BEPUutilities2.Matrix3x3.CreateFromQuaternion C# (CSharp) Method

        public static void CreateFromQuaternion(ref Quaternion quaternion, out Matrix3x3 result)
        {
            float qX2 = quaternion.X + quaternion.X;
            float qY2 = quaternion.Y + quaternion.Y;
            float qZ2 = quaternion.Z + quaternion.Z;
            float XX = qX2 * quaternion.X;
            float YY = qY2 * quaternion.Y;
            float ZZ = qZ2 * quaternion.Z;
            float XY = qX2 * quaternion.Y;
            float XZ = qX2 * quaternion.Z;
            float XW = qX2 * quaternion.W;
            float YZ = qY2 * quaternion.Z;
            float YW = qY2 * quaternion.W;
            float ZW = qZ2 * quaternion.W;

            result.X = new Vector3(
                1 - YY - ZZ,
                XY + ZW,
                XZ - YW);

            result.Y = new Vector3(
                XY - ZW,
                1 - XX - ZZ,
                YZ + XW);

            result.Z = new Vector3(
                XZ + YW,
                YZ - XW,
                1 - XX - YY);
        }