public Quaternion(CFrame cf)
{
CFrame matrix = (cf - cf.Position);
float[] ac = cf.GetComponents();
float m11 = ac[3], m12 = ac[4], m13 = ac[5],
m21 = ac[6], m22 = ac[7], m23 = ac[8],
m31 = ac[9], m32 = ac[10], m33 = ac[11];
float trace = m11 + m22 + m33;
if (trace > 0)
{
float s = (float)Math.Sqrt(1 + trace);
float r = 0.5f / s;
W = s * 0.5f;
X = (m32 - m23) * r;
Y = (m13 - m31) * r;
Z = (m21 - m12) * r;
}
else
{
float big = Math.Max(Math.Max(m11, m22), m33);
if (big == m11)
{
float s = (float)Math.Sqrt(1 + m11 - m22 - m33);
float r = 0.5f / s;
W = (m32 - m23) * r;
X = 0.5f * s;
Y = (m21 + m12) * r;
Z = (m13 + m31) * r;
}
else if (big == m22)
{
float s = (float)Math.Sqrt(1 - m11 + m22 - m33);
float r = 0.5f / s;
W = (m13 - m31) * r;
X = (m21 + m12) * r;
Y = 0.5f * s;
Z = (m32 + m23) * r;
}
else if (big == m33)
{
float s = (float)Math.Sqrt(1 - m11 - m22 + m33);
float r = 0.5f / s;
W = (m21 - m12) * r;
X = (m13 + m31) * r;
Y = (m32 + m23) * r;
Z = 0.5f * s;
}
}
}