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Merge pull request #4570 from german77/motionInput

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input_common: Add a basic class for motion devices
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bunnei 2020-09-02 11:09:18 -04:00 • committed by GitHub
commit f64917a852
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30
src/common/quaternion.h
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@ -36,6 +36,36 @@ public:
T length = std::sqrt(xyz.Length2() + w * w);
return {xyz / length, w / length};
}
[[nodiscard]] std::array<decltype(-T{}), 16> ToMatrix() const {
const T x2 = xyz[0] * xyz[0];
const T y2 = xyz[1] * xyz[1];
const T z2 = xyz[2] * xyz[2];
const T xy = xyz[0] * xyz[1];
const T wz = w * xyz[2];
const T xz = xyz[0] * xyz[2];
const T wy = w * xyz[1];
const T yz = xyz[1] * xyz[2];
const T wx = w * xyz[0];
return {1.0f - 2.0f * (y2 + z2),
2.0f * (xy + wz),
2.0f * (xz - wy),
0.0f,
2.0f * (xy - wz),
1.0f - 2.0f * (x2 + z2),
2.0f * (yz + wx),
0.0f,
2.0f * (xz + wy),
2.0f * (yz - wx),
1.0f - 2.0f * (x2 + y2),
0.0f,
0.0f,
0.0f,
0.0f,
1.0f};
}
};
template <typename T>