fromQuat.js

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;
};