Function xQuatToMat

src/SB/Core/x/xMath3.cpp:618–646

}

void xQuatToMat(const xQuat* q, xMat3x3* m)
{
    F32 tx = (2.0f * q->v.x);
    F32 ty = (2.0f * q->v.y);
    F32 tz = (2.0f * q->v.z);
    F32 tsx = tx * q->s;
    F32 tsy = ty * q->s;
    F32 tsz = tz * q->s;
    F32 txx = tx * q->v.x;
    F32 txy = ty * q->v.x;
    F32 txz = tz * q->v.x;
    F32 tyy = ty * q->v.y;
    F32 tyz = tz * q->v.y;
    F32 tzz = tz * q->v.z;

    m->right.x = (1.0f - tyy) - tzz;
    m->right.y = txy - tsz;
    m->right.z = txz + tsy;

    m->up.x = txy + tsz;
    m->up.y = (1.0f - tzz) - txx;
    m->up.z = tyz - tsx;

    m->at.x = txz - tsy;
    m->at.y = tyz + tsx;
    m->at.z = (1.0f - txx) - tyy;

    m->flags = 0;
}

void xQuatToAxisAngle(const xQuat* q, xVec3* a, F32* t)
{