/**
* Returns the 3x3 rotation matrix associated with the Quaternion.
*
* <p><b>Attention:</b> The method returns the European mathematical representation of the
* rotation matrix.
*
* @see #inverseRotationMatrix()
*/
public final float[][] rotationMatrix() {
return MathUtils.get3x3UpperLeftMatrixFromPMatrix3D(matrix());
}
/**
* Returns the 3x3 inverse rotation matrix associated with the Quaternion.
*
* <p><b>Attention:</b> This is the classical mathematical rotation matrix.
*/
public final float[][] inverseRotationMatrix() {
return MathUtils.get3x3UpperLeftMatrixFromPMatrix3D(inverseMatrix());
}
/**
* Set the Quaternion from a (supposedly correct) 3x3 rotation matrix given in the upper left 3x3
* sub-matrix of the PMatrix3D.
*
* @see #fromRotationMatrix(float[][])
*/
public final void fromMatrix(PMatrix3D pM) {
fromRotationMatrix(MathUtils.get3x3UpperLeftMatrixFromPMatrix3D(pM));
}