public static void RotationMatrix(ref Matrix matrix, out Quaternion result)
{
//float scale = matrix.M11 + matrix.M22 + matrix.M33;
//if( scale > 0.0f )
//{
// float sqrt = (float)( Math.Sqrt( (double)(scale + 1.0f) ) );
// result.W = sqrt * 0.5f;
// sqrt = 0.5f / sqrt;
// result.X = (matrix.M23 - matrix.M32) * sqrt;
// result.Y = (matrix.M31 - matrix.M13) * sqrt;
// result.Z = (matrix.M12 - matrix.M21) * sqrt;
// return;
//}
//if( (matrix.M11 >= matrix.M22) && (matrix.M11 >= matrix.M33) )
//{
// float sqrt = (float)( Math.Sqrt( (double)(1.0f + matrix.M11 - matrix.M22 - matrix.M33) ) );
// float half = 0.5f / sqrt;
// result.X = 0.5f * sqrt;
// result.Y = (matrix.M12 + matrix.M21) * half;
// result.Z = (matrix.M13 + matrix.M31) * half;
// result.W = (matrix.M23 - matrix.M32) * half;
// return;
//}
//if( matrix.M22 > matrix.M33 )
//{
// float sqrt = (float)( Math.Sqrt( (double)(1.0f + matrix.M22 - matrix.M11 - matrix.M33) ) );
// float half = 0.5f / sqrt;
// result.X = (matrix.M21 + matrix.M12) * half;
// result.Y = 0.5f * sqrt;
// result.Z = (matrix.M32 + matrix.M23) * half;
// result.W = (matrix.M31 - matrix.M13) * half;
// return;
//}
//float sqrt = (float)( Math.Sqrt( (double)(1.0f + matrix.M33 - matrix.M11 - matrix.M22) ) );
//float half = 0.5f / sqrt;
//result.X = (matrix.M31 + matrix.M13) * half;
//result.Y = (matrix.M32 + matrix.M23) * half;
//result.Z = 0.5f * sqrt;
//result.W = (matrix.M12 - matrix.M21) * half;
unsafe
{
fixed(Quaternion *pin_result = &result)
{
fixed(Matrix *pin_matrix = &matrix)
{
IDllImportApi.D3DXQuaternionRotationMatrix(pin_result, pin_matrix);
}
}
}
}
public static Quaternion RotationMatrix(Matrix matrix)
{
Quaternion result;
//float scale = matrix.M11 + matrix.M22 + matrix.M33;
//if( scale > 0.0f )
//{
// float sqrt = (float)( Math.Sqrt( (double)(scale + 1.0f) ) );
// result.W = sqrt * 0.5f;
// sqrt = 0.5f / sqrt;
// result.X = (matrix.M23 - matrix.M32) * sqrt;
// result.Y = (matrix.M31 - matrix.M13) * sqrt;
// result.Z = (matrix.M12 - matrix.M21) * sqrt;
// return result;
//}
//if( (matrix.M11 >= matrix.M22) && (matrix.M11 >= matrix.M33) )
//{
// float sqrt = (float)( Math.Sqrt( (double)(1.0f + matrix.M11 - matrix.M22 - matrix.M33) ) );
// float half = 0.5f / sqrt;
// result.X = 0.5f * sqrt;
// result.Y = (matrix.M12 + matrix.M21) * half;
// result.Z = (matrix.M13 + matrix.M31) * half;
// result.W = (matrix.M23 - matrix.M32) * half;
// return result;
//}
//if( matrix.M22 > matrix.M33 )
//{
// float sqrt = (float)( Math.Sqrt( (double)(1.0f + matrix.M22 - matrix.M11 - matrix.M33) ) );
// float half = 0.5f / sqrt;
// result.X = (matrix.M21 + matrix.M12) * half;
// result.Y = 0.5f * sqrt;
// result.Z = (matrix.M32 + matrix.M23) * half;
// result.W = (matrix.M31 - matrix.M13) * half;
// return result;
//}
//float sqrt = (float)( Math.Sqrt( (double)(1.0f + matrix.M33 - matrix.M11 - matrix.M22) ) );
//float half = 0.5f / sqrt;
//result.X = (matrix.M31 + matrix.M13) * half;
//result.Y = (matrix.M32 + matrix.M23) * half;
//result.Z = 0.5f * sqrt;
//result.W = (matrix.M12 - matrix.M21) * half;
//Quaternion result2;
unsafe
{
IDllImportApi.D3DXQuaternionRotationMatrix((Quaternion *)&result, (Matrix *)&matrix);
}
return(result);
}