/// <summary>
/// Returns Euler angles (in the YXZ convention: when decomposing,
/// first Z, then X, and Y last) corresponding to the rotation
/// represented by the unit quaternion. Returned vector contains
/// the rotation angles in the format (X angle, Y angle, Z angle).
/// </summary>
/// <returns>The Euler angle representation of this quaternion.</returns>
public Vector3d GetEuler()
{
#if DEBUG
if (!IsNormalized())
{
throw new InvalidOperationException("Quatd is not normalized");
}
#endif
var basis = new Basisd(this);
return(basis.GetEuler());
}
public void SetLookAt(Vector3d eye, Vector3d target, Vector3d up)
{
// Make rotation matrix
// Z vector
Vector3d column2 = eye - target;
column2.Normalize();
Vector3d column1 = up;
Vector3d column0 = column1.Cross(column2);
// Recompute Y = Z cross X
column1 = column2.Cross(column0);
column0.Normalize();
column1.Normalize();
basis = new Basisd(column0, column1, column2);
origin = eye;
}
public Transformd Inverse()
{
Basisd basisTr = basis.Transposed();
return(new Transformd(basisTr, basisTr.Xform(-origin)));
}
public Transformd(Basisd basis, Vector3d origin)
{
this.basis = basis;
this.origin = origin;
}
public Transformd(Quatd quat, Vector3d origin)
{
basis = new Basisd(quat);
this.origin = origin;
}
// Constructors
public Transformd(Vector3d column0, Vector3d column1, Vector3d column2, Vector3d origin)
{
basis = new Basisd(column0, column1, column2);
this.origin = origin;
}
public Transformd AffineInverse()
{
Basisd basisInv = basis.Inverse();
return(new Transformd(basisInv, basisInv.Xform(-origin)));
}
/// <summary>
/// Rotates the given Basis, interpreting this Vector4 as AxisAngle.
/// </summary>
public Basisd Rotated(Basisd b)
{
return(b * new Basisd(XYZ, w));
}
public static Vector4d AxisAngle(Basisd b)
{
return(AxisAngle(b.Quat())); // Might be a more efficient way to do this.
}
/// <summary>
/// Constructs a quaternion from the given <see cref="Basisd"/>.
/// </summary>
/// <param name="basis">The basis to construct from.</param>
public Quatd(Basisd basis)
{
this = basis.Quat();
}
public Vector3d GetEuler()
{
var basis = new Basisd(this);
return(basis.GetEuler());
}
