//https://csharp.hotexamples.com/examples/SharpDX/Matrix/-/php-matrix-class-examples.html
public static Matrix rotationMatrix(Quaternion q)
{
SharpDX.Matrix matrix = new SharpDX.Matrix();
// This is the arithmetical formula optimized to work with unit quaternions.
// |1-2y²-2z² 2xy-2zw 2xz+2yw 0|
// | 2xy+2zw 1-2x²-2z² 2yz-2xw 0|
// | 2xz-2yw 2yz+2xw 1-2x²-2y² 0|
// | 0 0 0 1|
// And this is the code.
// First Column
matrix[0] = 1 - 2 * (q.Y * q.Y + q.Z * q.Z);
matrix[1] = 2 * (q.X * q.Y + q.Z * q.W);
matrix[2] = 2 * (q.X * q.Z - q.Y * q.W);
matrix[3] = 0;
// Second Column
matrix[4] = 2 * (q.X * q.Y - q.Z * q.W);
matrix[5] = 1 - 2 * (q.X * q.X + q.Z * q.Z);
matrix[6] = 2 * (q.Y * q.Z + q.X * q.W);
matrix[7] = 0;
// Third Column
matrix[8] = 2 * (q.X * q.Z + q.Y * q.W);
matrix[9] = 2 * (q.Y * q.Z - q.X * q.W);
matrix[10] = 1 - 2 * (q.X * q.X + q.Y * q.Y);
matrix[11] = 0;
// Fourth Column
matrix[12] = 0;
matrix[13] = 0;
matrix[14] = 0;
matrix[15] = 1;
return(matrix);
}
public SampleData(Matrix matrix, string description, string matrixText = null)
{
Matrix = matrix;
Description = description;
if (string.IsNullOrEmpty(matrixText))
{
MatrixText = Ab3d.Utilities.Dumper.GetMatrix3DText(matrix.ToWpfMatrix3D());
}
else
{
MatrixText = matrixText;
}
}
