public final void makeRotationMatrix ( Quaternion rotation ) { this . m00 = 1.0f - 2.0f * rotation . getY ( ) * rotation . getY ( ) - 2.0f * rotation . getZ ( ) * rotation . getZ ( ) ; this . m10 = 2.0f * ( rotation . getX ( ) * rotation . getY ( ) + rotation . getW ( ) * rotation . getZ ( ) ) ; this . m20 = 2.0f * ( rotation . getX ( ) * rotation . getZ ( ) - rotation . getW ( ) * rotation . getY ( ) ) ; this . m01 = 2.0f * ( rotation . getX ( ) * rotation . getY ( ) - rotation . getW ( ) * rotation . getZ ( ) ) ; this . m11 = 1.0f - 2.0f * rotation . getX ( ) * rotation . getX ( ) - 2.0f * rotation . getZ ( ) * rotation . getZ ( ) ; this . m21 = 2.0f * ( rotation . getY ( ) * rotation . getZ ( ) + rotation . getW ( ) * rotation . getX ( ) ) ; this . m02 = 2.0f * ( rotation . getX ( ) * rotation . getZ ( ) + rotation . getW ( ) * rotation . getY ( ) ) ; this . m12 = 2.0f * ( rotation . getY ( ) * rotation . getZ ( ) - rotation . getW ( ) * rotation . getX ( ) ) ; this . m22 = 1.0f - 2.0f * rotation . getX ( ) * rotation . getX ( ) - 2.0f * rotation . getY ( ) * rotation . getY ( ) ; this . m03 = 0.0 ; this . m13 = 0.0 ; this . m23 = 0.0 ; this . m30 = 0.0 ; this . m31 = 0.0 ; this . m32 = 0.0 ; this . m33 = 1.0 ; }
Sets the value of this matrix to a rotation matrix and no translation .