/// <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); }