/// <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 Fixed64Quaternion quaternion, out Fixed64Matrix result)
{
Fixed64 num9 = quaternion.x * quaternion.x;
Fixed64 num8 = quaternion.y * quaternion.y;
Fixed64 num7 = quaternion.z * quaternion.z;
Fixed64 num6 = quaternion.x * quaternion.y;
Fixed64 num5 = quaternion.z * quaternion.w;
Fixed64 num4 = quaternion.z * quaternion.x;
Fixed64 num3 = quaternion.y * quaternion.w;
Fixed64 num2 = quaternion.y * quaternion.z;
Fixed64 num = quaternion.x * quaternion.w;
result.M11 = Fixed64.One - (2 * (num8 + num7));
result.M12 = 2 * (num6 + num5);
result.M13 = 2 * (num4 - num3);
result.M21 = 2 * (num6 - num5);
result.M22 = Fixed64.One - (2 * (num7 + num9));
result.M23 = 2 * (num2 + num);
result.M31 = 2 * (num4 + num3);
result.M32 = 2 * (num2 - num);
result.M33 = Fixed64.One - (2 * (num8 + num9));
}
public static Fixed64Matrix CreateFromQuaternion(Fixed64Quaternion quaternion)
{
CreateFromQuaternion(ref quaternion, out Fixed64Matrix result);
return(result);
}
public static Fixed64Matrix CreateFromYawPitchRoll(Fixed64 yaw, Fixed64 pitch, Fixed64 roll)
{
Fixed64Quaternion.CreateFromYawPitchRoll(yaw, pitch, roll, out Fixed64Quaternion quaternion);
CreateFromQuaternion(ref quaternion, out Fixed64Matrix matrix);
return(matrix);
}
