protected Matrix Quat4fToMatrix(javax.vecmath.Quat4f input){ float[] MatrixDump = new float[16]; float xx = input.x * input.x; float xy = input.x * input.y; float xz = input.x * input.z; float xw = input.x * input.w; float yy = input.y * input.y; float yz = input.y * input.z; float yw = input.y * input.w; float zz = input.z * input.z; float zw = input.z * input.w; MatrixDump[0] = 1 - 2 * ( yy + zz ); MatrixDump[4] = 2 * ( xy - zw ); MatrixDump[8] = 2 * ( xz + yw ); MatrixDump[1] = 2 * ( xy + zw ); MatrixDump[5] = 1 - 2 * ( xx + zz ); MatrixDump[9] = 2 * ( yz - xw ); MatrixDump[2] = 2 * ( xz - yw ); MatrixDump[6] = 2 * ( yz + xw ); MatrixDump[10] = 1 - 2 * ( xx + yy ); MatrixDump[15] = 1; Matrix buffer = new Matrix(); buffer.setDump(MatrixDump); return buffer;}