/**
* Get a normalized copy of this quaternion.
* If it is too small, returns an identity quaternion.
*
* @param Tolerance Minimum squared length of quaternion for normalization.
*/
public Quat GetNormalized(float Tolerance = Const.SMALL_NUMBER)
{
Quat Result = this;
Result.Normalize(Tolerance);
return(Result);
}
public void SetFromMatrix(Matrix InMatrix)
{
Matrix M = InMatrix;
// Get the 3D scale from the matrix
Scale3D = M.ExtractScaling();
// If there is negative scaling going on, we handle that here
if (InMatrix.Determinant() < 0.0f)
{
// Assume it is along X and modify transform accordingly.
// It doesn't actually matter which axis we choose, the 'appearance' will be the same
Scale3D.X *= -1.0f;
M.SetAxis(0, -M.GetScaledAxis(EAxis.X));
}
Rotation = new Quat(M);
Translation = InMatrix.GetOrigin();
// Normalize rotation
Rotation.Normalize();
}