/// <remarks>
/// This function assumes that the quaternion has a magnitude of one. (it's optimized for that)
///
/// I still have no clue what should be done with this matrix, but here it is
/// </remarks>
public MyMatrix4 ToMatrix4FromUnitQuaternion()
{
throw new ApplicationException("Test this function first");
MyMatrix4 retVal = new MyMatrix4();
// All these cached results are used at least twice, so I'm not being wastefull
double xx = this.X * this.X;
double yy = this.Y * this.Y;
double zz = this.Z * this.Z;
double xy = this.X * this.Y;
double xz = this.X * this.Z;
double yz = this.Y * this.Z;
double wy = this.W * this.Y;
double wz = this.W * this.Z;
// Row 1
retVal.M11 = 1 - ((2 * yy) - (2 * zz));
retVal.M12 = (2 * xy) - (2 * wz);
retVal.M13 = (2 * xz) + (2 * wy);
retVal.M14 = 0;
// Row 2
retVal.M21 = (2 * xy) + (2 * wz);
retVal.M22 = 1 - ((2 * xx) - (2 * zz));
retVal.M23 = (2 * yz) - (2 * wz);
retVal.M24 = 0;
// Row 3
retVal.M31 = (2 * xz) - (2 * wy);
retVal.M32 = (2 * yz) - (2 * wz);
retVal.M33 = 1 - ((2 * xx) - (2 * yy));
retVal.M34 = 0;
// Row 4
retVal.M41 = 0;
retVal.M42 = 0;
retVal.M43 = 0;
retVal.M44 = 1;
// Exit Function
return(retVal);
}
/// <remarks>
/// This function assumes that the quaternion has a magnitude of one. (it's optimized for that)
///
/// I still have no clue what should be done with this matrix, but here it is
/// </remarks>
public MyMatrix4 ToMatrix4FromUnitQuaternion()
{
throw new ApplicationException("Test this function first");
MyMatrix4 retVal = new MyMatrix4();
// All these cached results are used at least twice, so I'm not being wastefull
double xx = this.X * this.X;
double yy = this.Y * this.Y;
double zz = this.Z * this.Z;
double xy = this.X * this.Y;
double xz = this.X * this.Z;
double yz = this.Y * this.Z;
double wy = this.W * this.Y;
double wz = this.W * this.Z;
// Row 1
retVal.M11 = 1 - ((2 * yy) - (2 * zz));
retVal.M12 = (2 * xy) - (2 * wz);
retVal.M13 = (2 * xz) + (2 * wy);
retVal.M14 = 0;
// Row 2
retVal.M21 = (2 * xy) + (2 * wz);
retVal.M22 = 1 - ((2 * xx) - (2 * zz));
retVal.M23 = (2 * yz) - (2 * wz);
retVal.M24 = 0;
// Row 3
retVal.M31 = (2 * xz) - (2 * wy);
retVal.M32 = (2 * yz) - (2 * wz);
retVal.M33 = 1 - ((2 * xx) - (2 * yy));
retVal.M34 = 0;
// Row 4
retVal.M41 = 0;
retVal.M42 = 0;
retVal.M43 = 0;
retVal.M44 = 1;
// Exit Function
return retVal;
}