Diff: Quaternion.h

Revision:

5:e31eb7f8925d

Parent:

4:1ced03aa8c75

Child:

6:7ba72ec26bd1

--- a/Quaternion.h	Fri Mar 13 09:11:22 2015 +0000
+++ b/Quaternion.h	Fri Mar 13 16:10:04 2015 +0000
@@ -167,6 +167,25 @@
             return lerp(q3,t);
         }
     }
+    
+    void getRotationMatrix(Vector3& row0, Vector3& row1, Vector3& row2) const {
+        Quaternion q = this->normalise();
+        const double _w = q.w;
+        const double _x = q.v.x;
+        const double _y = q.v.y;
+        const double _z = q.v.z;
+        row0.x = 1-(2*(_y*_y))-(2*(_z*_z));
+        row0.y = (2*_x*_y)-(2*_w*_z);
+        row0.z = (2*_x*_z)+(2*_w*_y);
+    
+        row1.x = (2*_x*_y)+(2*_w*_z);
+        row1.y = 1-(2*(_x*_x))-(2*(_z*_z));
+        row1.z = (2*(_y*_z))-(2*(_w*_x));
+    
+        row2.x = (2*(_x*_z))-(2*_w*_y);
+        row2.y = (2*_y*_z)+(2*_w*_x);
+        row2.z = 1-(2*(_x*_x))-(2*(_y*_y));
+    }
 
     const Vector3 getEulerAngles() const {
         double sqw = w*w;