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Base: fix conversion from Placement to Matrix

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See also: https://forum.freecadweb.org/viewtopic.php?f=3&t=61000
This commit is contained in:
wmayer
2022-04-29 13:45:50 +02:00
parent f2698ac017
commit 80c900cf52
2 changed files with 26 additions and 4 deletions
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12
src/Base/Rotation.cpp
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@@ -172,10 +172,14 @@ void Rotation::getValue(Matrix4D & matrix) const
{
// Taken from <http://de.wikipedia.org/wiki/Quaternionen>
//
const double x = this->quat[0];
const double y = this->quat[1];
const double z = this->quat[2];
const double w = this->quat[3];
const double l = sqrt(this->quat[0] * this->quat[0] +
this->quat[1] * this->quat[1] +
this->quat[2] * this->quat[2] +
this->quat[3] * this->quat[3]);
const double x = this->quat[0] / l;
const double y = this->quat[1] / l;
const double z = this->quat[2] / l;
const double w = this->quat[3] / l;
matrix[0][0] = 1.0-2.0*(y*y+z*z);
matrix[0][1] = 2.0*(x*y-z*w);