static FromMatrix3()

in src/math/Quaternion.ts [117:147]

• 31 lines of code
• 5 McCabe index (conditional complexity)

    static FromMatrix3(matrix: Matrix3): Quaternion {
        const m = matrix.buffer;
        const trace = m[0] + m[4] + m[8];
        let x, y, z, w;
        if (trace > 0) {
            const s = 0.5 / Math.sqrt(trace + 1.0);
            w = 0.25 / s;
            x = (m[7] - m[5]) * s;
            y = (m[2] - m[6]) * s;
            z = (m[3] - m[1]) * s;
        } else if (m[0] > m[4] && m[0] > m[8]) {
            const s = 2.0 * Math.sqrt(1.0 + m[0] - m[4] - m[8]);
            w = (m[7] - m[5]) / s;
            x = 0.25 * s;
            y = (m[1] + m[3]) / s;
            z = (m[2] + m[6]) / s;
        } else if (m[4] > m[8]) {
            const s = 2.0 * Math.sqrt(1.0 + m[4] - m[0] - m[8]);
            w = (m[2] - m[6]) / s;
            x = (m[1] + m[3]) / s;
            y = 0.25 * s;
            z = (m[5] + m[7]) / s;
        } else {
            const s = 2.0 * Math.sqrt(1.0 + m[8] - m[0] - m[4]);
            w = (m[3] - m[1]) / s;
            x = (m[2] + m[6]) / s;
            y = (m[5] + m[7]) / s;
            z = 0.25 * s;
        }
        return new Quaternion(x, y, z, w);
    }