Add Create from quaternion method from avc81, OpenTK Issue 2439

Source/OpenTK/Math/Matrix4.cs

@@ -667,7 +667,82 @@ namespace OpenTK
             CreatePerspectiveOffCenter(left, right, bottom, top, zNear, zFar, out result);
             return result;
         }
+
+        #region CreateFromQuaternion
+        /// <summary>
+        /// Build a rotation matrix from the specified quaternion.
+        /// </summary>
+        /// <param name="q">Quaternion to translate.</param>
+        /// <param name="m">Matrix result.</param>
+        public static void CreateFromQuaternion(ref Quaternion q,ref Matrix4 m)
+        {
+            m = Matrix4.Identity;
+            
+            float X = q.X;
+            float Y = q.Y;
+            float Z = q.Z;
+            float W = q.W;
+            
+            float xx = X * X;
+            float xy = X * Y;
+            float xz = X * Z;
+            float xw = X * W;
+            float yy = Y * Y;
+            float yz = Y * Z;
+            float yw = Y * W;
+            float zz = Z * Z;
+            float zw = Z * W;
+            
+            m.M11 = 1 - 2 * (yy + zz);
+            m.M21 = 2 * (xy - zw);
+            m.M31 = 2 * (xz + yw);
+            m.M12 = 2 * (xy + zw);
+            m.M22 = 1 - 2 * (xx + zz);
+            m.M32 = 2 * (yz - xw);
+            m.M13 = 2 * (xz - yw);
+            m.M23 = 2 * (yz + xw);
+            m.M33 = 1 - 2 * (xx + yy);
+        }
         
+        /// <summary>
+        /// Build a rotation matrix from the specified quaternion.
+        /// </summary>
+        /// <param name="q">Quaternion to translate.</param>
+        /// <returns>A matrix instance.</returns>
+        public static Matrix4 CreateFromQuaternion(ref Quaternion q)
+        {
+            Matrix4 result = Matrix4.Identity;
+            
+            float X = q.X;
+            float Y = q.Y;
+            float Z = q.Z;
+            float W = q.W;
+            
+            float xx = X * X;
+            float xy = X * Y;
+            float xz = X * Z;
+            float xw = X * W;
+            float yy = Y * Y;
+            float yz = Y * Z;
+            float yw = Y * W;
+            float zz = Z * Z;
+            float zw = Z * W;
+            
+            result.M11 = 1 - 2 * (yy + zz);
+            result.M21 = 2 * (xy - zw);
+            result.M31 = 2 * (xz + yw);
+            result.M12 = 2 * (xy + zw);
+            result.M22 = 1 - 2 * (xx + zz);
+            result.M32 = 2 * (yz - xw);
+            result.M13 = 2 * (xz - yw);
+            result.M23 = 2 * (yz + xw);
+            result.M33 = 1 - 2 * (xx + yy);
+            return result;
+        }
+        
+        #endregion
+
+
         #endregion
 
         #region Obsolete Functions

Source/OpenTK/Math/Matrix4d.cs

@@ -670,6 +670,83 @@ namespace OpenTK
 
         #endregion
 
+
+        
+        #region CreateFromQuaternion
+        /// <summary>
+        /// Build a rotation matrix from the specified quaternion.
+        /// </summary>
+        /// <param name="q">Quaternion to translate.</param>
+        /// <param name="m">Matrix result.</param>
+        public static void CreateFromQuaternion(ref Quaternion q,ref Matrix4 m)
+        {
+            m = Matrix4.Identity;
+            
+            float X = q.X;
+            float Y = q.Y;
+            float Z = q.Z;
+            float W = q.W;
+            
+            float xx = X * X;
+            float xy = X * Y;
+            float xz = X * Z;
+            float xw = X * W;
+            float yy = Y * Y;
+            float yz = Y * Z;
+            float yw = Y * W;
+            float zz = Z * Z;
+            float zw = Z * W;
+            
+            m.M11 = 1 - 2 * (yy + zz);
+            m.M21 = 2 * (xy - zw);
+            m.M31 = 2 * (xz + yw);
+            m.M12 = 2 * (xy + zw);
+            m.M22 = 1 - 2 * (xx + zz);
+            m.M32 = 2 * (yz - xw);
+            m.M13 = 2 * (xz - yw);
+            m.M23 = 2 * (yz + xw);
+            m.M33 = 1 - 2 * (xx + yy);
+        }
+        
+        /// <summary>
+        /// Build a rotation matrix from the specified quaternion.
+        /// </summary>
+        /// <param name="q">Quaternion to translate.</param>
+        /// <returns>A matrix instance.</returns>
+        public static Matrix4 CreateFromQuaternion(ref Quaternion q)
+        {
+            Matrix4 result = Matrix4.Identity;
+            
+            float X = q.X;
+            float Y = q.Y;
+            float Z = q.Z;
+            float W = q.W;
+            
+            float xx = X * X;
+            float xy = X * Y;
+            float xz = X * Z;
+            float xw = X * W;
+            float yy = Y * Y;
+            float yz = Y * Z;
+            float yw = Y * W;
+            float zz = Z * Z;
+            float zw = Z * W;
+            
+            result.M11 = 1 - 2 * (yy + zz);
+            result.M21 = 2 * (xy - zw);
+            result.M31 = 2 * (xz + yw);
+            result.M12 = 2 * (xy + zw);
+            result.M22 = 1 - 2 * (xx + zz);
+            result.M32 = 2 * (yz - xw);
+            result.M13 = 2 * (xz - yw);
+            result.M23 = 2 * (yz + xw);
+            result.M33 = 1 - 2 * (xx + yy);
+            return result;
+        }
+        
+        #endregion
+
+
         #region Obsolete Functions
 
         #region Translation Functions