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)