四元数转化为矩阵
1 /** 2 * / R[ 0] R[ 1] R[ 2] 0 \ 3 * | R[ 4] R[ 5] R[ 6] 0 | 4 * | R[ 8] R[ 9] R[10] 0 | 5 * \ 0 0 0 1 / 6 */ 7 + (GLKMatrix4)getRotationMatrixFromQuaternion:(CMQuaternion*)quaternion{ 8 float xx = quaternion->x * quaternion->x; 9 float yy = quaternion->y * quaternion->y; 10 float zz = quaternion->z * quaternion->z; 11 float xy = quaternion->x * quaternion->y; 12 float wz = quaternion->w * quaternion->z; 13 float wy = quaternion->w * quaternion->y; 14 float xz = quaternion->x * quaternion->z; 15 float yz = quaternion->y * quaternion->z; 16 float wx = quaternion->w * quaternion->x; 17 18 float r00 = 1 - 2 * (yy + zz); 19 float r01 = 2 * (xy - wz); 20 float r02 = 2 * (wy + xz); 21 float r03 = 0; 22 23 float r10 = 2 * (xy + wz); 24 float r11 = 1 - 2 * (xx + zz); 25 float r12 = 2 * (yz - wx); 26 float r13 = 0; 27 28 float r20 = 2 * (xz - wy);//不是 xy - wy 29 float r21 = 2 * (yz + wx); 30 float r22 = 1 - 2 * (xx + yy); 31 float r23 = 0; 32 33 float r30 = 0; 34 float r31 = 0; 35 float r32 = 0; 36 float r33 = 1; 37 38 return GLKMatrix4Make(r00,r01,r02,r03, 39 r10,r11,r12,r13, 40 r20,r21,r22,r23, 41 r30,r31,r32,r33); 42 }
本方法是基于Objective-C实现。
