/// <summary>
/// Build a rotation matrix from a quaternion
/// </summary>
/// <param name="q">the quaternion</param>
/// <returns>A rotation matrix</returns>
public static Matrix4d Rotate(Quaterniond q)
{
Vector3d axis;
double angle;
q.ToAxisAngle(out axis, out angle);
return(Rotate(axis, angle));
}
/// <summary>
/// Build a rotation matrix from the specified quaternion.
/// </summary>
/// <param name="q">Quaternion to translate.</param>
/// <param name="result">Matrix result.</param>
public static void CreateFromQuaternion(ref Quaterniond q, out Matrix3d result)
{
Vector3d axis;
double angle;
q.ToAxisAngle(out axis, out angle);
CreateFromAxisAngle(axis, angle, out result);
}