From 6c9a786926ce0cebf94961bf70245c26e37f6ff7 Mon Sep 17 00:00:00 2001 From: Szymon Nowakowski Date: Mon, 5 Jan 2026 23:57:54 +0100 Subject: [PATCH] =?UTF-8?q?Fix=20Quaternion=20=E2=86=92=20Matrix=20convers?= =?UTF-8?q?ion?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- packages/vecmath/src/matrices/Matrix4x4.zig | 18 +++++----- packages/vecmath/src/matrices/Matrix4x4x8.zig | 36 +++++++++---------- 2 files changed, 27 insertions(+), 27 deletions(-) diff --git a/packages/vecmath/src/matrices/Matrix4x4.zig b/packages/vecmath/src/matrices/Matrix4x4.zig index 0b45200..31f8e4d 100644 --- a/packages/vecmath/src/matrices/Matrix4x4.zig +++ b/packages/vecmath/src/matrices/Matrix4x4.zig @@ -75,9 +75,9 @@ pub const Matrix4x4 = extern struct { return .{ // zig fmt: off - .ix = 1 - 2 * (yy + zz), .iy = 2 * (xy - zw), .iz = 2 * (xz + yw), .iw = 0, - .jx = 2 * (xy + zw), .jy = 1 - 2 * (xx + zz), .jz = 2 * (yz - xw), .jw = 0, - .kx = 2 * (xz - yw), .ky = 2 * (yz + xw), .kz = 1 - 2 * (xx + yy), .kw = 0, + .ix = 1 - 2 * (yy + zz), .iy = 2 * (xy + zw), .iz = 2 * (xz - yw), .iw = 0, + .jx = 2 * (xy - zw), .jy = 1 - 2 * (xx + zz), .jz = 2 * (yz + xw), .jw = 0, + .kx = 2 * (xz + yw), .ky = 2 * (yz - xw), .kz = 1 - 2 * (xx + yy), .kw = 0, .tx = 0, .ty = 0, .tz = 0, .tw = 1, // zig fmt: on }; @@ -121,9 +121,9 @@ pub const Matrix4x4 = extern struct { return .{ // zig fmt: off - .ix = 1 - 2 * (yy + zz), .iy = 2 * (xy - zw), .iz = 2 * (xz + yw), .iw = 0, - .jx = 2 * (xy + zw), .jy = 1 - 2 * (xx + zz), .jz = 2 * (yz - xw), .jw = 0, - .kx = 2 * (xz - yw), .ky = 2 * (yz + xw), .kz = 1 - 2 * (xx + yy), .kw = 0, + .ix = 1 - 2 * (yy + zz), .iy = 2 * (xy + zw), .iz = 2 * (xz - yw), .iw = 0, + .jx = 2 * (xy - zw), .jy = 1 - 2 * (xx + zz), .jz = 2 * (yz + xw), .jw = 0, + .kx = 2 * (xz + yw), .ky = 2 * (yz - xw), .kz = 1 - 2 * (xx + yy), .kw = 0, .tx = t.x, .ty = t.y, .tz = t.z, .tw = 1, // zig fmt: on }; @@ -153,9 +153,9 @@ pub const Matrix4x4 = extern struct { return .{ // zig fmt: off - .ix = s.x * (1 - 2 * (yy + zz)), .iy = s.x * 2 * (xy - zw), .iz = s.x * 2 * (xz + yw), .iw = 0, - .jx = s.y * 2 * (xy + zw), .jy = s.y * (1 - 2 * (xx + zz)), .jz = s.y * 2 * (yz - xw), .jw = 0, - .kx = s.z * 2 * (xz - yw), .ky = s.z * 2 * (yz + xw), .kz = s.z * (1 - 2 * (xx + yy)), .kw = 0, + .ix = s.x * (1 - 2 * (yy + zz)), .iy = s.x * 2 * (xy + zw), .iz = s.x * 2 * (xz - yw), .iw = 0, + .jx = s.y * 2 * (xy - zw), .jy = s.y * (1 - 2 * (xx + zz)), .jz = s.y * 2 * (yz + xw), .jw = 0, + .kx = s.z * 2 * (xz + yw), .ky = s.z * 2 * (yz - xw), .kz = s.z * (1 - 2 * (xx + yy)), .kw = 0, .tx = t.x, .ty = t.y, .tz = t.z, .tw = 1, // zig fmt: on }; diff --git a/packages/vecmath/src/matrices/Matrix4x4x8.zig b/packages/vecmath/src/matrices/Matrix4x4x8.zig index fee4834..a43be08 100644 --- a/packages/vecmath/src/matrices/Matrix4x4x8.zig +++ b/packages/vecmath/src/matrices/Matrix4x4x8.zig @@ -113,9 +113,9 @@ pub const Matrix4x4x8 = extern struct { return .{ // zig fmt: off - .ix = vm.ps(1) - vm.ps(2) * (yy + zz), .iy = vm.ps(2) * (xy - zw), .iz = vm.ps(2) * (xz + yw), .iw = vm.ps(0), - .jx = vm.ps(2) * (xy + zw), .jy = vm.ps(1) - vm.ps(2) * (xx + zz), .jz = vm.ps(2) * (yz - xw), .jw = vm.ps(0), - .kx = vm.ps(2) * (xz - yw), .ky = vm.ps(2) * (yz + xw), .kz = vm.ps(1) - vm.ps(2) * (xx + yy), .kw = vm.ps(0), + .ix = vm.ps(1) - vm.ps(2) * (yy + zz), .iy = vm.ps(2) * (xy + zw), .iz = vm.ps(2) * (xz - yw), .iw = vm.ps(0), + .jx = vm.ps(2) * (xy - zw), .jy = vm.ps(1) - vm.ps(2) * (xx + zz), .jz = vm.ps(2) * (yz + xw), .jw = vm.ps(0), + .kx = vm.ps(2) * (xz + yw), .ky = vm.ps(2) * (yz - xw), .kz = vm.ps(1) - vm.ps(2) * (xx + yy), .kw = vm.ps(0), .tx = vm.ps(0), .ty = vm.ps(0), .tz = vm.ps(0), .tw = vm.ps(1), // zig fmt: on }; @@ -134,9 +134,9 @@ pub const Matrix4x4x8 = extern struct { return .{ // zig fmt: off - .ix = vm.ps(1 - 2 * (yy + zz)), .iy = vm.ps(2 * (xy - zw)), .iz = vm.ps(2 * (xz + yw)), .iw = vm.ps(0), - .jx = vm.ps(2 * (xy + zw)), .jy = vm.ps(1 - 2 * (xx + zz)), .jz = vm.ps(2 * (yz - xw)), .jw = vm.ps(0), - .kx = vm.ps(2 * (xz - yw)), .ky = vm.ps(2 * (yz + xw)), .kz = vm.ps(1 - 2 * (xx + yy)), .kw = vm.ps(0), + .ix = vm.ps(1 - 2 * (yy + zz)), .iy = vm.ps(2 * (xy + zw)), .iz = vm.ps(2 * (xz - yw)), .iw = vm.ps(0), + .jx = vm.ps(2 * (xy - zw)), .jy = vm.ps(1 - 2 * (xx + zz)), .jz = vm.ps(2 * (yz + xw)), .jw = vm.ps(0), + .kx = vm.ps(2 * (xz + yw)), .ky = vm.ps(2 * (yz - xw)), .kz = vm.ps(1 - 2 * (xx + yy)), .kw = vm.ps(0), .tx = vm.ps(0), .ty = vm.ps(0), .tz = vm.ps(0), .tw = vm.ps(1), // zig fmt: on }; @@ -177,9 +177,9 @@ pub const Matrix4x4x8 = extern struct { return .{ // zig fmt: off - .ix = vm.ps(1) - vm.ps(2) * (yy + zz), .iy = vm.ps(2) * (xy - zw), .iz = vm.ps(2) * (xz + yw), .iw = vm.ps(0), - .jx = vm.ps(2) * (xy + zw), .jy = vm.ps(1) - vm.ps(2) * (xx + zz), .jz = vm.ps(2) * (yz - xw), .jw = vm.ps(0), - .kx = vm.ps(2) * (xz - yw), .ky = vm.ps(2) * (yz + xw), .kz = vm.ps(1) - vm.ps(2) * (xx + yy), .kw = vm.ps(0), + .ix = vm.ps(1) - vm.ps(2) * (yy + zz), .iy = vm.ps(2) * (xy + zw), .iz = vm.ps(2) * (xz - yw), .iw = vm.ps(0), + .jx = vm.ps(2) * (xy - zw), .jy = vm.ps(1) - vm.ps(2) * (xx + zz), .jz = vm.ps(2) * (yz + xw), .jw = vm.ps(0), + .kx = vm.ps(2) * (xz + yw), .ky = vm.ps(2) * (yz - xw), .kz = vm.ps(1) - vm.ps(2) * (xx + yy), .kw = vm.ps(0), .tx = t.x, .ty = t.y, .tz = t.z, .tw = vm.ps(1), // zig fmt: on }; @@ -198,9 +198,9 @@ pub const Matrix4x4x8 = extern struct { return .{ // zig fmt: off - .ix = vm.ps(1 - 2 * (yy + zz)), .iy = vm.ps(2 * (xy - zw)), .iz = vm.ps(2 * (xz + yw)), .iw = vm.ps(0), - .jx = vm.ps(2 * (xy + zw)), .jy = vm.ps(1 - 2 * (xx + zz)), .jz = vm.ps(2 * (yz - xw)), .jw = vm.ps(0), - .kx = vm.ps(2 * (xz - yw)), .ky = vm.ps(2 * (yz + xw)), .kz = vm.ps(1 - 2 * (xx + yy)), .kw = vm.ps(0), + .ix = vm.ps(1 - 2 * (yy + zz)), .iy = vm.ps(2 * (xy + zw)), .iz = vm.ps(2 * (xz - yw)), .iw = vm.ps(0), + .jx = vm.ps(2 * (xy - zw)), .jy = vm.ps(1 - 2 * (xx + zz)), .jz = vm.ps(2 * (yz + xw)), .jw = vm.ps(0), + .kx = vm.ps(2 * (xz + yw)), .ky = vm.ps(2 * (yz - xw)), .kz = vm.ps(1 - 2 * (xx + yy)), .kw = vm.ps(0), .tx = vm.ps(t.x), .ty = vm.ps(t.y), .tz = vm.ps(t.z), .tw = vm.ps(1), // zig fmt: on }; @@ -241,9 +241,9 @@ pub const Matrix4x4x8 = extern struct { return .{ // zig fmt: off - .ix = s.x * (vm.ps(1) - vm.ps(2) * (yy + zz)), .iy = s.x * vm.ps(2) * (xy - zw), .iz = s.x * vm.ps(2) * (xz + yw), .iw = vm.ps(0), - .jx = s.y * vm.ps(2) * (xy + zw), .jy = s.y * (vm.ps(1) - vm.ps(2) * (xx + zz)), .jz = s.y * vm.ps(2) * (yz - xw), .jw = vm.ps(0), - .kx = s.z * vm.ps(2) * (xz - yw), .ky = s.z * vm.ps(2) * (yz + xw), .kz = s.z * (vm.ps(1) - vm.ps(2) * (xx + yy)), .kw = vm.ps(0), + .ix = s.x * (vm.ps(1) - vm.ps(2) * (yy + zz)), .iy = s.x * vm.ps(2) * (xy + zw), .iz = s.x * vm.ps(2) * (xz - yw), .iw = vm.ps(0), + .jx = s.y * vm.ps(2) * (xy - zw), .jy = s.y * (vm.ps(1) - vm.ps(2) * (xx + zz)), .jz = s.y * vm.ps(2) * (yz + xw), .jw = vm.ps(0), + .kx = s.z * vm.ps(2) * (xz + yw), .ky = s.z * vm.ps(2) * (yz - xw), .kz = s.z * (vm.ps(1) - vm.ps(2) * (xx + yy)), .kw = vm.ps(0), .tx = t.x, .ty = t.y, .tz = t.z, .tw = vm.ps(1), // zig fmt: on }; @@ -262,9 +262,9 @@ pub const Matrix4x4x8 = extern struct { return .{ // zig fmt: off - .ix = vm.ps(s.x * (1 - 2 * (yy + zz))), .iy = vm.ps(s.x * 2 * (xy - zw)), .iz = vm.ps(s.x * 2 * (xz + yw)), .iw = vm.ps(0), - .jx = vm.ps(s.y * 2 * (xy + zw)), .jy = vm.ps(s.y * (1 - 2 * (xx + zz))), .jz = vm.ps(s.y * 2 * (yz - xw)), .jw = vm.ps(0), - .kx = vm.ps(s.z * 2 * (xz - yw)), .ky = vm.ps(s.z * 2 * (yz + xw)), .kz = vm.ps(s.z * (1 - 2 * (xx + yy))), .kw = vm.ps(0), + .ix = vm.ps(s.x * (1 - 2 * (yy + zz))), .iy = vm.ps(s.x * 2 * (xy + zw)), .iz = vm.ps(s.x * 2 * (xz - yw)), .iw = vm.ps(0), + .jx = vm.ps(s.y * 2 * (xy - zw)), .jy = vm.ps(s.y * (1 - 2 * (xx + zz))), .jz = vm.ps(s.y * 2 * (yz + xw)), .jw = vm.ps(0), + .kx = vm.ps(s.z * 2 * (xz + yw)), .ky = vm.ps(s.z * 2 * (yz - xw)), .kz = vm.ps(s.z * (1 - 2 * (xx + yy))), .kw = vm.ps(0), .tx = vm.ps(t.x), .ty = vm.ps(t.y), .tz = vm.ps(t.z), .tw = vm.ps(1), // zig fmt: on };