/// <summary>
/// Sets the matrix to the rotation specified by the given quaternion</summary>
/// <param name="q">Quaternion representation of rotation</param>
public void Set(QuatF q)
{
M11 = (float)(1.0 - 2.0 * q.Y * q.Y - 2.0 * q.Z * q.Z);
M21 = (float)(2.0 * (q.X * q.Y + q.W * q.Z));
M31 = (float)(2.0 * (q.X * q.Z - q.W * q.Y));
M12 = (float)(2.0 * (q.X * q.Y - q.W * q.Z));
M22 = (float)(1.0 - 2.0 * q.X * q.X - 2.0 * q.Z * q.Z);
M32 = (float)(2.0 * (q.Y * q.Z + q.W * q.X));
M13 = (float)(2.0 * (q.X * q.Z + q.W * q.Y));
M23 = (float)(2.0 * (q.Y * q.Z - q.W * q.X));
M33 = (float)(1.0 - 2.0 * q.X * q.X - 2.0 * q.Y * q.Y);
}
/// <summary>
/// Sets the matrix to the rotation specified by the given quaternion</summary>
/// <param name="q">Quaternion representation of rotation</param>
public void Set(QuatF q)
{
M11 = (float)(1.0 - 2.0 * q.Y * q.Y - 2.0 * q.Z * q.Z);
M21 = (float)(2.0 * (q.X * q.Y + q.W * q.Z));
M31 = (float)(2.0 * (q.X * q.Z - q.W * q.Y));
M12 = (float)(2.0 * (q.X * q.Y - q.W * q.Z));
M22 = (float)(1.0 - 2.0 * q.X * q.X - 2.0 * q.Z * q.Z);
M32 = (float)(2.0 * (q.Y * q.Z + q.W * q.X));
M13 = (float)(2.0 * (q.X * q.Z + q.W * q.Y));
M23 = (float)(2.0 * (q.Y * q.Z - q.W * q.X));
M33 = (float)(1.0 - 2.0 * q.X * q.X - 2.0 * q.Y * q.Y);
M14 = M24 = M34 = M41 = M42 = M43 = 0;
M44 = 1;
}
/// <summary>
/// Sets this angle axis from a quaternion</summary>
/// <param name="q">Quaternion</param>
public void Set(QuatF q)
{
double mag = q.X * q.X + q.Y * q.Y + q.Z * q.Z;
if (mag > EPS)
{
mag = Math.Sqrt(mag);
double ooMag = 1.0 / mag;
Axis.X = (float)(q.X * ooMag);
Axis.Y = (float)(q.Y * ooMag);
Axis.Z = (float)(q.Z * ooMag);
Angle = (float)(2.0 * Math.Atan2(mag, q.W));
}
else
{
Axis.X = 0;
Axis.Y = 1;
Axis.Z = 0;
Angle = 0;
}
}
/// <summary>
/// Constructs a matrix with the same rotation as the given quaternion</summary>
/// <param name="q">Quaternion representing rotation</param>
public Matrix4F(QuatF q)
{
Set(q);
}