public override IEnumerable <Member> GenerateMembers()
{
var boolVType = new VectorType(BuiltinType.TypeBool, Components);
var mat3Type = new MatrixType(BaseType, 3, 3);
var mat4Type = new MatrixType(BaseType, 4, 4);
var vec3Type = new VectorType(BaseType, 3);
var vec4Type = new VectorType(BaseType, 4);
var dquatType = new QuaternionType(BuiltinType.TypeDouble);
var dvec3Type = new VectorType(BuiltinType.TypeDouble, 3);
var lengthType = new AnyType(BaseType.LengthType);
// fields
foreach (var f in Fields)
{
yield return new Field(f, BaseType)
{
Comment = $"{f}-component"
}
}
;
// predefs
yield return(new StaticProperty("Zero", this)
{
Value = Construct(this, ZeroValue.RepeatTimes(Components)),
Comment = "Predefined all-zero quaternion"
});
if (!string.IsNullOrEmpty(BaseType.OneValue))
{
yield return(new StaticProperty("Ones", this)
{
Value = Construct(this, OneValue.RepeatTimes(Components)),
Comment = "Predefined all-ones quaternion"
});
yield return(new StaticProperty("Identity", this)
{
Value = Construct(this, Fields.Select(f => f == "w" ? OneValue : ZeroValue)),
Comment = "Predefined identity quaternion"
});
for (var c = 0; c < Components; ++c)
{
yield return new StaticProperty("Unit" + ArgOfUpper(c), this)
{
Value = Construct(this, c.ImpulseString(BaseType.OneValue, ZeroValue, Components)),
Comment = $"Predefined unit-{ArgOfUpper(c)} quaternion"
}
}
;
}
if (BaseType.IsComplex)
{
yield return(new StaticProperty("ImaginaryOnes", this)
{
Value = Construct(this, "Complex.ImaginaryOne".RepeatTimes(Components)),
Comment = "Predefined all-imaginary-ones quaternion"
});
for (var c = 0; c < Components; ++c)
{
yield return new StaticProperty("ImaginaryUnit" + ArgOfUpper(c), this)
{
Value = Construct(this, c.ImpulseString("Complex.ImaginaryOne", ZeroValue, Components)),
Comment = $"Predefined unit-imaginary-{ArgOfUpper(c)} quaternion"
}
}
;
}
// Basetype constants
foreach (var constant in BaseType.TypeConstants)
{
yield return(new StaticProperty(constant, this)
{
Value = Construct(this, $"{BaseTypeName}.{constant}".RepeatTimes(Components)),
Comment = $"Predefined all-{constant} quaternion"
});
}
// values
yield return(new Property("Values", new ArrayType(BaseType))
{
GetterLine = $"new[] {{ {CompArgString} }}",
Comment = "Returns an array with all values"
});
// ctors
yield return(new Constructor(this, Fields)
{
Parameters = Fields.TypedArgs(BaseType),
Initializers = Fields,
Comment = "Component-wise constructor"
});
yield return(new Constructor(this, Fields)
{
ParameterString = BaseTypeName + " v",
Initializers = "v".RepeatTimes(Components),
Comment = "all-same-value constructor"
});
yield return(new Constructor(this, Fields)
{
ParameterString = this.NameThat + " q",
Initializers = Fields.Select(f => "q." + f),
Comment = "copy constructor"
});
yield return(new Constructor(this, Fields)
{
ParameterString = vec3Type.NameThat + " v, " + BaseTypeName + " s",
Initializers = new[] { "v.x", "v.y", "v.z", "s" },
Comment = "vector-and-scalar constructor (CAUTION: not angle-axis, use FromAngleAxis instead)"
});
if (BaseType.IsFloatingPoint)
{
// from angle between axes
yield return(new Constructor(this, Fields)
{
Parameters = vec3Type.TypedArgs("u", "v"),
Code = new[]
{
$"var localW = {vec3Type.NameThat}.Cross(u, v);",
$"var dot = {vec3Type.NameThat}.Dot(u, v);",
$"var q = new {NameThat}(localW.x, localW.y, localW.z, {OneValue} + dot).Normalized;"
},
Initializers = new[] { "q.x", "q.y", "q.z", "q.w" },
Comment = "Create a quaternion from two normalized axis (http://lolengine.net/blog/2013/09/18/beautiful-maths-quaternion-from-vectors)"
});
// from euler angle
yield return(new Constructor(this, Fields)
{
Parameters = vec3Type.TypedArgs("eulerAngle"),
Code = new[]
{
$"var c = {vec3Type.NameThat}.Cos(eulerAngle / 2);",
$"var s = {vec3Type.NameThat}.Sin(eulerAngle / 2);",
},
Initializers = new[]
{
"s.x * c.y * c.z - c.x * s.y * s.z",
"c.x * s.y * c.z + s.x * c.y * s.z",
"c.x * c.y * s.z - s.x * s.y * c.z",
"c.x * c.y * c.z + s.x * s.y * s.z"
},
Comment = "Create a quaternion from two normalized axis (http://lolengine.net/blog/2013/09/18/beautiful-maths-quaternion-from-vectors)"
});
// from matrices
yield return(new Constructor(this, Fields)
{
ParameterString = mat3Type.Name + " m",
ConstructorChain = "this(FromMat3(m))",
Comment = $"Creates a quaternion from the rotational part of a {mat3Type.Name}."
});
yield return(new Constructor(this, Fields)
{
ParameterString = mat4Type.Name + " m",
ConstructorChain = "this(FromMat4(m))",
Comment = $"Creates a quaternion from the rotational part of a {mat4Type.Name}."
});
}
// implicit upcasts
var implicits = new HashSet <BuiltinType>();
var upcasts = BuiltinType.Upcasts;
foreach (var ukvp in upcasts.Where(k => k.Key == BaseType))
{
var otherType = ukvp.Value;
implicits.Add(otherType);
var targetType = new QuaternionType(otherType);
yield return(new ImplicitOperator(targetType)
{
ParameterString = NameThat + " v",
CodeString = Construct(targetType, CompString.Select(c => TypeCast(otherType, "v." + c)).ExactlyN(Components, otherType.ZeroValue)),
Comment = $"Implicitly converts this to a {targetType.Name}.",
});
}
// explicit casts
foreach (var oType in BuiltinType.BaseTypes)
{
var otherType = oType;
if (otherType.Generic != BaseType.Generic)
{
continue; // cannot mix generic/non-generic
}
if (BaseType.IsComplex && !otherType.IsComplex)
{
continue; // cannot "downcast" complex type
}
{
{
var targetType = new VectorType(otherType, Components);
yield return(new ExplicitOperator(targetType)
{
ParameterString = NameThat + " v",
CodeString = Construct(targetType, CompString.Select(c => TypeCast(otherType, "v." + c))),
Comment = $"Explicitly converts this to a {targetType.Name}."
});
}
if (otherType == BaseType)
{
continue; // same type and comps not useful
}
if (implicits.Contains(otherType))
{
continue; // already has an implicit conversion
}
{
var targetType = new QuaternionType(otherType);
yield return(new ExplicitOperator(targetType)
{
ParameterString = NameThat + " v",
CodeString = Construct(targetType, CompString.Select(c => TypeCast(otherType, "v." + c))),
Comment = $"Explicitly converts this to a {targetType.Name}."
});
}
}
}
// from matrices
if (BaseType.IsFloatingPoint)
{
yield return(new ExplicitOperator(this)
{
ParameterString = mat3Type.Name + " m",
CodeString = "FromMat3(m)",
Comment = $"Creates a quaternion from the rotational part of a {mat3Type.Name}."
});
yield return(new ExplicitOperator(this)
{
ParameterString = mat4Type.Name + " m",
CodeString = "FromMat4(m)",
Comment = $"Creates a quaternion from the rotational part of a {mat4Type.Name}."
});
}
// IEnumerable
yield return(new Function(new AnyType($"IEnumerator<{BaseTypeName}>"), "GetEnumerator")
{
Code = Fields.Select(f => $"yield return {f};"),
Comment = "Returns an enumerator that iterates through all components."
});
yield return(new Function(new AnyType("IEnumerator"), "IEnumerable.GetEnumerator")
{
Visibility = "",
CodeString = "GetEnumerator()",
Comment = "Returns an enumerator that iterates through all components."
});
// ToString
yield return(new Function(new AnyType("string"), "ToString")
{
Override = true,
CodeString = "ToString(\", \")",
Comment = "Returns a string representation of this quaternion using ', ' as a seperator."
});
yield return(new Function(new AnyType("string"), "ToString")
{
ParameterString = "string sep",
CodeString = Fields.Aggregated(" + sep + "),
Comment = "Returns a string representation of this quaternion using a provided seperator."
});
if (!BaseType.Generic)
{
yield return(new Function(new AnyType("string"), "ToString")
{
ParameterString = "string sep, IFormatProvider provider",
CodeString = Fields.Select(f => f + ".ToString(provider)").Aggregated(" + sep + "),
Comment = "Returns a string representation of this quaternion using a provided seperator and a format provider for each component."
});
if (BaseType.HasFormatString)
{
yield return(new Function(new AnyType("string"), "ToString")
{
ParameterString = "string sep, string format",
CodeString = Fields.Select(f => f + ".ToString(format)").Aggregated(" + sep + "),
Comment = "Returns a string representation of this quaternion using a provided seperator and a format for each component."
});
yield return(new Function(new AnyType("string"), "ToString")
{
ParameterString = "string sep, string format, IFormatProvider provider",
CodeString = Fields.Select(f => f + ".ToString(format, provider)").Aggregated(" + sep + "),
Comment = "Returns a string representation of this quaternion using a provided seperator and a format and format provider for each component."
});
}
}
// Parsing
if (!BaseType.IsComplex && !BaseType.Generic)
{
// Parse
yield return(new Function(this, "Parse")
{
Static = true,
ParameterString = "string s",
CodeString = "Parse(s, \", \")",
Comment = "Converts the string representation of the quaternion into a quaternion representation (using ', ' as a separator)."
});
yield return(new Function(this, "Parse")
{
Static = true,
ParameterString = "string s, string sep",
Code = new[]
{
"var kvp = s.Split(new[] { sep }, StringSplitOptions.None);",
string.Format("if (kvp.Length != {0}) throw new FormatException(\"input has not exactly {0} parts\");", Components),
$"return new {NameThat}({Components.ForIndexUpTo(i => $"{BaseTypeName}.Parse(kvp[{i}].Trim())").CommaSeparated()});"
},
Comment = "Converts the string representation of the quaternion into a quaternion representation (using a designated separator)."
});
if (BaseType.Name != "bool")
{
yield return(new Function(this, "Parse")
{
Static = true,
ParameterString = "string s, string sep, IFormatProvider provider",
Code = new[]
{
"var kvp = s.Split(new[] { sep }, StringSplitOptions.None);",
string.Format("if (kvp.Length != {0}) throw new FormatException(\"input has not exactly {0} parts\");", Components),
$"return new {NameThat}({Components.ForIndexUpTo(i => $"{BaseTypeName}.Parse(kvp[{i}].Trim(), provider)").CommaSeparated()});"
},
Comment = "Converts the string representation of the quaternion into a quaternion representation (using a designated separator and a type provider)."
});
yield return(new Function(this, "Parse")
{
Static = true,
ParameterString = "string s, string sep, NumberStyles style",
Code = new[]
{
"var kvp = s.Split(new[] { sep }, StringSplitOptions.None);",
string.Format("if (kvp.Length != {0}) throw new FormatException(\"input has not exactly {0} parts\");", Components),
$"return new {NameThat}({Components.ForIndexUpTo(i => $"{BaseTypeName}.Parse(kvp[{i}].Trim(), style)").CommaSeparated()});"
},
Comment = "Converts the string representation of the quaternion into a quaternion representation (using a designated separator and a number style)."
});
yield return(new Function(this, "Parse")
{
Static = true,
ParameterString = "string s, string sep, NumberStyles style, IFormatProvider provider",
Code = new[]
{
"var kvp = s.Split(new[] { sep }, StringSplitOptions.None);",
string.Format("if (kvp.Length != {0}) throw new FormatException(\"input has not exactly {0} parts\");", Components),
$"return new {NameThat}({Components.ForIndexUpTo(i => $"{BaseTypeName}.Parse(kvp[{i}].Trim(), style, provider)").CommaSeparated()});"
},
Comment = "Converts the string representation of the quaternion into a quaternion representation (using a designated separator and a number style and a format provider)."
});
}
// TryParse
yield return(new Function(BuiltinType.TypeBool, "TryParse")
{
Static = true,
ParameterString = $"string s, out {NameThat} result",
CodeString = "TryParse(s, \", \", out result)",
Comment = "Tries to convert the string representation of the quaternion into a quaternion representation (using ', ' as a separator), returns false if string was invalid."
});
yield return(new Function(BuiltinType.TypeBool, "TryParse")
{
Static = true,
ParameterString = $"string s, string sep, out {NameThat} result",
Code = new[]
{
"result = Zero;",
"if (string.IsNullOrEmpty(s)) return false;",
"var kvp = s.Split(new[] { sep }, StringSplitOptions.None);",
$"if (kvp.Length != {Components}) return false;",
$"{BaseTypeName} {CompString.Select(c => c + " = " + ZeroValue).CommaSeparated()};",
$"var ok = {Components.ForIndexUpTo(i => $"{BaseTypeName}.TryParse(kvp[{i}].Trim(), out {ArgOf(i)})").Aggregated(" && ")};",
$"result = ok ? new {NameThat}({CompArgString}) : Zero;",
"return ok;"
},
Comment = "Tries to convert the string representation of the quaternion into a quaternion representation (using a designated separator), returns false if string was invalid."
});
if (!BaseType.IsBool)
{
yield return(new Function(BuiltinType.TypeBool, "TryParse")
{
Static = true,
ParameterString = $"string s, string sep, NumberStyles style, IFormatProvider provider, out {NameThat} result",
Code = new[]
{
"result = Zero;",
"if (string.IsNullOrEmpty(s)) return false;",
"var kvp = s.Split(new[] { sep }, StringSplitOptions.None);",
$"if (kvp.Length != {Components}) return false;",
$"{BaseTypeName} {CompString.Select(c => c + " = " + ZeroValue).CommaSeparated()};",
$"var ok = {Components.ForIndexUpTo(i => $"{BaseTypeName}.TryParse(kvp[{i}].Trim(), style, provider, out {ArgOf(i)})").Aggregated(" && ")};",
$"result = ok ? new {NameThat}({CompArgString}) : Zero;",
"return ok;"
},
Comment = "Tries to convert the string representation of the quaternion into a quaternion representation (using a designated separator and a number style and a format provider), returns false if string was invalid."
});
}
}
// IReadOnlyList
yield return(new Property("Count", BuiltinType.TypeInt)
{
GetterLine = Components.ToString(),
Comment = $"Returns the number of components ({Components})."
});
yield return(new Indexer(BaseType)
{
ParameterString = "int index",
Getter = SwitchIndex(Components.ForIndexUpTo(i => $"case {i}: return {ArgOf(i)};")),
Setter = SwitchIndex(Components.ForIndexUpTo(i => $"case {i}: {ArgOf(i)} = value; break;")),
Comment = "Gets/Sets a specific indexed component (a bit slower than direct access)."
});
// Equality comparisons
yield return(new Function(BuiltinType.TypeBool, "Equals")
{
ParameterString = NameThat + " rhs",
CodeString = Fields.Select(Comparer).Aggregated(" && "),
Comment = "Returns true iff this equals rhs component-wise."
});
yield return(new Function(BuiltinType.TypeBool, "Equals")
{
Override = true,
ParameterString = "object obj",
Code = new[]
{
"if (ReferenceEquals(null, obj)) return false;",
string.Format("return obj is {0} && Equals(({0}) obj);", NameThat)
},
Comment = "Returns true iff this equals rhs type- and component-wise."
});
yield return(new Operator(BuiltinType.TypeBool, "==")
{
Parameters = this.LhsRhs(),
CodeString = "lhs.Equals(rhs)",
Comment = "Returns true iff this equals rhs component-wise."
});
yield return(new Operator(BuiltinType.TypeBool, "!=")
{
Parameters = this.LhsRhs(),
CodeString = "!lhs.Equals(rhs)",
Comment = "Returns true iff this does not equal rhs (component-wise)."
});
yield return(new Function(BuiltinType.TypeInt, "GetHashCode")
{
Override = true,
Code = new[]
{
"unchecked",
"{",
$" return {HashCodeFor(Components - 1)};",
"}"
},
Comment = "Returns a hash code for this instance."
});
// Basetype test functions
foreach (var kvp in BaseType.TypeTestFuncs)
{
yield return(new ComponentWiseStaticFunction(Fields, boolVType, kvp.Key, this, "v", kvp.Value));
}
// Component-wise static functions
yield return(new ComponentWiseStaticFunction(Fields, boolVType, "Equal", this, "lhs", this, "rhs", BaseType.EqualFormat));
yield return(new ComponentWiseStaticFunction(Fields, boolVType, "NotEqual", this, "lhs", this, "rhs", BaseType.NotEqualFormat));
if (BaseType.HasComparisons)
{
yield return(new ComponentWiseStaticFunction(Fields, boolVType, "GreaterThan", this, "lhs", this, "rhs", "{0} > {1}"));
yield return(new ComponentWiseStaticFunction(Fields, boolVType, "GreaterThanEqual", this, "lhs", this, "rhs", "{0} >= {1}"));
yield return(new ComponentWiseStaticFunction(Fields, boolVType, "LesserThan", this, "lhs", this, "rhs", "{0} < {1}"));
yield return(new ComponentWiseStaticFunction(Fields, boolVType, "LesserThanEqual", this, "lhs", this, "rhs", "{0} <= {1}"));
yield return(new ComponentWiseOperator(Fields, boolVType, "<", this, "lhs", this, "rhs", "{0} < {1}"));
yield return(new ComponentWiseOperator(Fields, boolVType, "<=", this, "lhs", this, "rhs", "{0} <= {1}"));
yield return(new ComponentWiseOperator(Fields, boolVType, ">", this, "lhs", this, "rhs", "{0} > {1}"));
yield return(new ComponentWiseOperator(Fields, boolVType, ">=", this, "lhs", this, "rhs", "{0} >= {1}"));
}
if (BaseType.IsBool)
{
yield return(new ComponentWiseStaticFunction(Fields, boolVType, "Not", this, "v", "!{0}"));
yield return(new ComponentWiseOperator(Fields, this, "!", this, "v", "!{0}"));
yield return(new ComponentWiseStaticFunction(Fields, this, "And", this, "lhs", this, "rhs", "{0} && {1}"));
yield return(new ComponentWiseStaticFunction(Fields, this, "Nand", this, "lhs", this, "rhs", "!({0} && {1})"));
yield return(new ComponentWiseStaticFunction(Fields, this, "Or", this, "lhs", this, "rhs", "{0} || {1}"));
yield return(new ComponentWiseStaticFunction(Fields, this, "Nor", this, "lhs", this, "rhs", "!({0} || {1})"));
yield return(new ComponentWiseStaticFunction(Fields, this, "Xor", this, "lhs", this, "rhs", "{0} != {1}"));
yield return(new ComponentWiseStaticFunction(Fields, this, "Xnor", this, "lhs", this, "rhs", "{0} == {1}"));
yield return(new ComponentWiseOperator(Fields, this, "&", this, "lhs", this, "rhs", "{0} && {1}"));
yield return(new ComponentWiseOperator(Fields, this, "|", this, "lhs", this, "rhs", "{0} || {1}"));
}
if (BaseType.HasArithmetics)
{
// ops
yield return(new ComponentWiseOperator(Fields, this, "+", this, "v", "identity")
{
ReturnOverride = "v"
});
if (BaseType.IsSigned)
{
yield return(new ComponentWiseOperator(Fields, this, "-", this, "v", "-{0}"));
}
yield return(new ComponentWiseOperator(Fields, this, "+", this, "lhs", this, "rhs", "{0} + {1}"));
yield return(new ComponentWiseOperator(Fields, this, "-", this, "lhs", this, "rhs", "{0} - {1}"));
yield return(new ComponentWiseOperator(Fields, this, "*", this, "lhs", BaseType, "rhs", "{0} * {1}")
{
CanScalar0 = false, CanScalar1 = false
});
yield return(new ComponentWiseOperator(Fields, this, "*", BaseType, "lhs", this, "rhs", "{0} * {1}")
{
CanScalar0 = false, CanScalar1 = false
});
yield return(new ComponentWiseOperator(Fields, this, "/", this, "lhs", BaseType, "rhs", "{0} / {1}")
{
CanScalar0 = false, CanScalar1 = false
});
// quat-quat-mult
yield return(new Operator(this, "*")
{
Parameters = this.TypedArgs("p", "q"),
CodeString = Construct(this,
"p.w * q.x + p.x * q.w + p.y * q.z - p.z * q.y",
"p.w * q.y + p.y * q.w + p.z * q.x - p.x * q.z",
"p.w * q.z + p.z * q.w + p.x * q.y - p.y * q.x",
"p.w * q.w - p.x * q.x - p.y * q.y - p.z * q.z"),
Comment = "Returns proper multiplication of two quaternions."
});
// quat-vec-mult, vec-quat-mult
yield return(new Operator(vec3Type, "*")
{
Parameters = this.TypedArgs("q").Concat(vec3Type.TypedArgs("v")),
Code = new[]
{
$"var qv = {Construct(vec3Type, "q.x", "q.y", "q.z")};",
$"var uv = {vec3Type.Name}.Cross(qv, v);",
$"var uuv = {vec3Type.Name}.Cross(qv, uv);",
"return v + ((uv * q.w) + uuv) * 2;"
},
Comment = "Returns a vector rotated by the quaternion."
});
yield return(new Operator(vec4Type, "*")
{
Parameters = this.TypedArgs("q").Concat(vec4Type.TypedArgs("v")),
CodeString = Construct(vec4Type, "q * " + Construct(vec3Type, "v"), "v.w"),
Comment = "Returns a vector rotated by the quaternion (preserves v.w)."
});
if (BaseType.IsSigned)
{
yield return(new Operator(vec3Type, "*")
{
Parameters = vec3Type.TypedArgs("v").Concat(this.TypedArgs("q")),
CodeString = "q.Inverse * v",
Comment = "Returns a vector rotated by the inverted quaternion."
});
yield return(new Operator(vec4Type, "*")
{
Parameters = vec4Type.TypedArgs("v").Concat(this.TypedArgs("q")),
CodeString = "q.Inverse * v",
Comment = "Returns a vector rotated by the inverted quaternion (preserves v.w)."
});
}
// dot
yield return(new Function(BaseType, "Dot")
{
Static = true,
Parameters = this.LhsRhs(),
CodeString = Fields.Format(DotFormatString).Aggregated(" + "),
Comment = "Returns the inner product (dot product, scalar product) of the two quaternions."
});
// length
yield return(new Property("Length", lengthType)
{
GetterLine = "(" + lengthType.Name + ")" + SqrtOf(Fields.Select(SqrOf).Aggregated(" + ")),
Comment = "Returns the euclidean length of this quaternion."
});
yield return(new Property("LengthSqr", BaseType)
{
GetterLine = Fields.Select(SqrOf).Aggregated(" + "),
Comment = "Returns the squared euclidean length of this quaternion."
});
// normalized
if (!BaseType.IsInteger)
{
yield return(new Property("Normalized", this)
{
GetterLine = $"this / {BaseTypeCast}Length",
Comment = "Returns a copy of this quaternion with length one (undefined if this has zero length)."
});
yield return(new Property("NormalizedSafe", this)
{
GetterLine = $"this == Zero ? Identity : this / {BaseTypeCast}Length",
Comment = "Returns a copy of this quaternion with length one (returns zero if length is zero)."
});
}
}
// Logicals
if (BaseType.IsBool)
{
yield return(new AggregatedProperty(Fields, "MinElement", BaseType, "&&", "Returns the minimal component of this quaternion."));
yield return(new AggregatedProperty(Fields, "MaxElement", BaseType, "||", "Returns the maximal component of this quaternion."));
yield return(new AggregatedProperty(Fields, "All", BaseType, "&&", "Returns true if all component are true."));
yield return(new AggregatedProperty(Fields, "Any", BaseType, "||", "Returns true if any component is true."));
}
// floating point
if (BaseType.IsFloatingPoint)
{
// angles
yield return(new Property("Angle", BuiltinType.TypeDouble)
{
GetterLine = "Math.Acos((double)w) * 2.0",
Comment = "Returns the represented angle of this quaternion."
});
yield return(new Property("Axis", vec3Type)
{
Getter = new[]
{
"var s1 = 1 - w * w;",
$"if (s1 < 0) return {vec3Type.Name}.UnitZ;",
$"var s2 = 1 / {SqrtOf("s1")};",
$"return {Construct(vec3Type, BaseTypeCast + "(x * s2)", BaseTypeCast + "(y * s2)", BaseTypeCast + "(z * s2)")};"
},
Comment = "Returns the represented axis of this quaternion."
});
yield return(new Property("Yaw", BuiltinType.TypeDouble)
{
GetterLine = "Math.Asin(-2.0 * (double)(x * z - w * y))",
Comment = "Returns the represented yaw angle of this quaternion."
});
yield return(new Property("Pitch", BuiltinType.TypeDouble)
{
GetterLine = "Math.Atan2(2.0 * (double)(y * z + w * x), (double)(w * w - x * x - y * y + z * z))",
Comment = "Returns the represented pitch angle of this quaternion."
});
yield return(new Property("Roll", BuiltinType.TypeDouble)
{
GetterLine = "Math.Atan2(2.0 * (double)(x * y + w * z), (double)(w * w + x * x - y * y - z * z))",
Comment = "Returns the represented roll angle of this quaternion."
});
yield return(new Property("EulerAngles", dvec3Type)
{
GetterLine = Construct(dvec3Type, "Pitch", "Yaw", "Roll"),
Comment = "Returns the represented euler angles (pitch, yaw, roll) of this quaternion."
});
yield return(new Function(this, "FromAxisAngle")
{
Static = true,
Parameters = BaseType.TypedArgs("angle").Concat(vec3Type.TypedArgs("v")),
Code = new[]
{
"var s = Math.Sin((double)angle * 0.5);",
"var c = Math.Cos((double)angle * 0.5);",
$"return {Construct(this, BaseTypeCast + "((double)v.x * s)", BaseTypeCast + "((double)v.y * s)", BaseTypeCast + "((double)v.z * s)", BaseTypeCast + "c")};"
},
Comment = "Creates a quaternion from an axis and an angle (in radians)."
});
yield return(new Function(this, "Rotated")
{
Parameters = BaseType.TypedArgs("angle").Concat(vec3Type.TypedArgs("v")),
CodeString = "this * FromAxisAngle(angle, v)",
Comment = "Rotates this quaternion from an axis and an angle (in radians)."
});
}
// mat casts
if (BaseType.IsFloatingPoint)
{
yield return(new Property("ToMat3", mat3Type)
{
GetterLine = Construct(mat3Type,
"1 - 2 * (y*y + z*z)",
"2 * (x*y + w*z)",
"2 * (x*z - w*y)",
"2 * (x*y - w*z)",
"1 - 2 * (x*x + z*z)",
"2 * (y*z + w*x)",
"2 * (x*z + w*y)",
"2 * (y*z - w*x)",
"1 - 2 * (x*x + y*y)"
),
Comment = $"Creates a {mat3Type.Name} that realizes the rotation of this quaternion"
});
yield return(new Property("ToMat4", mat4Type)
{
GetterLine = Construct(mat4Type, "ToMat3"),
Comment = $"Creates a {mat4Type.Name} that realizes the rotation of this quaternion"
});
yield return(new Function(this, "FromMat3")
{
Static = true,
Parameters = mat3Type.TypedArgs("m"),
Code = new[]
{
"var fourXSquaredMinus1 = m.m00 - m.m11 - m.m22;",
"var fourYSquaredMinus1 = m.m11 - m.m00 - m.m22;",
"var fourZSquaredMinus1 = m.m22 - m.m00 - m.m11;",
"var fourWSquaredMinus1 = m.m00 + m.m11 + m.m22;",
"var biggestIndex = 0;",
"var fourBiggestSquaredMinus1 = fourWSquaredMinus1;",
"if(fourXSquaredMinus1 > fourBiggestSquaredMinus1)",
"{",
" fourBiggestSquaredMinus1 = fourXSquaredMinus1;",
" biggestIndex = 1;",
"}",
"if(fourYSquaredMinus1 > fourBiggestSquaredMinus1)",
"{",
" fourBiggestSquaredMinus1 = fourYSquaredMinus1;",
" biggestIndex = 2;",
"}",
"if(fourZSquaredMinus1 > fourBiggestSquaredMinus1)",
"{",
" fourBiggestSquaredMinus1 = fourZSquaredMinus1;",
" biggestIndex = 3;",
"}",
"var biggestVal = Math.Sqrt((double)fourBiggestSquaredMinus1 + 1.0) * 0.5;",
"var mult = 0.25 / biggestVal;",
"switch(biggestIndex)",
"{",
$" case 0: return {Construct(this, BaseTypeCast + "((double)(m.m12 - m.m21) * mult)", BaseTypeCast + "((double)(m.m20 - m.m02) * mult)", BaseTypeCast + "((double)(m.m01 - m.m10) * mult)", BaseTypeCast + "(biggestVal)")};",
$" case 1: return {Construct(this, BaseTypeCast + "(biggestVal)", BaseTypeCast + "((double)(m.m01 + m.m10) * mult)", BaseTypeCast + "((double)(m.m20 + m.m02) * mult)", BaseTypeCast + "((double)(m.m12 - m.m21) * mult)")};",
$" case 2: return {Construct(this, BaseTypeCast + "((double)(m.m01 + m.m10) * mult)", BaseTypeCast + "(biggestVal)", BaseTypeCast + "((double)(m.m12 + m.m21) * mult)", BaseTypeCast + "((double)(m.m20 - m.m02) * mult)")};",
$" default: return {Construct(this, BaseTypeCast + "((double)(m.m20 + m.m02) * mult)", BaseTypeCast + "((double)(m.m12 + m.m21) * mult)", BaseTypeCast + "(biggestVal)", BaseTypeCast + "((double)(m.m01 - m.m10) * mult)")};",
"}"
},
Comment = $"Creates a quaternion from the rotational part of a {mat4Type.Name}."
});
yield return(new Function(this, "FromMat4")
{
Static = true,
Parameters = mat4Type.TypedArgs("m"),
CodeString = $"FromMat3({Construct(mat3Type, "m")})",
Comment = $"Creates a quaternion from the rotational part of a {mat3Type.Name}."
});
}
if (BaseType.IsSigned)
{
yield return(new Property("Conjugate", this)
{
GetterLine = Construct(this, "-x", "-y", "-z", "w"),
Comment = "Returns the conjugated quaternion"
});
yield return(new Property("Inverse", this)
{
GetterLine = "Conjugate / LengthSqr",
Comment = "Returns the inverse quaternion"
});
}
if (BaseType.HasArithmetics)
{
// cross
yield return(new Function(this, "Cross")
{
Static = true,
Parameters = this.TypedArgs("q1", "q2"),
CodeString = Construct(this,
"q1.w * q2.x + q1.x * q2.w + q1.y * q2.z - q1.z * q2.y",
"q1.w * q2.y + q1.y * q2.w + q1.z * q2.x - q1.x * q2.z",
"q1.w * q2.z + q1.z * q2.w + q1.x * q2.y - q1.y * q2.x",
"q1.w * q2.w - q1.x * q2.x - q1.y * q2.y - q1.z * q2.z"),
Comment = "Returns the cross product between two quaternions."
});
// mix
if (BaseType.IsFloatingPoint)
{
yield return(new Function(this, "Mix")
{
Static = true,
Parameters = this.TypedArgs("x", "y").Concat(BaseType.TypedArgs("a")),
Code = new[]
{
"var cosTheta = (double)Dot(x, y);",
"if (cosTheta > 1 - float.Epsilon)",
" return Lerp(x, y, a);",
"else",
"{",
" var angle = Math.Acos((double)cosTheta);",
string.Format(" return {0}( (Math.Sin((1 - (double)a) * angle) * {1}x + Math.Sin((double)a * angle) * {1}y) / Math.Sin(angle) );",
BaseType.Name == "double" ? "" : "(" + this.Name + ")",
BaseType.Name == "double" ? "" : "(" + dquatType.Name + ")"),
"}",
},
Comment = "Calculates a proper spherical interpolation between two quaternions (only works for normalized quaternions)."
});
yield return(new Function(this, "SLerp")
{
Static = true,
Parameters = this.TypedArgs("x", "y").Concat(BaseType.TypedArgs("a")),
Code = new[]
{
"var z = y;",
"var cosTheta = (double)Dot(x, y);",
"if (cosTheta < 0) { z = -y; cosTheta = -cosTheta; }",
"if (cosTheta > 1 - float.Epsilon)",
" return Lerp(x, z, a);",
"else",
"{",
" var angle = Math.Acos((double)cosTheta);",
string.Format(" return {0}( (Math.Sin((1 - (double)a) * angle) * {1}x + Math.Sin((double)a * angle) * {1}z) / Math.Sin(angle) );",
BaseType.Name == "double" ? "" : "(" + this.Name + ")",
BaseType.Name == "double" ? "" : "(" + dquatType.Name + ")"),
"}",
},
Comment = "Calculates a proper spherical interpolation between two quaternions (only works for normalized quaternions)."
});
yield return(new Function(this, "Squad")
{
Static = true,
Parameters = this.TypedArgs("q1", "q2", "s1", "s2").Concat(BaseType.TypedArgs("h")),
CodeString = "Mix(Mix(q1, q2, h), Mix(s1, s2, h), 2 * (1 - h) * h)",
Comment = "Applies squad interpolation of these quaternions"
});
}
// linear interpolation
yield return(new ComponentWiseStaticFunction(Fields, this, "Lerp", this, "min", this, "max", this, "a", "{0} * (1-{2}) + {1} * {2}"));
}
}
}
}
