public static Quaternion CreateQuaternion( this Matrix3D matrix )
{
double num8 = ( matrix.M11 + matrix.M22 ) + matrix.M33;
Quaternion quaternion = new Quaternion();
if ( num8 > 0f )
{
float num = (float)Math.Sqrt( (double)( num8 + 1f ) );
quaternion.W = num * 0.5f;
num = 0.5f / num;
quaternion.X = ( matrix.M23 - matrix.M32 ) * num;
quaternion.Y = ( matrix.M31 - matrix.M13 ) * num;
quaternion.Z = ( matrix.M12 - matrix.M21 ) * num;
return quaternion;
}
if ( ( matrix.M11 >= matrix.M22 ) && ( matrix.M11 >= matrix.M33 ) )
{
float num7 = (float)Math.Sqrt( (double)( ( ( 1f + matrix.M11 ) - matrix.M22 ) - matrix.M33 ) );
float num4 = 0.5f / num7;
quaternion.X = 0.5f * num7;
quaternion.Y = ( matrix.M12 + matrix.M21 ) * num4;
quaternion.Z = ( matrix.M13 + matrix.M31 ) * num4;
quaternion.W = ( matrix.M23 - matrix.M32 ) * num4;
return quaternion;
}
if ( matrix.M22 > matrix.M33 )
{
float num6 = (float)Math.Sqrt( (double)( ( ( 1f + matrix.M22 ) - matrix.M11 ) - matrix.M33 ) );
float num3 = 0.5f / num6;
quaternion.X = ( matrix.M21 + matrix.M12 ) * num3;
quaternion.Y = 0.5f * num6;
quaternion.Z = ( matrix.M32 + matrix.M23 ) * num3;
quaternion.W = ( matrix.M31 - matrix.M13 ) * num3;
return quaternion;
}
float num5 = (float)Math.Sqrt( (double)( ( ( 1f + matrix.M33 ) - matrix.M11 ) - matrix.M22 ) );
float num2 = 0.5f / num5;
quaternion.X = ( matrix.M31 + matrix.M13 ) * num2;
quaternion.Y = ( matrix.M32 + matrix.M23 ) * num2;
quaternion.Z = 0.5f * num5;
quaternion.W = ( matrix.M12 - matrix.M21 ) * num2;
return quaternion;
}
private void canvas_MouseMove( object sender, MouseEventArgs e )
{
if ( mouseDown /*&& physics == null*/ )
{
if ( !mouseCaptured )
{
root.CaptureMouse();
mouseCaptured = true;
}
Vector3D position = Trackball.ProjectToTrackball( Width, Height, e.GetPosition( root ) );
Vector3D axis = Vector3D.CrossProduct( anchorPosition, position );
double angle = Vector3D.AngleBetween( anchorPosition, position );
if ( axis != new Vector3D() )
{
axis.Y *= -1;
Quaternion delta = new Quaternion( axis, angle );
camera.Rotation *= delta;
camera.UpDirection = camera.GetRotationMatrix().Transform( new Vector3D( 0, 1, 0 ) );
}
anchorPosition = position;
needsRefresh = true;
}
}
private void SelectItem( BSPImage image )
{
if ( selected == image )
{
image.Selected = false;
image.RefreshState();
selected = null;
to = from;
fromZ = camera.Position.Z;
toZ = -10;
slerp = 1;
jumpAngle = 0;
}
else
{
if ( selected != null )
{
var oldImage = (BSPImage)selected;
oldImage.Selected = false;
oldImage.RefreshState();
}
image.Selected = true;
image.Visited = true;
image.RefreshState();
selected = image;
Point3D center = image.Position;
Vector3D dir = (Vector3D)center;
dir.Normalize();
Point3D viewpoint = center + ( dir * image.ViewDistance );
var axis = Vector3D.CrossProduct( (Vector3D)camera.Position, (Vector3D)viewpoint );
var angle = Vector3D.AngleBetween( (Vector3D)camera.Position, (Vector3D)viewpoint );
to = ( axis != new Vector3D() )
? new Quaternion( axis, angle )
: new Quaternion( new Vector3D( 0, 1, 0 ), angle );
to.Normalize();
toZ = -( (Vector3D)viewpoint ).Length;
slerp = 1;
jumpAngle = Vector3D.AngleBetween(
(Vector3D)camera.GetRotationMatrix().Transform( camera.Position ),
(Vector3D)viewpoint );
}
}
private void ItemClick( object sender, EventArgs e )
{
if ( !mouseCaptured )
{
fromZ = camera.Position.Z;
from = camera.Rotation;
from.Normalize();
SelectItem( (BSPImage)sender );
}
}
/* public static Quaternion Parse( string source )
{
Quaternion identity;
IFormatProvider cultureInfo = CultureInfo.GetCultureInfo( "en-us" );
TokenizerHelper helper = new TokenizerHelper( source, cultureInfo );
string str = helper.NextTokenRequired();
if ( str == "Identity" )
{
identity = Identity;
}
else
{
identity = new Quaternion( Convert.ToDouble( str, cultureInfo ), Convert.ToDouble( helper.NextTokenRequired(), cultureInfo ), Convert.ToDouble( helper.NextTokenRequired(), cultureInfo ), Convert.ToDouble( helper.NextTokenRequired(), cultureInfo ) );
}
helper.LastTokenRequired();
return identity;
}
public override string ToString()
{
return this.ConvertToString( null, null );
}
public string ToString( IFormatProvider provider )
{
return this.ConvertToString( null, provider );
}
string IFormattable.ToString( string format, IFormatProvider provider )
{
return this.ConvertToString( format, provider );
}
internal string ConvertToString( string format, IFormatProvider provider )
{
if ( this.IsIdentity )
{
return "Identity";
}
char numericListSeparator = TokenizerHelper.GetNumericListSeparator( provider );
return string.Format( provider, "{1:" + format + "}{0}{2:" + format + "}{0}{3:" + format + "}{0}{4:" + format + "}", new object[] { numericListSeparator, this._x, this._y, this._z, this._w } );
}
*/
static Quaternion()
{
c_identityHashCode = GetIdentityHashCode();
s_identity = GetIdentity();
}
public static bool Equals( Quaternion quaternion1, Quaternion quaternion2 )
{
if ( quaternion1.IsDistinguishedIdentity || quaternion2.IsDistinguishedIdentity )
{
return ( quaternion1.IsIdentity == quaternion2.IsIdentity );
}
if ( ( quaternion1.X.Equals( quaternion2.X ) && quaternion1.Y.Equals( quaternion2.Y ) ) && quaternion1.Z.Equals( quaternion2.Z ) )
{
return quaternion1.W.Equals( quaternion2.W );
}
return false;
}
public bool Equals( Quaternion value )
{
return Equals( this, value );
}
public static Quaternion Slerp( Quaternion from, Quaternion to, double t, bool useShortestPath )
{
double num2;
double num3;
if ( from.IsDistinguishedIdentity )
{
from._w = 1;
}
if ( to.IsDistinguishedIdentity )
{
to._w = 1;
}
double num4 = from.Length();
double num9 = to.Length();
from.Scale( 1 / num4 );
to.Scale( 1 / num9 );
double d = ( ( ( from._x * to._x ) + ( from._y * to._y ) ) + ( from._z * to._z ) ) + ( from._w * to._w );
if ( useShortestPath )
{
if ( d < 0 )
{
d = -d;
to._x = -to._x;
to._y = -to._y;
to._z = -to._z;
to._w = -to._w;
}
}
else if ( d < -1 )
{
d = -1;
}
if ( d > 1 )
{
d = 1;
}
if ( d > 0.999999 )
{
num3 = 1 - t;
num2 = t;
}
else if ( d < -0.9999999999 )
{
to = new Quaternion( -from.Y, from.X, -from.W, from.Z );
double num8 = t * 3.1415926535897931;
num3 = Math.Cos( num8 );
num2 = Math.Sin( num8 );
}
else
{
double num7 = Math.Acos( d );
double num6 = Math.Sqrt( 1 - ( d * d ) );
num3 = Math.Sin( ( 1 - t ) * num7 ) / num6;
num2 = Math.Sin( t * num7 ) / num6;
}
double num5 = num4 * Math.Pow( num9 / num4, t );
num3 *= num5;
num2 *= num5;
return new Quaternion( ( num3 * from._x ) + ( num2 * to._x ), ( num3 * from._y ) + ( num2 * to._y ), ( num3 * from._z ) + ( num2 * to._z ), ( num3 * from._w ) + ( num2 * to._w ) );
}
public static Quaternion Slerp( Quaternion from, Quaternion to, double t )
{
return Slerp( from, to, t, true );
}
public static Quaternion Multiply( Quaternion left, Quaternion right )
{
return ( left * right );
}
public static Quaternion Subtract( Quaternion left, Quaternion right )
{
return ( left - right );
}
public static Quaternion Add( Quaternion left, Quaternion right )
{
return ( left + right );
}