GfMatrix3f &
GfMatrix3f::SetRotate(const GfRotation &rot)
{
GfQuaternion quat = rot.GetQuaternion();
_SetRotateFromQuat(quat.GetReal(), GfVec3f(quat.GetImaginary()));
return *this;
}
GfMatrix3d &
GfMatrix3d::SetRotate(const GfRotation &rot)
{
GfQuaternion quat = rot.GetQuaternion();
double r = quat.GetReal();
GfVec3d i = quat.GetImaginary();
_mtx[0][0] = 1.0 - 2.0 * (i[1] * i[1] + i[2] * i[2]);
_mtx[0][1] = 2.0 * (i[0] * i[1] + i[2] * r);
_mtx[0][2] = 2.0 * (i[2] * i[0] - i[1] * r);
_mtx[1][0] = 2.0 * (i[0] * i[1] - i[2] * r);
_mtx[1][1] = 1.0 - 2.0 * (i[2] * i[2] + i[0] * i[0]);
_mtx[1][2] = 2.0 * (i[1] * i[2] + i[0] * r);
_mtx[2][0] = 2.0 * (i[2] * i[0] + i[1] * r);
_mtx[2][1] = 2.0 * (i[1] * i[2] - i[0] * r);
_mtx[2][2] = 1.0 - 2.0 * (i[1] * i[1] + i[0] * i[0]);
return *this;
}
static string _Repr(GfQuaternion const &self) {
return TF_PY_REPR_PREFIX + "Quaternion(" + TfPyRepr(self.GetReal()) + ", " +
TfPyRepr(self.GetImaginary()) + ")";
}
