public void setRotation(emQuaternion q)
{
double d = q.length2();
double s = 2.0/d;
double xs = q.x*s, ys = q.y*s, zs = q.z*s;
double wx = q.w*xs, wy = q.w*ys, wz = q.w*zs;
double xx = q.x*xs, xy = q.x*ys, xz = q.x*zs;
double yy = q.y*ys, yz = q.y*zs, zz = q.z*zs;
setValue(1.0 - (yy + zz), xy - wz, xz + wy,
xy + wz, 1.0 - (xx + zz), yz - wx,
xz - wy, yz + wx, 1.0 - (xx + yy));
}
public void setRotation(emQuaternion q)
{
double d = q.length2();
double s = 2.0 / d;
double xs = q.x * s, ys = q.y * s, zs = q.z * s;
double wx = q.w * xs, wy = q.w * ys, wz = q.w * zs;
double xx = q.x * xs, xy = q.x * ys, xz = q.x * zs;
double yy = q.y * ys, yz = q.y * zs, zz = q.z * zs;
setValue(1.0 - (yy + zz), xy - wz, xz + wy,
xy + wz, 1.0 - (xx + zz), yz - wx,
xz - wy, yz + wx, 1.0 - (xx + yy));
}