public void Quat4()
{
FQuat fq = FQuat.Euler(( Fix64 )45, ( Fix64 )(-23), ( Fix64 )(-48.88));
FQuat fq2 = FQuat.Euler(( Fix64 )23, ( Fix64 )(-78), ( Fix64 )(-132.43f));
Quat q = Quat.Euler(45, -23, -48.88f);
Quat q2 = Quat.Euler(23, -78, -132.43f);
FVec3 fv = new FVec3(12.5f, 9, 8);
FVec3 fv2 = new FVec3(1, 0, 0);
Vec3 v = new Vec3(12.5f, 9, 8);
Vec3 v2 = new Vec3(1, 0, 0);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
this._output.WriteLine(fq2.ToString());
this._output.WriteLine(q2.ToString());
Fix64 fa = FQuat.Angle(fq, fq2);
float a = Quat.Angle(q, q2);
this._output.WriteLine(fa.ToString());
this._output.WriteLine(a.ToString());
fq = FQuat.AngleAxis(( Fix64 )(-123.324), fv);
q = Quat.AngleAxis(-123.324f, v);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fa = FQuat.Dot(fq, fq2);
a = Quat.Dot(q, q2);
this._output.WriteLine(fa.ToString());
this._output.WriteLine(a.ToString());
fq = FQuat.FromToRotation(FVec3.Normalize(fv), fv2);
q = Quat.FromToRotation(Vec3.Normalize(v), v2);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq = FQuat.Lerp(fq, fq2, ( Fix64 )0.66);
q = Quat.Lerp(q, q2, 0.66f);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq = FQuat.Normalize(fq);
q.Normalize();
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq.Inverse();
q = Quat.Inverse(q);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fv = FQuat.Orthogonal(fv);
v = Quat.Orthogonal(v);
this._output.WriteLine(fv.ToString());
this._output.WriteLine(v.ToString());
fq = FQuat.Slerp(fq, fq2, ( Fix64 )0.66);
q = Quat.Slerp(q, q2, 0.66f);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq = FQuat.LookRotation(FVec3.Normalize(fv), fv2);
q = Quat.LookRotation(Vec3.Normalize(v), v2);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq.ToAngleAxis(out fa, out fv);
q.ToAngleAxis(out a, out v);
this._output.WriteLine(fa.ToString());
this._output.WriteLine(a.ToString());
this._output.WriteLine(fv.ToString());
this._output.WriteLine(v.ToString());
fq = fq.Conjugate();
q = q.Conjugate();
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq.SetLookRotation(FVec3.Normalize(fv), fv2);
q.SetLookRotation(Vec3.Normalize(v), v2);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
}
// DstPos and/or DstQuat will not be changed when KeyPos and/or KeyQuat are empty.
public void GetBonePosition(float frame, float numFrames, bool loop, ref FVector dstPos, ref FQuat dstQuat)
{
// fast case: 1 frame only
if (KeyTime.Length == 1 || numFrames == 1 || frame == 0)
{
if (KeyPos.Length > 0)
{
dstPos = KeyPos[0];
}
if (KeyQuat.Length > 0)
{
dstQuat = KeyQuat[0];
}
return;
}
// data for lerping
int posX, rotX; // index of previous frame
int posY, rotY; // index of next frame
float posF, rotF; // fraction between X and Y for lerping
var numTimeKeys = KeyTime.Length;
var numPosKeys = KeyPos.Length;
var numRotKeys = KeyQuat.Length;
if (numTimeKeys > 0)
{
// here: KeyPos and KeyQuat sizes either equals to 1 or equals to KeyTime size
Trace.Assert(numPosKeys <= 1 || numPosKeys == numTimeKeys);
Trace.Assert(numRotKeys == 1 || numRotKeys == numTimeKeys);
GetKeyParams(KeyTime, frame, numFrames, loop, out posX, out posY, out posF);
rotX = posX;
rotY = posY;
rotF = posF;
if (numPosKeys <= 1)
{
posX = posY = 0;
posF = 0;
}
if (numRotKeys == 1)
{
rotX = rotY = 0;
rotF = 0;
}
}
else
{
// empty KeyTime array - keys are evenly spaced on a time line
// note: KeyPos and KeyQuat sizes can be different
if (KeyPosTime.Length > 0)
{
GetKeyParams(KeyPosTime, frame, numFrames, loop, out posX, out posY, out posF);
}
else if (numPosKeys > 1)
{
var position = frame / numFrames * numPosKeys;
posX = position.FloorToInt();
posF = position - posX;
posY = posX + 1;
if (posY >= numPosKeys)
{
if (!loop)
{
posY = numPosKeys - 1;
posF = 0;
}
else
{
posY = 0;
}
}
}
else
{
posX = posY = 0;
posF = 0;
}
if (KeyQuatTime.Length > 0)
{
GetKeyParams(KeyQuatTime, frame, numFrames, loop, out rotX, out rotY, out rotF);
}
else if (numRotKeys > 1)
{
var Position = frame / numFrames * numRotKeys;
rotX = Position.FloorToInt();
rotF = Position - rotX;
rotY = rotX + 1;
if (rotY >= numRotKeys)
{
if (!loop)
{
rotY = numRotKeys - 1;
rotF = 0;
}
else
{
rotY = 0;
}
}
}
else
{
rotX = rotY = 0;
rotF = 0;
}
}
// get position
if (posF > 0)
{
dstPos = MathUtils.Lerp(KeyPos[posX], KeyPos[posY], posF);
}
else if (numPosKeys > 0) // do not change DstPos when no keys
{
dstPos = KeyPos[posX];
}
// get orientation
if (rotF > 0)
{
dstQuat = FQuat.Slerp(KeyQuat[rotX], KeyQuat[rotY], rotF);
}
else if (numRotKeys > 0) // do not change DstQuat when no keys
{
dstQuat = KeyQuat[rotX];
}
}
