63 lines
1.3 KiB
Lua
63 lines
1.3 KiB
Lua
Convert = {}
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Convert["QuatToMatrix"] = function(quat)
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local x = quat[1]
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local y = quat[2]
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local z = quat[3]
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local w = quat[4]
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local x2 = x + x
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local y2 = y + y
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local z2 = z + z
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local xx = x * x2
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local yx = y * x2
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local yy = y * y2
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local zx = z * x2
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local zy = z * y2
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local zz = z * z2
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local wx = w * x2
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local wy = w * y2
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local wz = w * z2
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local result = {
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{ 1 - yy - zz, yx + wz, zx - wy },
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{ yx - wz, 1 - xx - zz, zy + wx },
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{ zx + wy, zy - wx, 1 - xx - yy }
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}
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return result
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end
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Convert["EulerToQuat"] = function (x, y, z)
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local b = y * 0.5;
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local c = x * 0.5;
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local d = z * 0.5;
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local sp = sin(b)
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local cp = cos(b)
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local sy = sin(c)
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local cy = cos(c)
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local sr = sin(d)
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local cr = cos(d)
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local a0 = sp * cy * cr
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local b0 = cp * sy * sr
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local a1 = cp * sy * cr
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local b1 = sp * cy * sr
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local a2 = cp * cy * sr
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local b2 = sp * sy * cr
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local a3 = cp * cy * cr
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local b3 = sp * sy * sr
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local result = { Math.round(a0 + b0, 5), Math.round(a1 - b1, 5), Math.round(a2 + b2, 5), Math.round(a3 - b3, 5) }
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return result
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end
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-- Should be called in place of orient like this: orient = Convert.EulerToMatrix(x, y, z),
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Convert["EulerToMatrix"] = function (x, y, z)
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local q = Convert.EulerToQuat(y, x, z)
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local m = Convert.QuatToMatrix(q)
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return m
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end |