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Fix QuaternionToMatrix returning transposed result. (#1793)

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Hristo Stamenov 2021-05-29 14:53:00 +03:00 • committed by GitHub
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1 changed files with 19 additions and 14 deletions
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33
src/raymath.h
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@ -1389,23 +1389,28 @@ RMDEF Quaternion QuaternionFromMatrix(Matrix mat)
RMDEF Matrix QuaternionToMatrix(Quaternion q) RMDEF Matrix QuaternionToMatrix(Quaternion q)
{ {
Matrix result = MatrixIdentity(); Matrix result = MatrixIdentity();
float a2 = q.x * q.x;
float b2 = q.y * q.y;
float c2 = q.z * q.z;
float ac = q.x * q.z;
float ab = q.x * q.y;
float bc = q.y * q.z;
float ad = q.w * q.x;
float bd = q.w * q.y;
float cd = q.w * q.z;
float a2 = 2*(q.x*q.x), b2=2*(q.y*q.y), c2=2*(q.z*q.z); //, d2=2*(q.w*q.w); result.m0 = 1 - 2 * (b2 + c2);
result.m1 = 2 * (ab + cd);
result.m2 = 2 * (ac - bd);
float ab = 2*(q.x*q.y), ac=2*(q.x*q.z), bc=2*(q.y*q.z); result.m4 = 2 * (ab - cd);
float ad = 2*(q.x*q.w), bd=2*(q.y*q.w), cd=2*(q.z*q.w); result.m5 = 1 - 2 * (a2 + c2);
result.m6 = 2 * (bc + ad);
result.m0 = 1 - b2 - c2; result.m8 = 2 * (ac + bd);
result.m1 = ab - cd; result.m9 = 2 * (bc - ad);
result.m2 = ac + bd; result.m10 = 1 - 2 * (a2 + b2);
result.m4 = ab + cd;
result.m5 = 1 - a2 - c2;
result.m6 = bc - ad;
result.m8 = ac - bd;
result.m9 = bc + ad;
result.m10 = 1 - a2 - b2;
return result; return result;
} }