Beispiel #1
0
        /// <summary>
        /// This function returns a vector that is rotated by the opposite of me
        /// </summary>
        public MyVector GetRotatedVectorReverse(MyVector vector, bool isQuatNormalized)
        {
            if (!isQuatNormalized)
            {
                // I'm not normalized, clone myself and normalize it
                MyQuaternion myUnitClone = new MyQuaternion(this.X, this.Y, this.Z, this.W);
                myUnitClone.BecomeUnitQuaternion();

                return(myUnitClone.GetRotatedVectorReverse(vector, true));
            }

            MyVector qvec = new MyVector(this.X, this.Y, this.Z);

            //Vector uv = qvec.Cross(vector);
            MyVector uv = MyVector.Cross(qvec, vector);

            //Vector uuv = qvec.Cross(uv);
            MyVector uuv = MyVector.Cross(qvec, uv);

            //uv *= (2.0f * quat.w);
            uv.Multiply(this.W * -2d);

            //uuv *= 2.0f;
            uuv.Multiply(2d);

            //return vector + uv + uuv;
            MyVector retVal = vector.Clone();

            retVal.Add(uv);
            retVal.Add(uuv);
            return(retVal);
        }
Beispiel #2
0
        public DoubleVector GetRotatedVectorReverse(DoubleVector doubleVector, bool isQuatNormalized)
        {
            if (!isQuatNormalized)
            {
                // I'm not normalized, clone myself and normalize it
                MyQuaternion myUnitClone = new MyQuaternion(this.X, this.Y, this.Z, this.W);
                myUnitClone.BecomeUnitQuaternion();

                return(myUnitClone.GetRotatedVectorReverse(doubleVector, true));
            }

            return(new DoubleVector(GetRotatedVectorReverse(doubleVector.Standard, true), GetRotatedVectorReverse(doubleVector.Orth, true)));
        }
        public DoubleVector GetRotatedVectorReverse(DoubleVector doubleVector, bool isQuatNormalized)
        {
            if (!isQuatNormalized)
            {
                // I'm not normalized, clone myself and normalize it
                MyQuaternion myUnitClone = new MyQuaternion(this.X, this.Y, this.Z, this.W);
                myUnitClone.BecomeUnitQuaternion();

                return myUnitClone.GetRotatedVectorReverse(doubleVector, true);
            }

            return new DoubleVector(GetRotatedVectorReverse(doubleVector.Standard, true), GetRotatedVectorReverse(doubleVector.Orth, true));
        }
        /// <summary>
        /// This function returns a vector that is rotated by the opposite of me
        /// </summary>
        public MyVector GetRotatedVectorReverse(MyVector vector, bool isQuatNormalized)
        {
            if (!isQuatNormalized)
            {
                // I'm not normalized, clone myself and normalize it
                MyQuaternion myUnitClone = new MyQuaternion(this.X, this.Y, this.Z, this.W);
                myUnitClone.BecomeUnitQuaternion();

                return myUnitClone.GetRotatedVectorReverse(vector, true);
            }

            MyVector qvec = new MyVector(this.X, this.Y, this.Z);

            //Vector uv = qvec.Cross(vector);
            MyVector uv = MyVector.Cross(qvec, vector);

            //Vector uuv = qvec.Cross(uv);
            MyVector uuv = MyVector.Cross(qvec, uv);

            //uv *= (2.0f * quat.w);
            uv.Multiply(this.W * -2d);

            //uuv *= 2.0f;
            uuv.Multiply(2d);

            //return vector + uv + uuv;
            MyVector retVal = vector.Clone();
            retVal.Add(uv);
            retVal.Add(uuv);
            return retVal;
        }