/**
* Sets the Quaternion from the three rotated vectors of an orthogonal basis.
*
* <p>The three vectors do not have to be normalized but must be orthogonal and direct (i,e.,
* {@code X^Y=k*Z, with k>0}).
*
* @param X the first PVector
* @param Y the second PVector
* @param Z the third PVector
* @see #fromRotationMatrix(float[][])
* @see #Quaternion(PVector, PVector)
*/
public final void fromRotatedBasis(PVector X, PVector Y, PVector Z) {
float m[][] = new float[3][3];
float normX = X.mag();
float normY = Y.mag();
float normZ = Z.mag();
for (int i = 0; i < 3; ++i) {
m[i][0] = (X.array())[i] / normX;
m[i][1] = (Y.array())[i] / normY;
m[i][2] = (Z.array())[i] / normZ;
}
fromRotationMatrix(m);
}
/**
* 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));
}