def toMat4(self):
"""Return rotation matrix as mat4."""
x, y, z, w = self.x, self.y, self.z, self.w
xx = 2.0 * x * x
yy = 2.0 * y * y
zz = 2.0 * z * z
xy = 2.0 * x * y
zw = 2.0 * z * w
xz = 2.0 * x * z
yw = 2.0 * y * w
yz = 2.0 * y * z
xw = 2.0 * x * w
return _mat4(1.0 - yy - zz, xy - zw, xz + yw, 0.0, xy + zw,
1.0 - xx - zz, yz - xw, 0.0, xz - yw, yz + xw,
1.0 - xx - yy, 0.0, 0.0, 0.0, 0.0, 1.0)
def toMat4(self):
"""Return rotation matrix as mat4."""
x,y,z,w = self.x, self.y, self.z, self.w
xx = 2.0*x*x
yy = 2.0*y*y
zz = 2.0*z*z
xy = 2.0*x*y
zw = 2.0*z*w
xz = 2.0*x*z
yw = 2.0*y*w
yz = 2.0*y*z
xw = 2.0*x*w
return _mat4(1.0-yy-zz, xy-zw, xz+yw, 0.0,
xy+zw, 1.0-xx-zz, yz-xw, 0.0,
xz-yw, yz+xw, 1.0-xx-yy, 0.0,
0.0, 0.0, 0.0, 1.0)