////////////////////////////////////////////////////////////////////////////////
// for each HSKL bone in GLUT
////////////////////////////////////////////////////////////////////////////////
hskl::float4x4 PoseToMatrix(hskl::float4 q, hskl::float3 tr)
{
hskl::float4x4 m;
(hskl::float3&)m.x = qxdir(q);
(hskl::float3&)m.y = qydir(q);
(hskl::float3&)m.z = qzdir(q);
(hskl::float3&)m.w = tr;
m.w.w = 1;
return m;
}
float4x4 ScaledTransformationMatrix(const float3 & scale, const float4 & rot, const float3 & vec)
{
return {{qxdir(rot)*scale.x,0},{qydir(rot)*scale.y,0},{qzdir(rot)*scale.z,0},{vec,1}};
}
float4x4 RigidTransformationMatrix(const float4 & rot, const float3 & vec)
{
return {{qxdir(rot),0},{qydir(rot),0},{qzdir(rot),0},{vec,1}};
}