24 lines
591 B
HLSL
24 lines
591 B
HLSL
// Copyright (c) 2012-2024 Wojciech Figat. All rights reserved.
|
|
|
|
#ifndef __QUATERNION__
|
|
#define __QUATERNION__
|
|
|
|
float4 QuaternionMultiply(float4 q1, float4 q2)
|
|
{
|
|
return float4(q2.xyz * q1.w + q1.xyz * q2.w + cross(q1.xyz, q2.xyz), q1.w * q2.w - dot(q1.xyz, q2.xyz));
|
|
}
|
|
|
|
float3 QuaternionRotate(float4 q, float3 v)
|
|
{
|
|
float3 b = q.xyz;
|
|
float b2 = dot(b, b);
|
|
return (v * (q.w * q.w - b2) + b * (dot(v, b) * 2.f) + cross(b, v) * (q.w * 2.f));
|
|
}
|
|
|
|
float4 QuaternionFromAxisAngle(float3 axis, float angle)
|
|
{
|
|
return float4(axis * sin(angle * 0.5f), cos(angle * 0.5f));
|
|
}
|
|
|
|
#endif
|