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28 lines
886 B
C++
28 lines
886 B
C++
//---------------------------------------------------------------------------
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#include <vcl.h>
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#pragma hdrstop
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#include "float3d.h"
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//---------------------------------------------------------------------------
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#pragma package(smart_init)
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void __fastcall float4x4::Quaternion(float4 *q)
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{ // konwersja kwaternionu obrotu na macierz obrotu
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float xx = q->x * q->x, yy = q->y * q->y, zz = q->z * q->z;
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float xy = q->x * q->y, xz = q->x * q->z, yz = q->y * q->z;
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float wx = q->w * q->x, wy = q->w * q->y, 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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