From 6856fe5e71866558fea781a16df4f866816acd93 Mon Sep 17 00:00:00 2001
From: thefiddler <stapostol@gmail.com>
Date: Mon, 3 Feb 2014 11:11:36 +0100
Subject: [PATCH] Merged remote-tracking branch 'l3m/matrix4d-quat-fix' into
 develop

Updated the Matrix4d CreateFromQuaternion methods to actually create
Matrix4d. They now mirror the Matrix4 CreateFromQuaternion methods,
just using doubles and the -d classes.

Previously, Matrix4d.CreateFromQuaterion actually created a Matrix4
from a single-precision Quaterion.
---
 Source/OpenTK/Math/Matrix4d.cs | 28 ++++++++++++++++++++++++++++
 1 file changed, 28 insertions(+)

diff --git a/Source/OpenTK/Math/Matrix4d.cs b/Source/OpenTK/Math/Matrix4d.cs
index c4b9387d..7abbfd2e 100644
--- a/Source/OpenTK/Math/Matrix4d.cs
+++ b/Source/OpenTK/Math/Matrix4d.cs
@@ -886,11 +886,38 @@ namespace OpenTK
         #endregion
 
         #region CreateFromQuaternion
+        /// <summary>
+        /// Build a rotation matrix from the specified quaternion.
+        /// </summary>
+        /// <param name="q">Quaternion to translate.</param>
+        /// <param name="result">Matrix result.</param>
+        public static void CreateFromQuaternion(ref Quaterniond q, out Matrix4d result)
+        {
+            Vector3d axis;
+            double angle;
+            q.ToAxisAngle(out axis, out angle);
+            CreateFromAxisAngle(axis, angle, out result);
+        }
+
+        /// <summary>
+        /// Builds a rotation matrix from a quaternion.
+        /// </summary>
+        /// <param name="q">The quaternion to rotate by.</param>
+        /// <returns>A matrix instance.</returns>
+        public static Matrix4d CreateFromQuaternion(Quaterniond q)
+        {
+            Matrix4d result;
+            CreateFromQuaternion(ref q, out result);
+            return result;
+        }
+        
+
         /// <summary>
         /// Build a rotation matrix from the specified quaternion.
         /// </summary>
         /// <param name="q">Quaternion to translate.</param>
         /// <param name="m">Matrix result.</param>
+        [Obsolete("Use double-precision overload instead")]
         public static void CreateFromQuaternion(ref Quaternion q,ref Matrix4 m)
         {
             m = Matrix4.Identity;
@@ -926,6 +953,7 @@ namespace OpenTK
         /// </summary>
         /// <param name="q">Quaternion to translate.</param>
         /// <returns>A matrix instance.</returns>
+        [Obsolete("Use double-precision overload instead")]
         public static Matrix4 CreateFromQuaternion(ref Quaternion q)
         {
             Matrix4 result = Matrix4.Identity;