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feat(matrix): add C44Matrix constructor for C4Quaternion

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fallenoak 2022-12-24 17:34:02 -06:00
parent 189085960f
commit cf1cd164de
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2 changed files with 39 additions and 0 deletions
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37
tempest/matrix/C44Matrix.cpp
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@ -1,4 +1,5 @@
#include "tempest/matrix/C44Matrix.hpp"
#include "tempest/Quaternion.hpp"
#include "tempest/Vector.hpp"
#include <cmath>
@ -29,6 +30,42 @@ C44Matrix C44Matrix::RotationAroundZ(float angle) {
return { a0, a1, a2, a3, b0, b1, b2, b3, c0, c1, c2, c3, d0, d1, d2, d3 };
}
C44Matrix::C44Matrix(const C4Quaternion& rotation) {
this->a3 = 0.0f;
this->b3 = 0.0f;
this->c3 = 0.0f;
this->d0 = 0.0f;
this->d1 = 0.0f;
this->d2 = 0.0f;
this->d3 = 1.0f;
float v3 = rotation.x * 2.0f;
float v4 = rotation.y * 2.0f;
float v5 = rotation.z * 2.0f;
float v6 = rotation.w * v3;
float v7 = rotation.w * v4;
float v8 = rotation.w * v5;
float v10 = rotation.x * v3;
float v11 = rotation.x * v4;
float v19 = rotation.x * v5;
float v12 = rotation.y * v4;
float v17 = rotation.y * v5;
float v16 = rotation.z * v5;
this->a0 = 1.0f - (v16 + v12);
this->a1 = v11 + v8;
this->a2 = v19 - v7;
this->b0 = v11 - v8;
this->b1 = 1.0f - (v16 + v10);
this->b2 = v17 + v6;
this->c0 = v7 + v19;
this->c1 = v17 - v6;
this->c2 = 1.0f - (v10 + v12);
}
C44Matrix C44Matrix::Adjoint() const {
float a0 = this->b2 * this->c3 * this->d1 + this->b3 * this->c1 * this->d2 + this->b1 * this->c2 * this->d3 - this->b3 * this->c2 * this->d1 - this->b2 * this->c1 * this->d3 - this->b1 * this->c3 * this->d2;
float a1 = -(this->a2 * this->c3 * this->d1 + this->a3 * this->c1 * this->d2 + this->a1 * this->c2 * this->d3 - this->a3 * this->c2 * this->d1 - this->a2 * this->c1 * this->d3 - this->a1 * this->c3 * this->d2);