32 lines
958 B
C#
32 lines
958 B
C#
namespace Passer.LinearAlgebra {
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public class QuaternionOf<T> {
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public T x;
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public T y;
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public T z;
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public T w;
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public QuaternionOf(T x, T y, T z, T w) {
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this.x = x;
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this.y = y;
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this.z = z;
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this.w = w;
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}
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public static Matrix2 ToRotationMatrix(Quaternion q) {
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float w = q.x, x = q.y, y = q.z, z = q.w;
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float[,] result = new float[,]
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{
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{ 1 - 2 * (y * y + z * z), 2 * (x * y - w * z), 2 * (x * z + w * y) },
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{ 2 * (x * y + w * z), 1 - 2 * (x * x + z * z), 2 * (y * z - w * x) },
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{ 2 * (x * z - w * y), 2 * (y * z + w * x), 1 - 2 * (x * x + y * y) }
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};
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return new Matrix2(result);
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}
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}
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public class Quaternion : QuaternionOf<float> {
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public Quaternion(float x, float y, float z, float w) : base(x, y, z, w) { }
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}
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} |