public static JMatrix CreateFromYawPitchRoll(Fix64 yaw, Fix64 pitch, Fix64 roll)
{
JMatrix matrix;
JQuaternion quaternion;
JQuaternion.CreateFromYawPitchRoll(yaw, pitch, roll, out quaternion);
CreateFromQuaternion(ref quaternion, out matrix);
return(matrix);
}
/// <summary>
/// Creates a JMatrix representing an orientation from a quaternion.
/// </summary>
/// <param name="quaternion">The quaternion the matrix should be created from.</param>
/// <param name="result">JMatrix representing an orientation.</param>
public static void CreateFromQuaternion(ref JQuaternion quaternion, out JMatrix result)
{
Fix64 num9 = quaternion.X * quaternion.X;
Fix64 num8 = quaternion.Y * quaternion.Y;
Fix64 num7 = quaternion.Z * quaternion.Z;
Fix64 num6 = quaternion.X * quaternion.Y;
Fix64 num5 = quaternion.Z * quaternion.W;
Fix64 num4 = quaternion.Z * quaternion.X;
Fix64 num3 = quaternion.Y * quaternion.W;
Fix64 num2 = quaternion.Y * quaternion.Z;
Fix64 num = quaternion.X * quaternion.W;
result.M11 = 1f - (2f * (num8 + num7));
result.M12 = 2f * (num6 + num5);
result.M13 = 2f * (num4 - num3);
result.M21 = 2f * (num6 - num5);
result.M22 = 1f - (2f * (num7 + num9));
result.M23 = 2f * (num2 + num);
result.M31 = 2f * (num4 + num3);
result.M32 = 2f * (num2 - num);
result.M33 = 1f - (2f * (num8 + num9));
}
