// Slerp Quaternion Method
public static Quarts SLERP(Quarts A, Quarts B, float C)
{
C = Mathf.Clamp(C, 0.0f, 1.0f);
Quarts temp = B * A.Inverse();
Vectors AxisAngle = temp.GetAxisAngle();
Quarts temp2 = new Quarts(AxisAngle.w * C, new Vectors(AxisAngle.x, AxisAngle.y, AxisAngle.z));
return(temp2 * A);
}
// Combine all quarternions without putting them into matrices first (except Scale) - this routine was made because theres an issue with plugging them into matrices that makes them shrink and enlarge when rotating
public static Vectors QCombine(Vectors Translation, Vectors CurrentLocation, Vectors Scale, Vectors AxisRots, Vector3[] ModelSpaceVertices, MeshFilter MF)
{
Vectors r = new Vectors(0, 0, 0);
// Create Qauternions from raw data
Quarts S = QScale(Scale);
Quarts R = new Quarts(AxisRots.x, new Vectors(0, 0, 1));
Quarts P = new Quarts(AxisRots.y, new Vectors(1, 0, 0));
Quarts Y = new Quarts(AxisRots.z, new Vectors(0, 1, 0));
Quarts RPY = R * P * Y;
// Remember TRS order (T omitted for now because its being weird)
Quarts Combined = RPY * S;
// Define array of vertices
Vector3[] TransformedVertices = new Vector3[ModelSpaceVertices.Length];
// move vertexs to new position
for (int i = 0; i < TransformedVertices.Length; i++)
{
// Convert Vertexs into Quaternions
Vectors temp = new Vectors(ModelSpaceVertices[i].x, ModelSpaceVertices[i].y, ModelSpaceVertices[i].z);
Quarts Vertexs = new Quarts(0, new Vectors(0, 0, 0));
Vertexs.SetAxis(temp);
// Rotate & Scale vertexs - Using slerp
Quarts slerped = SLERP(Combined, Vertexs, Time.deltaTime);
slerped = Combined * Vertexs * Combined.Inverse();
Vectors finalV = GetAxis(slerped);
//// This is our basic vertex mover - just added onto the result of the Q matrix
//// LERP for that nice smooth movement (Dont forget to add vertex position onto translation amount, u dummy)
//Vectors NewLocation = new Vectors(Translation.x + finalV.x, Translation.y + finalV.y, Translation.z + finalV.z);
//Vectors Move = Vectors.VLerp(NewLocation, finalV, Time.deltaTime);
// Move the Vertex to its new position
TransformedVertices[i] = new Vector3(finalV.x, finalV.y, finalV.z);
}
// Assign new Vertices
MF.mesh.vertices = TransformedVertices;
// Sometimes needed to clean up mesh
MF.mesh.RecalculateNormals();
MF.mesh.RecalculateBounds();
/// return world position
Vectors NewOriginLocation = CurrentLocation + Translation;
Vectors NewOrigin = Vectors.VLerp(NewOriginLocation, CurrentLocation, Time.deltaTime);
r = NewOrigin;
return(r);
}
// Combine all quarternions (T * RPY * S) through matrices
public static void QCombineM(Vectors Translation, Vectors Scale, Vectors AxisRots, Vector3[] ModelSpaceVertices, MeshFilter MF)
{
// Create Qauternions from raw data
Quarts T = QTrans(Translation); // Not used because not working
Quarts S = QScale(Scale);
Quarts RPY = QCombinedAxis(AxisRots);
// Multiply in correct order
//Quarts Order = T * RPY * S;
// Define array of vertices
Vector3[] TransformedVertices = new Vector3[ModelSpaceVertices.Length];
// move vertexs to new position
for (int i = 0; i < TransformedVertices.Length; i++)
{
// Convert Vertexs into Quaternions
Vectors temp = new Vectors(ModelSpaceVertices[i].x, ModelSpaceVertices[i].y, ModelSpaceVertices[i].z);
Quarts Vertexs = new Quarts(0, new Vectors(0, 0, 0));
Vertexs.SetAxis(temp);
// Remember TRS order (T omitted for now because its being weird)
Quarts Combined = RPY * S;
// Rotate & Scale vertexs
Quarts result = Combined * Vertexs * Combined.Inverse();
Vectors finalV = GetAxis(result);
// This is our basic vertex mover - just added onto the result of the Q matrix
Vectors Move = new Vectors(Translation.x + finalV.x, Translation.y + finalV.y, Translation.z + finalV.z);
// Move the Vertex to its new position
TransformedVertices[i] = new Vector3(Move.x, Move.y, Move.z);
}
// Assign new Vertices
MF.mesh.vertices = TransformedVertices;
// Sometimes needed to clean up mesh
MF.mesh.RecalculateNormals();
MF.mesh.RecalculateBounds();
}