|
public static CreateFromQuaternion ( Quaternion &quaternion, |
||
| quaternion | Quaternion | Quaternion to use to create a matrix. |
| result | Matrix representing the quaternion's orientation. | |
| return | void | |
public static void CreateFromQuaternion(ref Quaternion quaternion, out Matrix3x3 result)
{
float XX = 2 * quaternion.X * quaternion.X;
float YY = 2 * quaternion.Y * quaternion.Y;
float ZZ = 2 * quaternion.Z * quaternion.Z;
float XY = 2 * quaternion.X * quaternion.Y;
float XZ = 2 * quaternion.X * quaternion.Z;
float XW = 2 * quaternion.X * quaternion.W;
float YZ = 2 * quaternion.Y * quaternion.Z;
float YW = 2 * quaternion.Y * quaternion.W;
float ZW = 2 * quaternion.Z * quaternion.W;
result.M11 = 1 - YY - ZZ;
result.M21 = XY - ZW;
result.M31 = XZ + YW;
result.M12 = XY + ZW;
result.M22 = 1 - XX - ZZ;
result.M32 = YZ - XW;
result.M13 = XZ - YW;
result.M23 = YZ + XW;
result.M33 = 1 - XX - YY;
}
|
Matrix3x3::CreateFromQuaternion ( Quaternion quaternion ) : |
/// <summary>
/// Creates an affine transform from a rigid transform.
/// </summary>
/// <param name="rigid">Rigid transform to base the affine transform on.</param>
/// <returns>Affine transform created from the rigid transform.</returns>
public static AffineTransform CreateFromRigidTransform(RigidTransform rigid)
{
AffineTransform toReturn;
toReturn.Translation = rigid.Position;
Matrix3x3.CreateFromQuaternion(ref rigid.Orientation, out toReturn.LinearTransform);
return(toReturn);
}