StackGenVis: Alignment of Data, Algorithms, and Models for Stacking Ensemble Learning Using Performance Metrics
https://doi.org/10.1109/TVCG.2020.3030352
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53 lines
1.2 KiB
53 lines
1.2 KiB
module.exports = fromRotationTranslation;
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/**
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* Creates a matrix from a quaternion rotation and vector translation
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* This is equivalent to (but much faster than):
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*
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* mat4.identity(dest);
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* mat4.translate(dest, vec);
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* var quatMat = mat4.create();
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* quat4.toMat4(quat, quatMat);
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* mat4.multiply(dest, quatMat);
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*
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* @param {mat4} out mat4 receiving operation result
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* @param {quat4} q Rotation quaternion
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* @param {vec3} v Translation vector
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* @returns {mat4} out
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*/
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function fromRotationTranslation(out, q, v) {
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// Quaternion math
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var x = q[0], y = q[1], z = q[2], w = q[3],
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x2 = x + x,
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y2 = y + y,
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z2 = z + z,
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xx = x * x2,
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xy = x * y2,
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xz = x * z2,
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yy = y * y2,
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yz = y * z2,
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zz = z * z2,
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wx = w * x2,
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wy = w * y2,
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wz = w * z2;
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out[0] = 1 - (yy + zz);
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out[1] = xy + wz;
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out[2] = xz - wy;
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out[3] = 0;
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out[4] = xy - wz;
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out[5] = 1 - (xx + zz);
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out[6] = yz + wx;
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out[7] = 0;
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out[8] = xz + wy;
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out[9] = yz - wx;
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out[10] = 1 - (xx + yy);
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out[11] = 0;
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out[12] = v[0];
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out[13] = v[1];
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out[14] = v[2];
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out[15] = 1;
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return out;
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}; |