apl-easy-gl/lib/Util/poseToMatrix.js

Various easy WebGL helper functions

"use strict";
Object.defineProperty(exports, "__esModule", { value: true });
function poseToMatrix(out, pose) {
    var q = pose.orientation ? pose.orientation : [0, 0, 0, 1], v = pose.position ? pose.position : [0, 0, 0], x2 = q[0] + q[0], y2 = q[1] + q[1], z2 = q[2] + q[2], xx = q[0] * x2, xy = q[0] * y2, xz = q[0] * z2, yy = q[1] * y2, yz = q[1] * z2, zz = q[2] * z2, wx = q[3] * x2, wy = q[3] * y2, wz = q[3] * z2;
    out[0] = 1 - (yy + zz);
    out[1] = xy + wz;
    out[2] = xz - wy;
    out[3] = 0;
    out[4] = xy - wz;
    out[5] = 1 - (xx + zz);
    out[6] = yz + wx;
    out[7] = 0;
    out[8] = xz + wy;
    out[9] = yz - wx;
    out[10] = 1 - (xx + yy);
    out[11] = 0;
    out[12] = v[0];
    out[13] = v[1];
    out[14] = v[2];
    out[15] = 1;
    return out;
}
exports.poseToMatrix = poseToMatrix;