Nexus.Quaternion.CreateFromRotationMatrix C# (CSharp) Méthode

        public static Quaternion CreateFromRotationMatrix(Matrix3D matrix)
        {
            float num8 = (matrix.M11 + matrix.M22) + matrix.M33;
            Quaternion quaternion = new Quaternion();
            if (num8 > 0f)
            {
                float num = (float)Math.Sqrt((double)(num8 + 1f));
                quaternion.W = num * 0.5f;
                num = 0.5f / num;
                quaternion.X = (matrix.M23 - matrix.M32) * num;
                quaternion.Y = (matrix.M31 - matrix.M13) * num;
                quaternion.Z = (matrix.M12 - matrix.M21) * num;
                return quaternion;
            }
            if ((matrix.M11 >= matrix.M22) && (matrix.M11 >= matrix.M33))
            {
                float num7 = (float)Math.Sqrt((double)(((1f + matrix.M11) - matrix.M22) - matrix.M33));
                float num4 = 0.5f / num7;
                quaternion.X = 0.5f * num7;
                quaternion.Y = (matrix.M12 + matrix.M21) * num4;
                quaternion.Z = (matrix.M13 + matrix.M31) * num4;
                quaternion.W = (matrix.M23 - matrix.M32) * num4;
                return quaternion;
            }
            if (matrix.M22 > matrix.M33)
            {
                float num6 = (float)Math.Sqrt((double)(((1f + matrix.M22) - matrix.M11) - matrix.M33));
                float num3 = 0.5f / num6;
                quaternion.X = (matrix.M21 + matrix.M12) * num3;
                quaternion.Y = 0.5f * num6;
                quaternion.Z = (matrix.M32 + matrix.M23) * num3;
                quaternion.W = (matrix.M31 - matrix.M13) * num3;
                return quaternion;
            }
            float num5 = (float)Math.Sqrt((double)(((1f + matrix.M33) - matrix.M11) - matrix.M22));
            float num2 = 0.5f / num5;
            quaternion.X = (matrix.M31 + matrix.M13) * num2;
            quaternion.Y = (matrix.M32 + matrix.M23) * num2;
            quaternion.Z = 0.5f * num5;
            quaternion.W = (matrix.M12 - matrix.M21) * num2;

            return quaternion;
        }