static RotationFromQuaternion()

in src/math/Matrix3.ts [67:80]

• 14 lines of code
• 1 McCabe index (conditional complexity)

    static RotationFromQuaternion(q: Quaternion): Matrix3 {
        const matrix = new Matrix3(
            1 - 2 * q.y * q.y - 2 * q.z * q.z,
            2 * q.x * q.y - 2 * q.z * q.w,
            2 * q.x * q.z + 2 * q.y * q.w,
            2 * q.x * q.y + 2 * q.z * q.w,
            1 - 2 * q.x * q.x - 2 * q.z * q.z,
            2 * q.y * q.z - 2 * q.x * q.w,
            2 * q.x * q.z - 2 * q.y * q.w,
            2 * q.y * q.z + 2 * q.x * q.w,
            1 - 2 * q.x * q.x - 2 * q.y * q.y,
        );
        return matrix;
    }