setFromRotation method
Set the quaternion with rotation from a rotation matrix rotationMatrix
.
Implementation
void setFromRotation(Matrix3 rotationMatrix) {
final rotationMatrixStorage = rotationMatrix.storage;
final trace = rotationMatrix.trace();
if (trace > 0.0) {
var s = math.sqrt(trace + 1.0);
_qStorage[3] = s * 0.5;
s = 0.5 / s;
_qStorage[0] = (rotationMatrixStorage[5] - rotationMatrixStorage[7]) * s;
_qStorage[1] = (rotationMatrixStorage[6] - rotationMatrixStorage[2]) * s;
_qStorage[2] = (rotationMatrixStorage[1] - rotationMatrixStorage[3]) * s;
} else {
final i = rotationMatrixStorage[0] < rotationMatrixStorage[4]
? (rotationMatrixStorage[4] < rotationMatrixStorage[8] ? 2 : 1)
: (rotationMatrixStorage[0] < rotationMatrixStorage[8] ? 2 : 0);
final j = (i + 1) % 3;
final k = (i + 2) % 3;
var s = math.sqrt(rotationMatrixStorage[rotationMatrix.index(i, i)] -
rotationMatrixStorage[rotationMatrix.index(j, j)] -
rotationMatrixStorage[rotationMatrix.index(k, k)] +
1.0);
_qStorage[i] = s * 0.5;
s = 0.5 / s;
_qStorage[3] = (rotationMatrixStorage[rotationMatrix.index(k, j)] -
rotationMatrixStorage[rotationMatrix.index(j, k)]) *
s;
_qStorage[j] = (rotationMatrixStorage[rotationMatrix.index(j, i)] +
rotationMatrixStorage[rotationMatrix.index(i, j)]) *
s;
_qStorage[k] = (rotationMatrixStorage[rotationMatrix.index(k, i)] +
rotationMatrixStorage[rotationMatrix.index(i, k)]) *
s;
}
}