mirror of
https://github.com/MaSzyna-EU07/maszyna.git
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56 lines
1.4 KiB
C++
56 lines
1.4 KiB
C++
/*
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This Source Code Form is subject to the
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terms of the Mozilla Public License, v.
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2.0. If a copy of the MPL was not
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distributed with this file, You can
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obtain one at
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http://mozilla.org/MPL/2.0/.
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*/
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#include "stdafx.h"
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#include "utilities/Float3d.h"
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#include "scene/sn_utils.h"
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//---------------------------------------------------------------------------
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void float4x4::deserialize_float32(std::istream &s)
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{
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for (size_t i = 0; i < 16; i++)
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e[i] = sn_utils::ld_float32(s);
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}
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void float4x4::deserialize_float64(std::istream &s)
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{
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for (size_t i = 0; i < 16; i++)
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e[i] = (float)sn_utils::ld_float64(s);
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}
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void float4x4::serialize_float32(std::ostream &s) const
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{
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for (size_t i = 0; i < 16; i++)
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sn_utils::ls_float32(s, e[i]);
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}
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void float4x4::Quaternion(float4 *q)
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{ // konwersja kwaternionu obrotu na macierz obrotu
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float xx = q->x * q->x;
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float yy = q->y * q->y;
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float zz = q->z * q->z;
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float xy = q->x * q->y;
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float xz = q->x * q->z;
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float yz = q->y * q->z;
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float wx = q->w * q->x;
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float wy = q->w * q->y;
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float wz = q->w * q->z;
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e[0] = 1.0f - yy - yy - zz - zz;
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e[1] = xy + xy + wz + wz;
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e[2] = xz + xz - wy - wy;
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e[4] = xy + xy - wz - wz;
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e[5] = 1.0f - xx - xx - zz - zz;
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e[6] = yz + yz + wx + wx;
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e[8] = xz + xz + wy + wy;
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e[9] = yz + yz - wx - wx;
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e[10] = 1.0f - xx - xx - yy - yy;
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// czwartej kolumny i czwartego wiersza nie ruszamy
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};
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