Revision 7ede6000

View differences:

utility/quaternion.h
157 157
    Matrix<3> toMatrix() const
158 158
    {
159 159
        Matrix<3> ret;
160
        ret.cell(0, 0) = 1-(2*(_y*_y))-(2*(_z*_z));
161
        ret.cell(0, 1) = (2*_x*_y)-(2*_w*_z);
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        ret.cell(0, 2) = (2*_x*_z)+(2*_w*_y);
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        ret.cell(0, 0) = 1 - 2*_y*_y - 2*_z*_z;
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        ret.cell(0, 1) = 2*_x*_y - 2*_w*_z;
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        ret.cell(0, 2) = 2*_x*_z + 2*_w*_y;
163 163

  
164
        ret.cell(1, 0) = (2*_x*_y)+(2*_w*_z);
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        ret.cell(1, 1) = 1-(2*(_x*_x))-(2*(_z*_z));
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        ret.cell(1, 2) = (2*(_y*_z))-(2*(_w*_x));
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        ret.cell(1, 0) = 2*_x*_y + 2*_w*_z;
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        ret.cell(1, 1) = 1 - 2*_x*_x - 2*_z*_z;
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        ret.cell(1, 2) = 2*_y*_z - 2*_w*_x;
167 167

  
168
        ret.cell(2, 0) = (2*(_x*_z))-(2*_w*_y);
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        ret.cell(2, 1) = (2*_y*_z)+(2*_w*_x);
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        ret.cell(2, 2) = 1-(2*(_x*_x))-(2*(_y*_y));
168
        ret.cell(2, 0) = 2*_x*_z - 2*_w*_y;
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        ret.cell(2, 1) = 2*_y*_z + 2*_w*_x;
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        ret.cell(2, 2) = 1 - 2*_x*_x - 2*_y*_y;
171 171
        return ret;
172 172
    }
173 173

  

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