如何将四元数方向转化为旋转举证_将四元数旋转转换为旋转矩阵？

Basically, given a quaterion (qx, qy, qz, qw)... How can i convert that to an OpenGL rotation matrix? I'm also interested in which matrix row is "Up", "Right", "Forward" etc... I have a camera rotation in quaternion that I need in vectors...

解决方案

The following code is based on a quaternion (qw, qx, qy, qz), where the order is based on the Boost quaternions:

boost::math::quaternion quaternion;

float qw = quaternion.R_component_1();

float qx = quaternion.R_component_2();

float qy = quaternion.R_component_3();

float qz = quaternion.R_component_4();

First you have to normalize the quaternion:

const float n = 1.0f/sqrt(qx*qx+qy*qy+qz*qz+qw*qw);

qx *= n;

qy *= n;

qz *= n;

qw *= n;

Then you can create your matrix:

Matrix(

1.0f - 2.0f*qy*qy - 2.0f*qz*qz, 2.0f*qx*qy - 2.0f*qz*qw, 2.0f*qx*qz + 2.0f*qy*qw, 0.0f,

2.0f*qx*qy + 2.0f*qz*qw, 1.0f - 2.0f*qx*qx - 2.0f*qz*qz, 2.0f*qy*qz - 2.0f*qx*qw, 0.0f,

2.0f*qx*qz - 2.0f*qy*qw, 2.0f*qy*qz + 2.0f*qx*qw, 1.0f - 2.0f*qx*qx - 2.0f*qy*qy, 0.0f,

0.0f, 0.0f, 0.0f, 1.0f);

Depending on your matrix class, you might have to transpose it before passing it to OpenGL.