setFromRotationElements method

void setFromRotationElements(double m00, double m01, double m02, double m10, double m11, double m12, double m20, double m21, double m22,)

Set from a rotation matrix given by its elements (row, column).

The matrix must be orthonormal (a pure rotation).

Implementation

void setFromRotationElements(
  double m00,
  double m01,
  double m02,
  double m10,
  double m11,
  double m12,
  double m20,
  double m21,
  double m22,
) {
  final trace = m00 + m11 + m22;
  if (trace > 0.0) {
    final s = 0.5 / math.sqrt(trace + 1.0);
    w = 0.25 / s;
    x = (m21 - m12) * s;
    y = (m02 - m20) * s;
    z = (m10 - m01) * s;
  } else if (m00 > m11 && m00 > m22) {
    final s = 2.0 * math.sqrt(1.0 + m00 - m11 - m22);
    w = (m21 - m12) / s;
    x = 0.25 * s;
    y = (m01 + m10) / s;
    z = (m02 + m20) / s;
  } else if (m11 > m22) {
    final s = 2.0 * math.sqrt(1.0 + m11 - m00 - m22);
    w = (m02 - m20) / s;
    x = (m01 + m10) / s;
    y = 0.25 * s;
    z = (m12 + m21) / s;
  } else {
    final s = 2.0 * math.sqrt(1.0 + m22 - m00 - m11);
    w = (m10 - m01) / s;
    x = (m02 + m20) / s;
    y = (m12 + m21) / s;
    z = 0.25 * s;
  }
}