Universe.Physics.ConvexDecompositionDotNet.float4x4.MatrixFromQuatVec C# (CSharp) Method

        public static float4x4 MatrixFromQuatVec(Quaternion q, float3 v)
        {
            // builds a 4x4 transformation matrix based on orientation q and translation v
            float qx2 = q.x * q.x;
            float qy2 = q.y * q.y;
            float qz2 = q.z * q.z;

            float qxqy = q.x * q.y;
            float qxqz = q.x * q.z;
            float qxqw = q.x * q.w;
            float qyqz = q.y * q.z;
            float qyqw = q.y * q.w;
            float qzqw = q.z * q.w;

            return new float4x4(
                1 - 2 * (qy2 + qz2),
                2 * (qxqy + qzqw),
                2 * (qxqz - qyqw),
                0,
                2 * (qxqy - qzqw),
                1 - 2 * (qx2 + qz2),
                2 * (qyqz + qxqw),
                0,
                2 * (qxqz + qyqw),
                2 * (qyqz - qxqw),
                1 - 2 * (qx2 + qy2),
                0,
                v.x,
                v.y,
                v.z,
                1.0f);
        }
    }