public static JMatrix ToJMatrix(this quat q)
{
mat3 m = new mat3(q);
return(new JMatrix(m.m00, m.m10, m.m20, m.m01, m.m11, m.m21, m.m02, m.m12, m.m22));
}
public static string Axis(string name, Colour32 colour, quat basis, v4 pos, float size = 1f)
{
return(Axis(name, colour, new m4x4(basis, pos), size));
}
public void SetTransform(vec3 position, quat orientation)
{
Position = position;
Orientation = orientation;
}
public static extern void gs_matrix_rotquat(out quat rot);
public void Rotate(float angle, vec3 axis) => Orientation = Orientation.Rotated(angle, axis);