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jaburns/quat2rot.shader

Created March 1, 2017 18:01
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Convert quaternion to rotation matrix
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quat2rot.shader
float3x3 quaternionToRotationMatrix(float4 q)
{
return float3x3(
1 - 2*q.y*q.y - 2*q.z*q.z , 2*q.x*q.y - 2*q.z*q.w , 2*q.x*q.z + 2*q.y*q.w,
2*q.x*q.y + 2*q.z*q.w , 1 - 2*q.x*q.x - 2*q.z*q.z , 2*q.y*q.z - 2*q.x*q.w,
2*q.x*q.z - 2*q.y*q.w , 2*q.y*q.z + 2*q.x*q.w , 1 - 2*q.x*q.x - 2*q.y*q.y
);
}
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