From bd2e84521b185467db02d75109c989d663df88be Mon Sep 17 00:00:00 2001
From: ganovelli <fabio.ganovelli@isti.cnr.it>
Date: Thu, 22 Jun 2006 08:00:26 +0000
Subject: [PATCH] toMatrix with matrix33 added

---
 vcg/math/quaternion.h | 55 +++++++++++++++++++++++++------------------
 1 file changed, 32 insertions(+), 23 deletions(-)

diff --git a/vcg/math/quaternion.h b/vcg/math/quaternion.h
index 74a5be64..ee53c23b 100644
--- a/vcg/math/quaternion.h
+++ b/vcg/math/quaternion.h
@@ -24,6 +24,9 @@
   History
 
 $Log: not supported by cvs2svn $
+Revision 1.14  2005/04/17 21:57:03  ganovelli
+tolto il const a interpolate
+
 Revision 1.13  2005/04/15 09:19:50  ponchio
 Typo: Point3 -> Point4
 
@@ -47,6 +50,9 @@ updated access to matrix44 elements through V() instead simple []
 
 Revision 1.6  2004/03/25 14:57:49  ponchio
 Microerror. ($LOG$ -> $Log: not supported by cvs2svn $
+Microerror. ($LOG$ -> Revision 1.14  2005/04/17 21:57:03  ganovelli
+Microerror. ($LOG$ -> tolto il const a interpolate
+Microerror. ($LOG$ ->
 Microerror. ($LOG$ -> Revision 1.13  2005/04/15 09:19:50  ponchio
 Microerror. ($LOG$ -> Typo: Point3 -> Point4
 Microerror. ($LOG$ ->
@@ -80,6 +86,7 @@ Microerror. ($LOG$ ->
 #include <vcg/space/point4.h>
 #include <vcg/math/base.h>
 #include <vcg/math/matrix44.h>
+#include <vcg/math/matrix33.h>
 
 namespace vcg {
 
@@ -110,6 +117,7 @@ public:
 
   void FromMatrix(Matrix44<S> &m);
   void ToMatrix(Matrix44<S> &m) const;
+  void ToMatrix(Matrix33<S> &m) const;
   
   Point3<S> Rotate(const Point3<S> vec) const; 
   //duplicated ... because of gcc new confoming to ISO template derived classes
@@ -225,28 +233,7 @@ template <class S> void Quaternion<S>::ToMatrix(Matrix44<S> &m) const	{
 	S q22 = V(3)*V(3);
 	S q23 = V(3)*V(0);
 
-/*	<<<<<<< quaternion.h
-  m[0][ 0] = (S)(1.0-(q11 + q22)*2.0);
-  m[1][ 0] = (S)((q01 - q23)*2.0);
-  m[2][ 0] = (S)((q02 + q13)*2.0);
-  m[3][ 0] = (S)0.0;
-
-  m[0][ 1] = (S)((q01 + q23)*2.0);
-  m[1][ 1] = (S)(1.0-(q22 + q00)*2.0);
-  m[2][ 1] = (S)((q12 - q03)*2.0);
-  m[3][ 1] = (S)0.0;
-
-  m[0][ 2] = (S)((q02 - q13)*2.0);
-  m[1][ 2] = (S)((q12 + q03)*2.0);
-  m[2][ 2] = (S)(1.0-(q11 + q00)*2.0);
-  m[3][ 2] = (S)0.0;
-
-  m[0][ 3] = (S)0.0;
-  m[1][ 3] = (S)0.0;
-  m[2][ 3] = (S)0.0;
-  m[3][ 3] = (S)1.0;
-=======*/
-  m[0][0] = (S)(1.0-(q11 + q22)*2.0);
+	m[0][0] = (S)(1.0-(q11 + q22)*2.0);
   m[1][0] = (S)((q01 - q23)*2.0);
   m[2][0] = (S)((q02 + q13)*2.0);
   m[3][0] = (S)0.0;
@@ -265,10 +252,32 @@ template <class S> void Quaternion<S>::ToMatrix(Matrix44<S> &m) const	{
   m[1][3] = (S)0.0;
   m[2][3] = (S)0.0;
   m[3][3] = (S)1.0;
-//>>>>>>> 1.9
 }
 	
+template <class S> void Quaternion<S>::ToMatrix(Matrix33<S> &m) const	{
+	S q00 = V(1)*V(1);
+	S q01 = V(1)*V(2);
+	S q02 = V(1)*V(3);
+	S q03 = V(1)*V(0);
+	S q11 = V(2)*V(2);
+	S q12 = V(2)*V(3);
+	S q13 = V(2)*V(0);
+	S q22 = V(3)*V(3);
+	S q23 = V(3)*V(0);
 
+	m[0][0] = (S)(1.0-(q11 + q22)*2.0);
+  m[1][0] = (S)((q01 - q23)*2.0);
+  m[2][0] = (S)((q02 + q13)*2.0);
+
+  m[0][1] = (S)((q01 + q23)*2.0);
+  m[1][1] = (S)(1.0-(q22 + q00)*2.0);
+  m[2][1] = (S)((q12 - q03)*2.0);
+
+  m[0][2] = (S)((q02 - q13)*2.0);
+  m[1][2] = (S)((q12 + q03)*2.0);
+  m[2][2] = (S)(1.0-(q11 + q00)*2.0);
+}
+	
 ///warning m deve essere una matrice di rotazione pena il disastro.
 template <class S> void Quaternion<S>::FromMatrix(Matrix44<S> &m) {		
 	S Sc;