module.exports = fromQuat; /** * Creates a matrix from a quaternion rotation. * * @param {mat4} out mat4 receiving operation result * @param {quat4} q Rotation quaternion * @returns {mat4} out */ function fromQuat(out, q) { var x = q[0], y = q[1], z = q[2], w = q[3], x2 = x + x, y2 = y + y, z2 = z + z, xx = x * x2, yx = y * x2, yy = y * y2, zx = z * x2, zy = z * y2, zz = z * z2, wx = w * x2, wy = w * y2, wz = w * z2; out[0] = 1 - yy - zz; out[1] = yx + wz; out[2] = zx - wy; out[3] = 0; out[4] = yx - wz; out[5] = 1 - xx - zz; out[6] = zy + wx; out[7] = 0; out[8] = zx + wy; out[9] = zy - wx; out[10] = 1 - xx - yy; out[11] = 0; out[12] = 0; out[13] = 0; out[14] = 0; out[15] = 1; return out; };