.0f - yy - zz;
dest[1][1] = 1.0f - xx - zz;