21 lines
454 B
Go
21 lines
454 B
Go
package calculator
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import (
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"gonum.org/v1/gonum/mat"
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)
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type Quaternion struct {
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W, X, Y, Z float64
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}
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// ToRotationMatrix converts a quaternion to a rotation matrix.
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func (q Quaternion) ToRotationMatrix() *mat.Dense {
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w, x, y, z := q.W, q.X, q.Y, q.Z
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return mat.NewDense(3, 3, []float64{
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1 - 2*y*y - 2*z*z, 2*x*y - 2*w*z, 2*x*z + 2*w*y,
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2*x*y + 2*w*z, 1 - 2*x*x - 2*z*z, 2*y*z - 2*w*x,
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2*x*z - 2*w*y, 2*y*z + 2*w*x, 1 - 2*x*x - 2*y*y,
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})
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}
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