/// <summary>
/// Computes a quaternion's axis and angle of rotation.
/// </summary>
/// <param name="q">Source TGCQuaternion structure. See Remarks.</param>
/// <param name="axis">A TGCVector3 structure that identifies the quaternion's axis of rotation.</param>
/// <param name="angle">A float value that identifies the quaternion's angle of rotation, in radians.</param>
public static void ToAxisAngle(TGCQuaternion q, ref TGCVector3 axis, ref float angle)
{
//TODO no deberia depender de Vector3
Vector3 tempAxis = axis;
Quaternion.ToAxisAngle(q.ToQuaternion(), ref tempAxis, ref angle);
axis = new TGCVector3(tempAxis);
}
/// <summary>
/// Sets up control points for spherical quadrangle interpolation.
/// </summary>
/// <param name="outA">A TGCQuaternion instance that represents the outA value.</param>
/// <param name="outB">A TGCQuaternion instance that represents the outB value.</param>
/// <param name="outC">A TGCQuaternion instance that represents the outC value.</param>
/// <param name="q0">A TGCQuaternion instance that represents the q0 input control point.</param>
/// <param name="q1">A TGCQuaternion instance that represents the q1 input control point.</param>
/// <param name="q2">A TGCQuaternion instance that represents the q2 input control point.</param>
/// <param name="q3">A TGCQuaternion instance that represents the q3 input control point.</param>
public static void SquadSetup(ref TGCQuaternion outA, ref TGCQuaternion outB, ref TGCQuaternion outC, TGCQuaternion q0, TGCQuaternion q1, TGCQuaternion q2, TGCQuaternion q3)
{
Quaternion tempA = outA;
Quaternion tempB = outB;
Quaternion tempC = outC;
Quaternion.SquadSetup(ref tempA, ref tempA, ref tempA, q0, q1, q2, q3);
outA = new TGCQuaternion(tempA);
outB = new TGCQuaternion(tempB);
outC = new TGCQuaternion(tempC);
}
/// <summary>
/// Conjugates and re-normalizes a quaternion.
/// </summary>
/// <param name="q">Source Quaternion.</param>
/// <returns>A Quaternion that is the inverse of the quaternion passed into the q parameter.</returns>
public static TGCQuaternion Invert(TGCQuaternion q)
{
return(new TGCQuaternion(Quaternion.Invert(q.ToQuaternion())));
}
/// <summary>
/// Interpolates between two quaternions, using spherical linear interpolation.
/// </summary>
/// <param name="q1">Source TGCQuaternion structure.</param>
/// <param name="q2">Source TGCQuaternion structure.</param>
/// <param name="t">A float value that indicates how far to interpolate between the quaternions.</param>
/// <returns>A TGCQuaternion structure that is the result of the interpolation.</returns>
public static TGCQuaternion Slerp(TGCQuaternion q1, TGCQuaternion q2, float t)
{
return(new TGCQuaternion(Quaternion.Slerp(q1.ToQuaternion(), q2.ToQuaternion(), t)));
}
/// <summary>
/// Interpolates between quaternions, using spherical quadrangle interpolation.
/// </summary>
/// <param name="q1">Source TGCQuaternion structure.</param>
/// <param name="a">Source TGCQuaternion structure.</param>
/// <param name="b">Source TGCQuaternion structure.</param>
/// <param name="c">Source TGCQuaternion structure.</param>
/// <param name="t">A float value that indicates how far to interpolate between the quaternions.</param>
/// <returns></returns>
public static TGCQuaternion Squad(TGCQuaternion q1, TGCQuaternion a, TGCQuaternion b, TGCQuaternion c, float t)
{
return(new TGCQuaternion(Quaternion.Squad(q1.ToQuaternion(), a.ToQuaternion(), b.ToQuaternion(), c.ToQuaternion(), t)));
}
/// <summary>
/// Multiplies two quaternions.
/// </summary>
/// <param name="m1">Source Quaternion.</param>
/// <param name="m2">Source Quaternion.</param>
/// <returns>A Quaternion that is the product of two quaternions.</returns>
public static TGCQuaternion Multiply(TGCQuaternion m1, TGCQuaternion m2)
{
return(new TGCQuaternion(Quaternion.Multiply(m1.ToQuaternion(), m2.ToQuaternion())));
}
/// <summary>
/// Returns the normal of a quaternion.
/// </summary>
/// <param name="q">Source Quaternion.</param>
/// <returns>A Quaternion that is the normal of the quaternion.</returns>
public static TGCQuaternion Normalize(TGCQuaternion q)
{
return(new TGCQuaternion(Quaternion.Normalize(q.ToQuaternion())));
}
/// <summary>
/// Rotates a matrix from a quaternion.
/// </summary>
/// <param name="quat">Source TGCQuaternion structure that defines the rotation.</param>
public void RotateTGCQuaternion(TGCQuaternion quat)
{
this.dxMatrix.RotateQuaternion(quat);
}
/// <summary>
/// Multiplies two quaternions.
/// </summary>
/// <param name="q">Source Quaternion.</param>
public void Multiply(TGCQuaternion q)
{
this.dxQuaternion.Multiply(q.ToQuaternion());
}
/// <summary>
/// Subtracts two quaternion instances.
/// </summary>
/// <param name="m1">Source Quaternion structure to the left of the subtraction operator.</param>
/// <param name="m2">Source Quaternion structure to the right of the subtraction operator.</param>
/// <returns>A Quaternion structure that is the result of the operation.</returns>
public static TGCQuaternion Subtract(TGCQuaternion m1, TGCQuaternion m2)
{
return(new TGCQuaternion(Quaternion.Subtract(m1.ToQuaternion(), m1.ToQuaternion())));
}
/// <summary>
/// Convierte un TGCQuaternion a un float[4]
/// </summary>
public static float[] TGCQuaternionToFloat4Array(TGCQuaternion q)
{
return(new[] { q.X, q.Y, q.Z, q.W });
}
/// <summary>
/// Returns the dot product of two quaternions.
/// </summary>
/// <param name="v1">Source Quaternion.</param>
/// <param name="v2">Source Quaternion.</param>
/// <returns>Dot product of two quaternions.</returns>
public static float Dot(TGCQuaternion v1, TGCQuaternion v2)
{
return(Quaternion.Dot(v1.ToQuaternion(), v2.ToQuaternion()));
}
/// <summary>
/// Calculates the exponential.
/// </summary>
/// <param name="q">Source Quaternion.</param>
/// <returns>The Quaternion that is the exponential of the q parameter.</returns>
public static TGCQuaternion Exp(TGCQuaternion q)
{
return(new TGCQuaternion(Quaternion.Exp(q.ToQuaternion())));
}
/// <summary>
/// Returns the conjugate of a quaternion.
/// </summary>
/// <param name="q">Returns the conjugate of a quaternion.</param>
/// <returns>A Quaternion that is the conjugate of the q parameter.</returns>
public static TGCQuaternion Conjugate(TGCQuaternion q)
{
return(new TGCQuaternion(Quaternion.Conjugate(q.ToQuaternion())));
}
/// <summary>
/// Returns a quaternion in barycentric coordinates.
/// </summary>
/// <param name="q1">Source Quaternion.</param>
/// <param name="q2">Source Quaternion.</param>
/// <param name="q3">Source Quaternion.</param>
/// <param name="f">Weighting factor.</param>
/// <param name="g">Weighting factor.</param>
/// <returns>Resulting Quaternion in barycentric coordinates.</returns>
public static TGCQuaternion BaryCentric(TGCQuaternion q1, TGCQuaternion q2, TGCQuaternion q3, float f, float g)
{
return(new TGCQuaternion(Quaternion.BaryCentric(q1.ToQuaternion(), q2.ToQuaternion(), q3.ToQuaternion(), f, g)));
}
/// <summary>
/// Builds a transformation matrix.
/// </summary>
/// <param name="scalingCenter">A TGCVector3 that identifies the scaling center point.</param>
/// <param name="scalingRotation">A TGCQuaternion structure that specifies the scaling rotation. Use TGCQuaternion.Identity to specify no scaling.</param>
/// <param name="scalingFactor">A TGCVector3 that is the scaling vector.</param>
/// <param name="rotationCenter">A TGCVector3 that is a point that identifies the center of rotation.</param>
/// <param name="rotation">A TGCQuaternion structure that specifies the rotation. Use TGCQuaternion.Identity to specify no rotation.</param>
/// <param name="translation">A TGCVector3 that represents the translation. Use Vector3.Empty to specify no translation.</param>
/// <returns>Resulting TGCMatrix.</returns>
public static TGCMatrix Transformation(TGCVector3 scalingCenter, TGCQuaternion scalingRotation, TGCVector3 scalingFactor, TGCVector3 rotationCenter, TGCQuaternion rotation, TGCVector3 translation)
{
return(new TGCMatrix(Matrix.Transformation(scalingCenter, scalingRotation, scalingFactor, rotationCenter, rotation, translation)));
}
/// <summary>
/// Transforms the matrix.
/// </summary>
/// <param name="scalingCenter">A TGCVector3 that identifies the scaling center point.</param>
/// <param name="scalingRotation">A TGCQuaternion structure that specifies the scaling rotation. Use TGCQuaternion.Identity to specify no scaling.</param>
/// <param name="scalingFactor">A TGCVector3 that is the scaling vector.</param>
/// <param name="rotationCenter">A TGCVector3 that is a point that identifies the center of rotation.</param>
/// <param name="rotation">A TGCQuaternion structure that specifies the rotation. Use TGCQuaternion.Identity to specify no rotation.</param>
/// <param name="translation">A TGCVector3 that represents the translation. Use Vector3.Empty to specify no translation.</param>
public void Transform(TGCVector3 scalingCenter, TGCQuaternion scalingRotation, TGCVector3 scalingFactor, TGCVector3 rotationCenter, TGCQuaternion rotation, TGCVector3 translation)
{
this.dxMatrix.Transform(scalingCenter, scalingRotation, scalingFactor, rotationCenter, rotation, translation);
}
/// <summary>
/// Builds a matrix from a quaternion.
/// </summary>
/// <param name="quat">Source TGCQuaternion structure.</param>
/// <returns>Rotated TGCMatrix.</returns>
public static TGCMatrix RotationTGCQuaternion(TGCQuaternion quat)
{
return(new TGCMatrix(Matrix.RotationQuaternion(quat)));
}
/// <summary>
/// Returns the square of a quaternion's length.
/// </summary>
/// <param name="v">Source Quaternion.</param>
/// <returns>A float that represents the quaternion's squared length.</returns>
public static float LengthSq(TGCQuaternion v)
{
return(Quaternion.LengthSq(v.ToQuaternion()));
}
/// <summary>
/// Calculates the natural logarithm.
/// </summary>
/// <param name="q">Source Quaternion.</param>
/// <returns>A Quaternion that is the natural logarithm of the quaternion passed into the q parameter.</returns>
public static TGCQuaternion Ln(TGCQuaternion q)
{
return(new TGCQuaternion(Quaternion.Ln(q.ToQuaternion())));
}
/// <summary>
/// Adds two quaternions.
/// </summary>
/// <param name="m1">Source Quaternion.</param>
/// <param name="m2">Source Quaternion.</param>
/// <returns>Sum of the two source Quaternion.</returns>
public static TGCQuaternion Add(TGCQuaternion m1, TGCQuaternion m2)
{
return(new TGCQuaternion(Quaternion.Add(m1.ToQuaternion(), m2.ToQuaternion())));
}
/// <summary>
/// Builds a 3-D affine transformation matrix.
/// </summary>
/// <param name="scaling">Scaling factor. A value of zero indicates no scaling.</param>
/// <param name="rotationCenter">A TGCVector3 that indicates the point at the center of rotation.</param>
/// <param name="rotation">A
/// structure that specifies the rotation. Use TGCQuaternion.Identity to specify no rotation.</param>
/// <param name="translation">A TGCVector3 that represents the translation. Use TGCVector3.Empty to specify no translation.</param>
public void AffineTransformation(float scaling, TGCVector3 rotationCenter, TGCQuaternion rotation, TGCVector3 translation)
{
this.dxMatrix.AffineTransformation(scaling, rotationCenter, rotation, translation);
}