/// <summary>
/// Build a rotation matrix from a quaternion.
/// </summary>
/// <param name="rotation">A quaternion representation of the rotation.</param>
/// <returns>A rotation matrix.</returns>
public static Matrix4 Rotate(Quaternion rotation)
{
Vector4 axisangle = rotation.ToAxisAngle();
return(CreateFromAxisAngle(new Vector3(axisangle.X, axisangle.Y, axisangle.Z), rotation.W));
}
/// <summary>
/// Build a rotation matrix from a quaternion
/// </summary>
/// <param name="rotation">A quaternion representation of the rotation.</param>
/// <returns>A rotation matrix</returns>
public static Matrix4 Rotate(Quaternion rotation)
{
Vector4 axisangle = rotation.ToAxisAngle();
return(CreateFromAxisAngle(axisangle.Xyz, rotation.w));
}
