a5ea4e0b33
Note that firstly it always returns the positive real quaternion (positive w) Note also that it will sometimes slightly differ from the results of the other methods because it assumes that the input matrix really is a rotation matrix - if it isn't, e.g. because of rounding error, then the output quaternion will be very slightly different. For example, the test matrix 0 1 0 0 1 0 0 0 0 0 0.999999 0 0 0 0 1 will return 0.707107 0.707107 0.0005033 0.0005033 whereas the previous methods return 0.707107 0.707107 0.0 0.0 However, since quaternions are rotations, the meaning of how to convert a matrix that isn't a rotation is a little unclear..."
Welcome to the OpenSceneGraph (OSG).
For up to date information on the project, how to compile and run libraries
and examples, and see the documentation on the OpenSceneGraph website.
http://www.openscenegraph.org
Robert Osfield.
robert@openscenegraph.com
July 19th 2006.