Mat4f CameraControls::getWorldToCamera(void) const { Mat3f orient = getOrientation(); Vec3f pos = orient.transposed() * m_position; Mat4f r; r.setRow(0, Vec4f(orient.col(0), -pos.x)); r.setRow(1, Vec4f(orient.col(1), -pos.y)); r.setRow(2, Vec4f(orient.col(2), -pos.z)); return r; }