void
QuaternionFromAngle
(
float
*
fQuaternion
,
float
fAngle
)
{
fAngle
=
DEGTORAD
(
fAngle
)
;
float
fMatrix
[
3
]
[
3
]
,
c
=
cos
(
fAngle
)
,
s
=
sin
(
fAngle
)
;
// QuaternionRotateZ
fMatrix
[
0
]
[
0
]
=
c
;
fMatrix
[
0
]
[
1
]
=
s
;
fMatrix
[
0
]
[
2
]
=
0.0
;
fMatrix
[
1
]
[
0
]
=
-
s
;
fMatrix
[
1
]
[
1
]
=
c
;
fMatrix
[
1
]
[
2
]
=
0.0
;
fMatrix
[
2
]
[
0
]
=
0.0
;
fMatrix
[
2
]
[
1
]
=
0.0
;
fMatrix
[
2
]
[
2
]
=
1.0
;
// GetQuaternionFromMatrix
fQuaternion
[
0
]
=
sqrt
(
Max
(
(
float
)
0
,
1.0f
+
fMatrix
[
0
]
[
0
]
+
fMatrix
[
1
]
[
1
]
+
fMatrix
[
2
]
[
2
]
)
)
*
0.5f
;
fQuaternion
[
1
]
=
sqrt
(
Max
(
(
float
)
0
,
1.0f
+
fMatrix
[
0
]
[
0
]
-
fMatrix
[
1
]
[
1
]
-
fMatrix
[
2
]
[
2
]
)
)
*
0.5f
;
fQuaternion
[
2
]
=
sqrt
(
Max
(
(
float
)
0
,
1.0f
-
fMatrix
[
0
]
[
0
]
+
fMatrix
[
1
]
[
1
]
-
fMatrix
[
2
]
[
2
]
)
)
*
0.5f
;
fQuaternion
[
3
]
=
sqrt
(
Max
(
(
float
)
0
,
1.0f
-
fMatrix
[
0
]
[
0
]
-
fMatrix
[
1
]
[
1
]
+
fMatrix
[
2
]
[
2
]
)
)
*
0.5f
;
fQuaternion
[
1
]
=
static_cast

(
_copysign
(
fQuaternion
[
1
]
,
fMatrix
[
2
]
[
1
]
-
fMatrix
[
1
]
[
2
]
)
)
;
fQuaternion
[
2
]
=
static_cast

(
_copysign
(
fQuaternion
[
2
]
,
fMatrix
[
0
]
[
2
]
-
fMatrix
[
2
]
[
0
]
)
)
;
fQuaternion
[
3
]
=
static_cast

(
_copysign
(
fQuaternion
[
3
]
,
fMatrix
[
1
]
[
0
]
-
fMatrix
[
0
]
[
1
]
)
)
;
}