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using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public static class QuaternionUtility
{
public static Matrix4x4 ToMatrix(ref this Quaternion q)
{
Matrix4x4 m = new Matrix4x4();
// Precalculate coordinate products
float x = q.x * 2.0F;
float y = q.y * 2.0F;
float z = q.z * 2.0F;
float xx = q.x * x;
float yy = q.y * y;
float zz = q.z * z;
float xy = q.x * y;
float xz = q.x * z;
float yz = q.y * z;
float wx = q.w * x;
float wy = q.w * y;
float wz = q.w * z;
// Calculate 3x3 matrix from orthonormal basis
m[0] = 1.0f - (yy + zz);
m[1] = xy + wz;
m[2] = xz - wy;
m[3] = 0.0F;
m[4] = xy - wz;
m[5] = 1.0f - (xx + zz);
m[6] = yz + wx;
m[7] = 0.0F;
m[8] = xz + wy;
m[9] = yz - wx;
m[10] = 1.0f - (xx + yy);
m[11] = 0.0F;
m[12] = 0.0F;
m[13] = 0.0F;
m[14] = 0.0F;
m[15] = 1.0F;
return m;
}
}
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