Author:
BrassApparatus (posted
2013-06-27 22:18:36 , viewed 336 times)
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import org .lwjgl .util .vector .Matrix4f ;
import org .lwjgl .util .vector .Quaternion ;
public class Utils {
public static Matrix4f convertQuatToMatrix (Quaternion quat ) {
float xSq = quat .getX () * quat .getX ();
float ySq = quat .getY () * quat .getY ();
float zSq = quat .getZ () * quat .getZ ();
float xy = quat .getX () * quat .getY ();
float xz = quat .getX () * quat .getZ ();
float yz = quat .getY () * quat .getZ ();
float wx = quat .getW () * quat .getX ();
float wy = quat .getW () * quat .getY ();
float wz = quat .getW () * quat .getZ ();
Matrix4f mat = new Matrix4f ();
mat .m00 = 1.0f - 2.0f * (ySq + zSq ); mat .m10 = 2.0f * (xy + wz ); mat .m20 = 2.0f * (xz - wy ); mat .m30 = 0.0f ;
mat .m01 = 2.0f * (xy - wz ); mat .m11 = 1.0f - 2.0f * (xSq + zSq ); mat .m21 = 2.0f * (yz + wx ); mat .m31 = 0.0f ;
mat .m02 = 2.0f * (xz + wy ); mat .m12 = 2.0f * (yz - wx ); mat .m22 = 1.0f - 2.0f * (xSq + ySq ); mat .m32 = 0.0f ;
mat .m03 = 0.0f ; mat .m13 = 0.0f ; mat .m23 = 0.0f ; mat .m33 = 1.0f ;
return mat ;
}
public static void systemPrintMatrix (Matrix4f mat ){
System .out .print (Float .valueOf (mat .m00 ) + " " + Float .valueOf (mat .m10 ) + " " + Float .valueOf (mat .m20 ) + " " + Float .valueOf (mat .m30 ) + " " + "\n" );
System .out .print (Float .valueOf (mat .m01 ) + " " + Float .valueOf (mat .m11 ) + " " + Float .valueOf (mat .m21 ) + " " + Float .valueOf (mat .m31 ) + " " + "\n" );
System .out .print (Float .valueOf (mat .m02 ) + " " + Float .valueOf (mat .m12 ) + " " + Float .valueOf (mat .m22 ) + " " + Float .valueOf (mat .m32 ) + " " + "\n" );
System .out .print (Float .valueOf (mat .m03 ) + " " + Float .valueOf (mat .m13 ) + " " + Float .valueOf (mat .m23 ) + " " + Float .valueOf (mat .m33 ) + " " + "\n **************** \n" );
}
}
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