1a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang/* 2a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * Copyright (C) 2011 The Android Open Source Project 3a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * 4a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * Licensed under the Apache License, Version 2.0 (the "License"); 5a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * you may not use this file except in compliance with the License. 6a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * You may obtain a copy of the License at 7a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * 8a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * http://www.apache.org/licenses/LICENSE-2.0 9a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * 10a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * Unless required by applicable law or agreed to in writing, software 11a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * distributed under the License is distributed on an "AS IS" BASIS, 12a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * See the License for the specific language governing permissions and 14a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * limitations under the License. 15a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang */ 16a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang 17a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang/** @file rs_quaternion.rsh 18a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * \brief Quaternion routines 19a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * 20a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * 21a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang */ 22a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang 23a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang#ifndef __RS_QUATERNION_RSH__ 24a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang#define __RS_QUATERNION_RSH__ 25a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang 26a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang 27a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang/** 28a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * Set the quaternion components 29a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * @param w component 30a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * @param x component 31a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * @param y component 32a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * @param z component 33a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang */ 34a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wangstatic void __attribute__((overloadable)) 35a6720149b0039b3a5e5a3183c124d500f0830d38Ying WangrsQuaternionSet(rs_quaternion *q, float w, float x, float y, float z) { 36a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang q->w = w; 37a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang q->x = x; 38a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang q->y = y; 39a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang q->z = z; 40a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang} 41a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang 42a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang/** 43a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * Set the quaternion from another quaternion 44a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * @param q destination quaternion 45a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * @param rhs source quaternion 46a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang */ 47a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wangstatic void __attribute__((overloadable)) 48a6720149b0039b3a5e5a3183c124d500f0830d38Ying WangrsQuaternionSet(rs_quaternion *q, const rs_quaternion *rhs) { 49a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang q->w = rhs->w; 50a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang q->x = rhs->x; 51a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang q->y = rhs->y; 52a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang q->z = rhs->z; 53a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang} 54a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang 55a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang/** 56a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * Multiply quaternion by a scalar 57a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * @param q quaternion to multiply 58a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * @param s scalar 59a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang */ 60a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wangstatic void __attribute__((overloadable)) 61a6720149b0039b3a5e5a3183c124d500f0830d38Ying WangrsQuaternionMultiply(rs_quaternion *q, float s) { 62a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang q->w *= s; 63a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang q->x *= s; 64a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang q->y *= s; 65a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang q->z *= s; 66a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang} 67a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang 68a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang/** 69a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * Add two quaternions 70a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * @param q destination quaternion to add to 71a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * @param rsh right hand side quaternion to add 72a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang */ 73a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wangstatic void 74a6720149b0039b3a5e5a3183c124d500f0830d38Ying WangrsQuaternionAdd(rs_quaternion *q, const rs_quaternion *rhs) { 75a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang q->w *= rhs->w; 76a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang q->x *= rhs->x; 77a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang q->y *= rhs->y; 78a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang q->z *= rhs->z; 79a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang} 80a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang 81a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang/** 82a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * Loads a quaternion that represents a rotation about an arbitrary unit vector 83a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * @param q quaternion to set 84a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * @param rot angle to rotate by 85a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * @param x component of a vector 86a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * @param y component of a vector 87a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * @param x component of a vector 88a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang */ 89a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wangstatic void 90a6720149b0039b3a5e5a3183c124d500f0830d38Ying WangrsQuaternionLoadRotateUnit(rs_quaternion *q, float rot, float x, float y, float z) { 91a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang rot *= (float)(M_PI / 180.0f) * 0.5f; 92a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang float c = cos(rot); 93a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang float s = sin(rot); 94a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang 95a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang q->w = c; 96a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang q->x = x * s; 97a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang q->y = y * s; 98a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang q->z = z * s; 99a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang} 100a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang 101a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang/** 102a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * Loads a quaternion that represents a rotation about an arbitrary vector 103a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * (doesn't have to be unit) 104a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * @param q quaternion to set 105a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * @param rot angle to rotate by 106a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * @param x component of a vector 107a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * @param y component of a vector 108a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * @param x component of a vector 109a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang */ 110a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wangstatic void 111a6720149b0039b3a5e5a3183c124d500f0830d38Ying WangrsQuaternionLoadRotate(rs_quaternion *q, float rot, float x, float y, float z) { 112a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang const float len = x*x + y*y + z*z; 113a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang if (len != 1) { 114a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang const float recipLen = 1.f / sqrt(len); 115a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang x *= recipLen; 116a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang y *= recipLen; 117a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang z *= recipLen; 118a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang } 119a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang rsQuaternionLoadRotateUnit(q, rot, x, y, z); 120a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang} 121a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang 122a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang/** 123a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * Conjugates the quaternion 124a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * @param q quaternion to conjugate 125a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang */ 126a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wangstatic void 127a6720149b0039b3a5e5a3183c124d500f0830d38Ying WangrsQuaternionConjugate(rs_quaternion *q) { 128a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang q->x = -q->x; 129a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang q->y = -q->y; 130a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang q->z = -q->z; 131a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang} 132a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang 133a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang/** 134a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * Dot product of two quaternions 135a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * @param q0 first quaternion 136a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * @param q1 second quaternion 137a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * @return dot product between q0 and q1 138a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang */ 139a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wangstatic float 140a6720149b0039b3a5e5a3183c124d500f0830d38Ying WangrsQuaternionDot(const rs_quaternion *q0, const rs_quaternion *q1) { 141a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang return q0->w*q1->w + q0->x*q1->x + q0->y*q1->y + q0->z*q1->z; 142a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang} 143a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang 144a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang/** 145a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * Normalizes the quaternion 146a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * @param q quaternion to normalize 147a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang */ 148a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wangstatic void 149a6720149b0039b3a5e5a3183c124d500f0830d38Ying WangrsQuaternionNormalize(rs_quaternion *q) { 150a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang const float len = rsQuaternionDot(q, q); 151a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang if (len != 1) { 152a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang const float recipLen = 1.f / sqrt(len); 153a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang rsQuaternionMultiply(q, recipLen); 154a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang } 155a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang} 156a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang 157a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang/** 158a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * Multiply quaternion by another quaternion 159a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * @param q destination quaternion 160a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * @param rhs right hand side quaternion to multiply by 161a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang */ 162a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wangstatic void __attribute__((overloadable)) 163a6720149b0039b3a5e5a3183c124d500f0830d38Ying WangrsQuaternionMultiply(rs_quaternion *q, const rs_quaternion *rhs) { 164a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang rs_quaternion qtmp; 165a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang rsQuaternionSet(&qtmp, q); 166a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang 167a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang q->w = qtmp.w*rhs->w - qtmp.x*rhs->x - qtmp.y*rhs->y - qtmp.z*rhs->z; 168a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang q->x = qtmp.w*rhs->x + qtmp.x*rhs->w + qtmp.y*rhs->z - qtmp.z*rhs->y; 169a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang q->y = qtmp.w*rhs->y + qtmp.y*rhs->w + qtmp.z*rhs->x - qtmp.x*rhs->z; 170a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang q->z = qtmp.w*rhs->z + qtmp.z*rhs->w + qtmp.x*rhs->y - qtmp.y*rhs->x; 171a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang rsQuaternionNormalize(q); 172a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang} 173a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang 174a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang/** 175a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * Performs spherical linear interpolation between two quaternions 176a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * @param q result quaternion from interpolation 177a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * @param q0 first param 178a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * @param q1 second param 179a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * @param t how much to interpolate by 180a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang */ 181a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wangstatic void 182a6720149b0039b3a5e5a3183c124d500f0830d38Ying WangrsQuaternionSlerp(rs_quaternion *q, const rs_quaternion *q0, const rs_quaternion *q1, float t) { 183a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang if (t <= 0.0f) { 184a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang rsQuaternionSet(q, q0); 185a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang return; 186a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang } 187a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang if (t >= 1.0f) { 188a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang rsQuaternionSet(q, q1); 189a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang return; 190a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang } 191a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang 192a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang rs_quaternion tempq0, tempq1; 193a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang rsQuaternionSet(&tempq0, q0); 194a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang rsQuaternionSet(&tempq1, q1); 195a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang 196a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang float angle = rsQuaternionDot(q0, q1); 197a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang if (angle < 0) { 198a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang rsQuaternionMultiply(&tempq0, -1.0f); 199a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang angle *= -1.0f; 200a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang } 201a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang 202a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang float scale, invScale; 203a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang if (angle + 1.0f > 0.05f) { 204a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang if (1.0f - angle >= 0.05f) { 205a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang float theta = acos(angle); 206a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang float invSinTheta = 1.0f / sin(theta); 207a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang scale = sin(theta * (1.0f - t)) * invSinTheta; 208a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang invScale = sin(theta * t) * invSinTheta; 209a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang } else { 210a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang scale = 1.0f - t; 211a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang invScale = t; 212a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang } 213a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang } else { 214a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang rsQuaternionSet(&tempq1, tempq0.z, -tempq0.y, tempq0.x, -tempq0.w); 215a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang scale = sin(M_PI * (0.5f - t)); 216a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang invScale = sin(M_PI * t); 217a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang } 218a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang 219a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang rsQuaternionSet(q, tempq0.w*scale + tempq1.w*invScale, tempq0.x*scale + tempq1.x*invScale, 220a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang tempq0.y*scale + tempq1.y*invScale, tempq0.z*scale + tempq1.z*invScale); 221a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang} 222a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang 223a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang/** 224a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * Computes rotation matrix from the normalized quaternion 225a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * @param m resulting matrix 226a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang * @param p normalized quaternion 227a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang */ 228a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wangstatic void rsQuaternionGetMatrixUnit(rs_matrix4x4 *m, const rs_quaternion *q) { 229a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang float xx = q->x * q->x; 230a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang float xy = q->x * q->y; 231a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang float xz = q->x * q->z; 232a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang float xw = q->x * q->w; 233a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang float yy = q->y * q->y; 234a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang float yz = q->y * q->z; 235a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang float yw = q->y * q->w; 236a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang float zz = q->z * q->z; 237a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang float zw = q->z * q->w; 238a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang 239a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang m->m[0] = 1.0f - 2.0f * ( yy + zz ); 240a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang m->m[4] = 2.0f * ( xy - zw ); 241a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang m->m[8] = 2.0f * ( xz + yw ); 242a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang m->m[1] = 2.0f * ( xy + zw ); 243a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang m->m[5] = 1.0f - 2.0f * ( xx + zz ); 244a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang m->m[9] = 2.0f * ( yz - xw ); 245a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang m->m[2] = 2.0f * ( xz - yw ); 246a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang m->m[6] = 2.0f * ( yz + xw ); 247a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang m->m[10] = 1.0f - 2.0f * ( xx + yy ); 248a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang m->m[3] = m->m[7] = m->m[11] = m->m[12] = m->m[13] = m->m[14] = 0.0f; 249a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang m->m[15] = 1.0f; 250a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang} 251a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang 252a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang#endif 253a6720149b0039b3a5e5a3183c124d500f0830d38Ying Wang 254