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Clean up quaternion_from_matrix(3|4) code
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gingerBill
@@ -297,121 +297,61 @@ quaternion_squad :: proc(q1, q2, s1, s2: Quaternion, h: Float) -> Quaternion {
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quaternion_from_matrix4 :: proc(m: Matrix4) -> (q: Quaternion) {
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four_x_squared_minus_1, four_y_squared_minus_1,
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four_z_squared_minus_1, four_w_squared_minus_1,
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four_biggest_squared_minus_1: Float;
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/* xyzw */
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/* 0123 */
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biggest_index := 3;
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biggest_value, mult: Float;
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four_x_squared_minus_1 = m[0][0] - m[1][1] - m[2][2];
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four_y_squared_minus_1 = m[1][1] - m[0][0] - m[2][2];
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four_z_squared_minus_1 = m[2][2] - m[0][0] - m[1][1];
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four_w_squared_minus_1 = m[0][0] + m[1][1] + m[2][2];
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four_biggest_squared_minus_1 = four_w_squared_minus_1;
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if four_x_squared_minus_1 > four_biggest_squared_minus_1 {
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four_biggest_squared_minus_1 = four_x_squared_minus_1;
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biggest_index = 0;
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}
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if four_y_squared_minus_1 > four_biggest_squared_minus_1 {
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four_biggest_squared_minus_1 = four_y_squared_minus_1;
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biggest_index = 1;
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}
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if four_z_squared_minus_1 > four_biggest_squared_minus_1 {
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four_biggest_squared_minus_1 = four_z_squared_minus_1;
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biggest_index = 2;
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}
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biggest_value = math.sqrt(four_biggest_squared_minus_1 + 1) * 0.5;
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mult = 0.25 / biggest_value;
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switch biggest_index {
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case 0:
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q.w = biggest_value;
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q.x = (m[0][1] + m[1][0]) * mult;
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q.y = (m[2][0] + m[0][2]) * mult;
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q.z = (m[1][2] - m[2][1]) * mult;
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case 1:
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q.w = (m[0][1] + m[1][0]) * mult;
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q.x = biggest_value;
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q.y = (m[1][2] + m[2][1]) * mult;
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q.z = (m[2][0] - m[0][2]) * mult;
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case 2:
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q.w = (m[2][0] + m[0][2]) * mult;
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q.x = (m[1][2] + m[2][1]) * mult;
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q.y = biggest_value;
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q.z = (m[0][1] - m[1][0]) * mult;
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case 3:
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q.w = (m[1][2] - m[2][1]) * mult;
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q.x = (m[2][0] - m[0][2]) * mult;
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q.y = (m[0][1] - m[1][0]) * mult;
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q.z = biggest_value;
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}
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return;
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m3: Matrix3 = ---;
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m3[0][0], m3[0][1], m3[0][2] = m[0][0], m[0][1], m[0][2];
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m3[1][0], m3[1][1], m3[1][2] = m[1][0], m[1][1], m[1][2];
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m3[2][0], m3[2][1], m3[2][2] = m[2][0], m[2][1], m[2][2];
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return quaternion_from_matrix3(m3);
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}
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quaternion_from_matrix3 :: proc(m: Matrix3) -> (q: Quaternion) {
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four_x_squared_minus_1, four_y_squared_minus_1,
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four_z_squared_minus_1, four_w_squared_minus_1,
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four_biggest_squared_minus_1: Float;
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four_x_squared_minus_1 := m[0][0] - m[1][1] - m[2][2];
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four_y_squared_minus_1 := m[1][1] - m[0][0] - m[2][2];
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four_z_squared_minus_1 := m[2][2] - m[0][0] - m[1][1];
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four_w_squared_minus_1 := m[0][0] + m[1][1] + m[2][2];
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/* xyzw */
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/* 0123 */
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biggest_index := 3;
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biggest_value, mult: Float;
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four_x_squared_minus_1 = m[0][0] - m[1][1] - m[2][2];
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four_y_squared_minus_1 = m[1][1] - m[0][0] - m[2][2];
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four_z_squared_minus_1 = m[2][2] - m[0][0] - m[1][1];
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four_w_squared_minus_1 = m[0][0] + m[1][1] + m[2][2];
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four_biggest_squared_minus_1 = four_w_squared_minus_1;
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biggest_index := 0;
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four_biggest_squared_minus_1 := four_w_squared_minus_1;
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if four_x_squared_minus_1 > four_biggest_squared_minus_1 {
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four_biggest_squared_minus_1 = four_x_squared_minus_1;
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biggest_index = 0;
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biggest_index = 1;
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}
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if four_y_squared_minus_1 > four_biggest_squared_minus_1 {
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four_biggest_squared_minus_1 = four_y_squared_minus_1;
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biggest_index = 1;
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biggest_index = 2;
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}
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if four_z_squared_minus_1 > four_biggest_squared_minus_1 {
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four_biggest_squared_minus_1 = four_z_squared_minus_1;
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biggest_index = 2;
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biggest_index = 3;
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}
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biggest_value = math.sqrt(four_biggest_squared_minus_1 + 1) * 0.5;
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mult = 0.25 / biggest_value;
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biggest_val := math.sqrt(four_biggest_squared_minus_1 + 1) * 0.5;
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mult := 0.25 / biggest_val;
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q = 1;
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switch biggest_index {
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case 0:
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q.w = biggest_value;
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q.x = (m[0][1] + m[1][0]) * mult;
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q.y = (m[2][0] + m[0][2]) * mult;
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q.z = (m[1][2] - m[2][1]) * mult;
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case 1:
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q.w = (m[0][1] + m[1][0]) * mult;
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q.x = biggest_value;
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q.y = (m[1][2] + m[2][1]) * mult;
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q.z = (m[2][0] - m[0][2]) * mult;
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case 2:
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q.w = (m[2][0] + m[0][2]) * mult;
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q.x = (m[1][2] + m[2][1]) * mult;
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q.y = biggest_value;
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q.w = biggest_val;
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q.x = (m[1][2] - m[2][1]) * mult;
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q.y = (m[2][0] - m[0][2]) * mult;
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q.z = (m[0][1] - m[1][0]) * mult;
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case 3:
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case 1:
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q.w = (m[1][2] - m[2][1]) * mult;
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q.x = (m[2][0] - m[0][2]) * mult;
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q.y = (m[0][1] - m[1][0]) * mult;
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q.z = biggest_value;
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q.x = biggest_val;
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q.y = (m[0][1] + m[1][0]) * mult;
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q.z = (m[2][0] + m[0][2]) * mult;
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case 2:
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q.w = (m[2][0] - m[0][2]) * mult;
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q.x = (m[0][1] + m[1][0]) * mult;
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q.y = biggest_val;
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q.z = (m[1][2] + m[2][1]) * mult;
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case 3:
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q.w = (m[0][1] - m[1][0]) * mult;
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q.x = (m[2][0] + m[0][2]) * mult;
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q.y = (m[1][2] + m[2][1]) * mult;
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q.z = biggest_val;
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}
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return;
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}
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@@ -470,28 +410,27 @@ matrix2_adjoint :: proc(m: Matrix2) -> (c: Matrix2) {
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matrix3_from_quaternion :: proc(q: Quaternion) -> (m: Matrix3) {
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xx := q.x * q.x;
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xy := q.x * q.y;
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xz := q.x * q.z;
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xw := q.x * q.w;
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yy := q.y * q.y;
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yz := q.y * q.z;
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yw := q.y * q.w;
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zz := q.z * q.z;
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zw := q.z * q.w;
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qxx := q.x * q.x;
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qyy := q.y * q.y;
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qzz := q.z * q.z;
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qxz := q.x * q.z;
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qxy := q.x * q.y;
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qyz := q.y * q.z;
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qwx := q.w * q.x;
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qwy := q.w * q.y;
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qwz := q.w * q.z;
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m[0][0] = 1 - 2 * (yy + zz);
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m[1][0] = 2 * (xy - zw);
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m[2][0] = 2 * (xz + yw);
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m[0][0] = 1 - 2 * (qyy + qzz);
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m[0][1] = 2 * (qxy + qwz);
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m[0][2] = 2 * (qxz - qwy);
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m[0][1] = 2 * (xy + zw);
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m[1][1] = 1 - 2 * (xx + zz);
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m[2][1] = 2 * (yz - xw);
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m[0][2] = 2 * (xz - yw);
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m[1][2] = 2 * (yz + xw);
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m[2][2] = 1 - 2 * (xx + yy);
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m[1][0] = 2 * (qxy - qwz);
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m[1][1] = 1 - 2 * (qxx + qzz);
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m[1][2] = 2 * (qyz + qwx);
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m[2][0] = 2 * (qxz + qwy);
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m[2][1] = 2 * (qyz - qwx);
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m[2][2] = 1 - 2 * (qxx + qyy);
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return m;
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}
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@@ -578,29 +517,29 @@ matrix3_look_at :: proc(eye, centre, up: Vector3) -> Matrix3 {
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}
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matrix4_from_quaternion :: proc(q: Quaternion) -> (m: Matrix4) {
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xx := q.x * q.x;
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xy := q.x * q.y;
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xz := q.x * q.z;
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xw := q.x * q.w;
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yy := q.y * q.y;
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yz := q.y * q.z;
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yw := q.y * q.w;
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zz := q.z * q.z;
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zw := q.z * q.w;
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qxx := q.x * q.x;
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qyy := q.y * q.y;
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qzz := q.z * q.z;
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qxz := q.x * q.z;
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qxy := q.x * q.y;
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qyz := q.y * q.z;
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qwx := q.w * q.x;
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qwy := q.w * q.y;
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qwz := q.w * q.z;
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m = MATRIX4_IDENTITY;
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m[0][0] = 1 - 2 * (qyy + qzz);
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m[0][1] = 2 * (qxy + qwz);
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m[0][2] = 2 * (qxz - qwy);
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m[0][0] = 1 - 2 * (yy + zz);
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m[1][0] = 2 * (xy - zw);
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m[2][0] = 2 * (xz + yw);
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m[1][0] = 2 * (qxy - qwz);
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m[1][1] = 1 - 2 * (qxx + qzz);
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m[1][2] = 2 * (qyz + qwx);
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m[0][1] = 2 * (xy + zw);
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m[1][1] = 1 - 2 * (xx + zz);
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m[2][1] = 2 * (yz - xw);
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m[2][0] = 2 * (qxz + qwy);
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m[2][1] = 2 * (qyz - qwx);
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m[2][2] = 1 - 2 * (qxx + qyy);
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m[0][2] = 2 * (xz - yw);
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m[1][2] = 2 * (yz + xw);
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m[2][2] = 1 - 2 * (xx + yy);
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m[3][3] = 1;
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return m;
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}
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