/// <summary>
/// turns a postion and quaternion based orientation into a matrix format
/// </summary>
/// <param name="position"></param>
/// <param name="orientation"></param>
/// <returns></returns>
private Matrix QuaternionToMatrixLookAt(Vector3D position, SceneLibrary.Quaternion orientation)
{
Microsoft.DirectX.Quaternion q_orientation =
new Microsoft.DirectX.Quaternion((float)orientation.GetX(),
(float)orientation.GetY(),
(float)orientation.GetZ(),
(float)orientation.GetR());
Matrix _matrixRotation = Matrix.RotationQuaternion(q_orientation);
Vector3 camPos = new Vector3((float)position.GetX(), -(float)position.GetY(), (float)position.GetZ());
Vector3 camTY = new Vector3(_matrixRotation.M21, _matrixRotation.M22, _matrixRotation.M23);
Vector3 camTZ = new Vector3(-(_matrixRotation.M31), -(_matrixRotation.M32), -(_matrixRotation.M33));
return (Matrix.LookAtLH(camPos, camPos + camTZ, camTY));
//float yaw = 0, pitch = 0, roll = 0;
//DecomposeRollPitchYawZXYMatrix(_matrixRotation, ref pitch, ref yaw, ref roll);
//return (Matrix.RotationYawPitchRoll((float)yaw, (float)pitch, (float)roll) * Matrix.LookAtLH(camPos, camPos + camTZ, camTY));
//return (Matrix.RotationYawPitchRoll(0, 0, (float)roll) * Matrix.LookAtLH(camPos, camPos + camTZ, camTY));
}
public void AffineTransformation (float scaling, Vector3 rotationCenter, Quaternion rotation, Vector3 translation)
{
throw new NotImplementedException ();
}
public void RotateQuaternion (Quaternion quat)
{
throw new NotImplementedException ();
}
public void Transform (Vector3 scalingCenter, Quaternion scalingRotation, Vector3 scalingFactor, Vector3 rotationCenter, Quaternion rotation, Vector3 translation)
{
throw new NotImplementedException ();
}
public static Matrix RotationQuaternion (Quaternion quat)
{
throw new NotImplementedException ();
}
