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Fix matrix rotation decomposition when matrix has scale; 

Similar to mat4_getAngleAxis, quat_fromMat4 and mat4_getOrientation need
to divide by the scale.
This commit is contained in:
bjorn 2022-11-14 19:46:01 -08:00
parent 9277b38273
commit c2f12f1fd4
1 changed files with 11 additions and 7 deletions
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18
src/core/maf.h
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@ -156,17 +156,21 @@ MAF quat quat_fromAngleAxis(quat q, float angle, float ax, float ay, float az) {
}
MAF quat quat_fromMat4(quat q, mat4 m) {
float a = 1.f + m[0] - m[5] - m[10];
float b = 1.f - m[0] + m[5] - m[10];
float c = 1.f - m[0] - m[5] + m[10];
float d = 1.f + m[0] + m[5] + m[10];
float sx = vec3_length(m + 0);
float sy = vec3_length(m + 4);
float sz = vec3_length(m + 8);
float diagonal[4] = { m[0] / sx, m[5] / sy, m[10] / sz };
float a = 1.f + diagonal[0] - diagonal[1] - diagonal[2];
float b = 1.f - diagonal[0] + diagonal[1] - diagonal[2];
float c = 1.f - diagonal[0] - diagonal[1] + diagonal[2];
float d = 1.f + diagonal[0] + diagonal[1] + diagonal[2];
float x = sqrtf(a > 0.f ? a : 0.f) / 2.f;
float y = sqrtf(b > 0.f ? b : 0.f) / 2.f;
float z = sqrtf(c > 0.f ? c : 0.f) / 2.f;
float w = sqrtf(d > 0.f ? d : 0.f) / 2.f;
x = (m[9] - m[6]) > 0.f ? -x : x;
y = (m[2] - m[8]) > 0.f ? -y : y;
z = (m[4] - m[1]) > 0.f ? -z : z;
x = (m[9] / sz - m[6] / sy) > 0.f ? -x : x;
y = (m[2] / sx - m[8] / sz) > 0.f ? -y : y;
z = (m[4] / sy - m[1] / sx) > 0.f ? -z : z;
return quat_set(q, x, y, z, w);
}