public void SetFromVectors(Vec3 vx, Vec3 vy, Vec3 vz, Vec3 pos)
{
var m34 = new Matrix34();
m34.M00 = vx.X; m34.M01 = vy.X; m34.M02 = vz.X; m34.M03 = pos.X;
m34.M10 = vx.Y; m34.M11 = vy.Y; m34.M12 = vz.Y; m34.M13 = pos.Y;
m34.M20 = vx.Z; m34.M21 = vy.Z; m34.M22 = vz.Z; m34.M23 = pos.Z;
this = new QuatT(m34);
}
public bool IsEquivalent(QuatT p, float epsilon = 0.05f)
{
var q0 = p.Q;
var q1 = -p.Q;
bool t0 = (Math.Abs(Q.V.X - q0.V.X) <= epsilon) && (Math.Abs(Q.V.Y - q0.V.Y) <= epsilon) && (Math.Abs(Q.V.Z - q0.V.Z) <= epsilon) && (Math.Abs(Q.W - q0.W) <= epsilon);
bool t1 = (Math.Abs(Q.V.X - q1.V.X) <= epsilon) && (Math.Abs(Q.V.Y - q1.V.Y) <= epsilon) && (Math.Abs(Q.V.Z - q1.V.Z) <= epsilon) && (Math.Abs(Q.W - q1.W) <= epsilon);
return((t0 | t1) && (Math.Abs(T.X - p.T.X) <= epsilon) && (Math.Abs(T.Y - p.T.Y) <= epsilon) && (Math.Abs(T.Z - p.T.Z) <= epsilon));
}
/*public bool IsValid()
* {
* if (!T.IsValid()) return false;
* if (!Q.IsValid()) return false;
* return true;
* }*/
public void Nlerp(QuatT start, QuatT end, float amount)
{
var d = end.Q;
if ((start.Q | d) < 0)
{
d = -d;
}
var vDiff = d.V - start.Q.V;
Q.V = start.Q.V + (vDiff * amount);
Q.W = start.Q.W + ((d.W - start.Q.W) * amount);
Q.Normalize();
vDiff = end.T - start.T;
T = start.T + (vDiff * amount);
}
/// <summary>
/// Sets the absolute of the specified joint
/// </summary>
/// <param name="jointName">Name of the joint</param>
/// <param name="absolute">New absolute</param>
/// <param name="characterSlot">Slot containing the character</param>
public void SetJointAbsolute(string jointName, QuatT absolute, int characterSlot = 0)
{
NativeEntityMethods.SetJointAbsolute(this.GetIEntity(), jointName, characterSlot, absolute);
}
public void SetFromVectors(Vec3 vx, Vec3 vy, Vec3 vz, Vec3 pos)
{
var m34 = new Matrix34();
m34.M00 = vx.X; m34.M01 = vy.X; m34.M02 = vz.X; m34.M03 = pos.X;
m34.M10 = vx.Y; m34.M11 = vy.Y; m34.M12 = vz.Y; m34.M13 = pos.Y;
m34.M20 = vx.Z; m34.M21 = vy.Z; m34.M22 = vz.Z; m34.M23 = pos.Z;
this = new QuatT(m34);
}
/*public bool IsValid()
{
if (!T.IsValid()) return false;
if (!Q.IsValid()) return false;
return true;
}*/
public void Nlerp(QuatT start, QuatT end, float amount)
{
var d = end.Q;
if ((start.Q | d) < 0) { d = -d; }
var vDiff = d.V - start.Q.V;
Q.V = start.Q.V + (vDiff * amount);
Q.W = start.Q.W + ((d.W - start.Q.W) * amount);
Q.Normalize();
vDiff = end.T - start.T;
T = start.T + (vDiff * amount);
}
public bool IsEquivalent(QuatT p, float epsilon = 0.05f)
{
var q0 = p.Q;
var q1 = -p.Q;
bool t0 = (Math.Abs(Q.V.X - q0.V.X) <= epsilon) && (Math.Abs(Q.V.Y - q0.V.Y) <= epsilon) && (Math.Abs(Q.V.Z - q0.V.Z) <= epsilon) && (Math.Abs(Q.W - q0.W) <= epsilon);
bool t1 = (Math.Abs(Q.V.X - q1.V.X) <= epsilon) && (Math.Abs(Q.V.Y - q1.V.Y) <= epsilon) && (Math.Abs(Q.V.Z - q1.V.Z) <= epsilon) && (Math.Abs(Q.W - q1.W) <= epsilon);
return ((t0 | t1) && (Math.Abs(T.X - p.T.X) <= epsilon) && (Math.Abs(T.Y - p.T.Y) <= epsilon) && (Math.Abs(T.Z - p.T.Z) <= epsilon));
}
/// <summary>
/// Sets the absolute of the specified joint
/// </summary>
/// <param name="jointName">Name of the joint</param>
/// <param name="absolute">New absolute</param>
/// <param name="characterSlot">Slot containing the character</param>
public void SetJointAbsolute(string jointName, QuatT absolute, int characterSlot = 0)
{
NativeEntityMethods.SetJointAbsolute(this.GetIEntity(), jointName, characterSlot, absolute);
}
