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[raymath.h] Changed MatrixCompose to follow raymath conventions (#6133)

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Co-authored-by: Carlos GS <carlosgs161@proton.me>
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Carlos GS
2026-09-10 13:14:32 +00:00
committed by GitHub
parent 94a69ad9e2
commit c66c92962b
1 changed files with 22 additions and 7 deletions
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29
src/raymath.h
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@@ -2655,7 +2655,6 @@ RMAPI int QuaternionEquals(Quaternion p, Quaternion q)
}
// Compose a transformation matrix from rotational, translational and scaling components
// TODO: This function is not following raymath conventions defined in header: NOT self-contained
RMAPI Matrix MatrixCompose(Vector3 translation, Quaternion rotation, Vector3 scale)
{
// Initialize vectors
@@ -2664,14 +2663,30 @@ RMAPI Matrix MatrixCompose(Vector3 translation, Quaternion rotation, Vector3 sca
Vector3 forward = { 0.0f, 0.0f, 1.0f };
// Scale vectors
right = Vector3Scale(right, scale.x);
up = Vector3Scale(up, scale.y);
forward = Vector3Scale(forward , scale.z);
right.x *= scale.x;
right.y *= scale.x;
right.z *= scale.x;
up.x *= scale.y;
up.y *= scale.y;
up.z *= scale.y;
forward.x *= scale.z;
forward.y *= scale.z;
forward.z *= scale.z;
// Rotate vectors
right = Vector3RotateByQuaternion(right, rotation);
up = Vector3RotateByQuaternion(up, rotation);
forward = Vector3RotateByQuaternion(forward, 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.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.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);
// Set result matrix output
Matrix result = {