From 1f00f86225dbc09ec223c949eb3ffe95fc199116 Mon Sep 17 00:00:00 2001
From: kearwood <none@none>
Date: Wed, 3 Oct 2012 21:00:05 +0000
Subject: [PATCH] Added rotationMatrix method to KRQuaternion

--HG--
extra : convert_revision : svn%3A7752d6cf-9f14-4ad2-affc-04f1e67b81a5/trunk%40114
---
 KREngine/KREngine/Classes/KRQuaternion.cpp | 18 ++++++++++++++++++
 KREngine/KREngine/Classes/KRQuaternion.h   |  2 ++
 2 files changed, 20 insertions(+)

diff --git a/KREngine/KREngine/Classes/KRQuaternion.cpp b/KREngine/KREngine/Classes/KRQuaternion.cpp
index 75db472..60e935c 100644
--- a/KREngine/KREngine/Classes/KRQuaternion.cpp
+++ b/KREngine/KREngine/Classes/KRQuaternion.cpp
@@ -233,3 +233,21 @@ void KRQuaternion::conjugate() {
     m_val[3] = -m_val[3];
 }
 
+KRMat4 KRQuaternion::rotationMatrix() const {
+    KRMat4 matRotate;
+    
+    matRotate.getPointer()[0] = 1.0 - 2.0 * (m_val[2] * m_val[2] + m_val[3] * m_val[3]);
+    matRotate.getPointer()[1] = 2.0 * (m_val[1] * m_val[2] - m_val[0] * m_val[3]);
+    matRotate.getPointer()[2] = 2.0 * (m_val[0] * m_val[2] + m_val[1] * m_val[3]);
+    
+    matRotate.getPointer()[4] = 2.0 * (m_val[1] * m_val[2] + m_val[0] * m_val[3]);
+    matRotate.getPointer()[5] = 1.0 - 2.0 * (m_val[1] * m_val[1] + m_val[3] * m_val[3]);
+    matRotate.getPointer()[6] = 2.0 * (m_val[2] * m_val[3] - m_val[0] * m_val[1]);
+    
+    matRotate.getPointer()[8] = 2.0 * (m_val[1] * m_val[3] - m_val[0] * m_val[2]);
+    matRotate.getPointer()[9] = 2.0 * (m_val[0] * m_val[1] + m_val[2] * m_val[3]);
+    matRotate.getPointer()[10] = 1.0 - 2.0 * (m_val[1] * m_val[1] + m_val[2] * m_val[2]);
+    
+    return matRotate;
+}
+
diff --git a/KREngine/KREngine/Classes/KRQuaternion.h b/KREngine/KREngine/Classes/KRQuaternion.h
index c50a2d9..a68f732 100644
--- a/KREngine/KREngine/Classes/KRQuaternion.h
+++ b/KREngine/KREngine/Classes/KRQuaternion.h
@@ -34,6 +34,7 @@
 #include <math.h>
 
 #import "KREngine-common.h"
+#import "KRMat4.h"
 
 class KRVector3;
 
@@ -69,6 +70,7 @@ public:
     
     void setEuler(const KRVector3 &euler);
     KRVector3 euler() const;
+    KRMat4 rotationMatrix() const;
     
     void normalize();
     static KRQuaternion Normalize(const KRQuaternion &v1);