pub fn to_rotation_matrix(&self) -> Rotation3<N> {
        let ww = self.as_ref().w * self.as_ref().w;
        let ii = self.as_ref().i * self.as_ref().i;
        let jj = self.as_ref().j * self.as_ref().j;
        let kk = self.as_ref().k * self.as_ref().k;
        let ij = self.as_ref().i * self.as_ref().j * ::cast(2.0);
        let wk = self.as_ref().w * self.as_ref().k * ::cast(2.0);
        let wj = self.as_ref().w * self.as_ref().j * ::cast(2.0);
        let ik = self.as_ref().i * self.as_ref().k * ::cast(2.0);
        let jk = self.as_ref().j * self.as_ref().k * ::cast(2.0);
        let wi = self.as_ref().w * self.as_ref().i * ::cast(2.0);

        Rotation3::from_matrix_unchecked(
            Matrix3::new(
                ww + ii - jj - kk, ij - wk,           wj + ik,
                wk + ij,           ww - ii + jj - kk, jk - wi,
                ik - wj,           wi + jk,           ww - ii - jj + kk
            )
        )
    }
/// Builds a rotation matrix from this quaternion.
Builds a rotation matrix from this quaternion.
Builds a rotation matrix from this quaternion .
pub fn to_rotation_matrix(&self) -> Rotation3<N> {
        let ww = self.as_ref().w * self.as_ref().w;
        let ii = self.as_ref().i * self.as_ref().i;
        let jj = self.as_ref().j * self.as_ref().j;
        let kk = self.as_ref().k * self.as_ref().k;
        let ij = self.as_ref().i * self.as_ref().j * ::cast(2.0);
        let wk = self.as_ref().w * self.as_ref().k * ::cast(2.0);
        let wj = self.as_ref().w * self.as_ref().j * ::cast(2.0);
        let ik = self.as_ref().i * self.as_ref().k * ::cast(2.0);
        let jk = self.as_ref().j * self.as_ref().k * ::cast(2.0);
        let wi = self.as_ref().w * self.as_ref().i * ::cast(2.0);
        Rotation3::from_matrix_unchecked(
            Matrix3::new(
                ww + ii - jj - kk, ij - wk,           wj + ik,
                wk + ij,           ww - ii + jj - kk, jk - wi,
                ik - wj,           wi + jk,           ww - ii - jj + kk
            )
        )
    }
pub fn to_rotation_matrix ( & self ) -> Rotation3 < N > { let ww = self . as_ref ( ) . w * self . as_ref ( ) . w ; let ii = self . as_ref ( ) . i * self . as_ref ( ) . i ; let jj = self . as_ref ( ) . j * self . as_ref ( ) . j ; let kk = self . as_ref ( ) . k * self . as_ref ( ) . k ; let ij = self . as_ref ( ) . i * self . as_ref ( ) . j * :: cast ( 2.0 ) ; let wk = self . as_ref ( ) . w * self . as_ref ( ) . k * :: cast ( 2.0 ) ; let wj = self . as_ref ( ) . w * self . as_ref ( ) . j * :: cast ( 2.0 ) ; let ik = self . as_ref ( ) . i * self . as_ref ( ) . k * :: cast ( 2.0 ) ; let jk = self . as_ref ( ) . j * self . as_ref ( ) . k * :: cast ( 2.0 ) ; let wi = self . as_ref ( ) . w * self . as_ref ( ) . i * :: cast ( 2.0 ) ; Rotation3 :: from_matrix_unchecked ( Matrix3 :: new ( ww + ii - jj - kk , ij - wk , wj + ik , wk + ij , ww - ii + jj - kk , jk - wi , ik - wj , wi + jk , ww - ii - jj + kk ) ) }
Builds a rotation matrix from this quaternion.
Builds a rotation matrix from this quaternion .
&self
&self