//
// Summary:
// Creates a translation, rotation and scaling matrix.
//
// Parameters:
// pos:
//
// q:
//
// s:
public static M4x4 TRS(Vector3 pos, QuaternionCustom q, Vector3 s)
{
M4x4 trs = M4x4.zero;
trs = M4x4.Translate(pos) * M4x4.Rotate(q) * M4x4.Scale(s);
return(trs);
}
//
// Summary:
// Creates a rotation matrix.
//
// Parameters:
// q:
public static M4x4 Rotate(QuaternionCustom q)
{
M4x4 mat = M4x4.identity;
mat.m02 = 2.0f * (q.x * q.z) + 2.0f * (q.y * q.w);
mat.m12 = 2.0f * (q.y * q.z) - 2.0f * (q.x * q.w);
mat.m22 = 1 - 2.0f * (q.x * q.x) - 2.0f * (q.y * q.y);
mat.m00 = 1 - 2.0f * (q.y * q.y) - 2.0f * (q.z * q.z);
mat.m10 = 2.0f * (q.x * q.y) + 2.0f * (q.z * q.w);
mat.m20 = 2.0f * (q.x * q.z) - 2.0f * (q.y * q.w);
mat.m01 = 2.0f * (q.x * q.y) - 2.0f * (q.z * q.w);
mat.m11 = 1 - 2.0f * (q.x * q.x) - 2.0f * (q.z * q.z);
mat.m21 = 2.0f * (q.y * q.z) + 2.0f * (q.x * q.w);
return(mat);
}