public Pose()
{
Position = Position.Zero;
Orientation = Quaternion.Identity;
}
public static Matrix4 FromQuaternion(Quaternion quat)
{
float tx = 2.0f * quat.X;
float ty = 2.0f * quat.Y;
float tz = 2.0f * quat.Z;
float twx = tx * quat.W;
float twy = ty * quat.W;
float twz = tz * quat.W;
float txx = tx * quat.X;
float txy = ty * quat.X;
float txz = tz * quat.X;
float tyy = ty * quat.Y;
float tyz = tz * quat.Y;
float tzz = tz * quat.Z;
Matrix4 result;
result.M00 = 1.0f - (tyy + tzz);
result.M01 = txy - twz;
result.M02 = txz + twy;
result.M03 = 0.0f;
result.M10 = txy + twz;
result.M11 = 1.0f - (txx + tzz);
result.M12 = tyz - twx;
result.M13 = 0.0f;
result.M20 = txz - twy;
result.M21 = tyz + twx;
result.M22 = 1.0f - (txx + tyy);
result.M23 = 0.0f;
result.M30 = 0.0f;
result.M31 = 0.0f;
result.M32 = 0.0f;
result.M33 = 1.0f;
return result;
}
