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improve matrix to quaternion

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This commit is contained in:
Recep Aslantas
2018-04-09 00:46:00 +03:00
parent 381b2fdcc0
commit f0daaca58b
5 changed files with 86 additions and 87 deletions
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58
include/cglm/mat4.h
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@@ -343,38 +343,42 @@ glm_mat4_mulq(mat4 m, versor q, mat4 dest) {
CGLM_INLINE
void
glm_mat4_quat(mat4 m, versor dest) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glm_mat4_quat_sse2(m, dest);
#else
vec4 vsgn, vzero = GLM_VEC4_ZERO_INIT;
versor q;
float m00, m10, m20,
m01, m11, m21,
m02, m12, m22;
float trace, r, rinv;
m00 = m[0][0]; m01 = m[0][1]; m02 = m[0][2];
m10 = m[1][0]; m11 = m[1][1]; m12 = m[1][2];
m20 = m[2][0]; m21 = m[2][1]; m22 = m[2][2];
trace = m[0][0] + m[1][1] + m[2][2];
if (trace >= 0.0f) {
r = 2.0f * sqrtf(1 + trace);
rinv = 1.0f / r;
q[0] = 1.0f + m00 + m11 + m22; /* w */
q[1] = 1.0f + m00 - m11 - m22; /* x */
q[2] = 1.0f - m00 + m11 - m22; /* y */
q[3] = 1.0f - m00 - m11 + m22; /* z */
dest[1] = rinv * (m[1][2] - m[2][1]);
dest[2] = rinv * (m[2][0] - m[0][2]);
dest[3] = rinv * (m[0][1] - m[1][0]);
dest[0] = r * 0.25f;
} else if (m[0][0] >= m[1][1] && m[0][0] >= m[2][2]) {
r = 2.0f * sqrtf(1 - m[1][1] - m[2][2] + m[0][0]);
rinv = 1.0f / r;
glm_vec4_maxv(q, vzero, q);
glm_vec4_sqrt(q, q);
glm_vec4_scale(q, 0.5f, q);
dest[1] = r * 0.25f;
dest[2] = rinv * (m[0][1] + m[1][0]);
dest[3] = rinv * (m[0][2] + m[2][0]);
dest[0] = rinv * (m[1][2] - m[2][1]);
} else if (m[1][1] >= m[2][2]) {
r = 2.0f * sqrtf(1 - m[0][0] - m[2][2] + m[1][1]);
rinv = 1.0f / r;
vsgn[0] = 1.0f;
vsgn[1] = m12 - m21;
vsgn[2] = m20 - m02;
vsgn[3] = m01 - m10;
dest[1] = rinv * (m[0][1] + m[1][0]);
dest[2] = r * 0.25f;
dest[3] = rinv * (m[1][2] + m[2][1]);
dest[0] = rinv * (m[2][0] - m[0][2]);
} else {
r = 2.0f * sqrtf(1 - m[0][0] - m[1][1] + m[2][2]);
rinv = 1.0f / r;
glm_vec4_sign(vsgn, vsgn);
glm_vec4_mulv(q, vsgn, q);
glm_vec4_copy(q, dest);
#endif
dest[1] = rinv * (m[0][2] + m[2][0]);
dest[2] = rinv * (m[1][2] + m[2][1]);
dest[3] = r * 0.25f;
dest[0] = rinv * (m[0][1] - m[1][0]);
}
}
/*!