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Update raymath.h

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Ray
2026-09-11 16:11:45 +02:00
parent c66c92962b
commit 73dce3635c
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src/raymath.h
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@@ -2676,14 +2676,17 @@ RMAPI Matrix MatrixCompose(Vector3 translation, Quaternion rotation, Vector3 sca
forward.z *= scale.z;
// Rotate vectors
//right = Vector3RotateByQuaternion(right, rotation);
right.x = right.x*(rotation.x*rotation.x + rotation.w*rotation.w - rotation.y*rotation.y - rotation.z*rotation.z) + right.y*(2*rotation.x*rotation.y - 2*rotation.w*rotation.z) + right.z*(2*rotation.x*rotation.z + 2*rotation.w*rotation.y);
right.y = right.x*(2*rotation.w*rotation.z + 2*rotation.x*rotation.y) + right.y*(rotation.w*rotation.w - rotation.x*rotation.x + rotation.y*rotation.y - rotation.z*rotation.z) + right.z*(-2*rotation.w*rotation.x + 2*rotation.y*rotation.z);
right.z = right.x*(-2*rotation.w*rotation.y + 2*rotation.x*rotation.z) + right.y*(2*rotation.w*rotation.x + 2*rotation.y*rotation.z)+ right.z*(rotation.w*rotation.w - rotation.x*rotation.x - rotation.y*rotation.y + rotation.z*rotation.z);
//up = Vector3RotateByQuaternion(up, rotation);
up.x = up.x*(rotation.x*rotation.x + rotation.w*rotation.w - rotation.y*rotation.y - rotation.z*rotation.z) + up.y*(2*rotation.x*rotation.y - 2*rotation.w*rotation.z) + up.z*(2*rotation.x*rotation.z + 2*rotation.w*rotation.y);
up.y = up.x*(2*rotation.w*rotation.z + 2*rotation.x*rotation.y) + up.y*(rotation.w*rotation.w - rotation.x*rotation.x + rotation.y*rotation.y - rotation.z*rotation.z) + up.z*(-2*rotation.w*rotation.x + 2*rotation.y*rotation.z);
up.z = up.x*(-2*rotation.w*rotation.y + 2*rotation.x*rotation.z) + up.y*(2*rotation.w*rotation.x + 2*rotation.y*rotation.z)+ up.z*(rotation.w*rotation.w - rotation.x*rotation.x - rotation.y*rotation.y + rotation.z*rotation.z);
//forward = Vector3RotateByQuaternion(forward, rotation);
forward.x = forward.x*(rotation.x*rotation.x + rotation.w*rotation.w - rotation.y*rotation.y - rotation.z*rotation.z) + forward.y*(2*rotation.x*rotation.y - 2*rotation.w*rotation.z) + forward.z*(2*rotation.x*rotation.z + 2*rotation.w*rotation.y);
forward.y = forward.x*(2*rotation.w*rotation.z + 2*rotation.x*rotation.y) + forward.y*(rotation.w*rotation.w - rotation.x*rotation.x + rotation.y*rotation.y - rotation.z*rotation.z) + forward.z*(-2*rotation.w*rotation.x + 2*rotation.y*rotation.z);
forward.z = forward.x*(-2*rotation.w*rotation.y + 2*rotation.x*rotation.z) + forward.y*(2*rotation.w*rotation.x + 2*rotation.y*rotation.z)+ forward.z*(rotation.w*rotation.w - rotation.x*rotation.x - rotation.y*rotation.y + rotation.z*rotation.z);