public static TheVector3 operator *(TheQuaternion rotation, TheVector3 point)
{
//float num = rotation.x * 2f;
//float num2 = rotation.y * 2f;
//float num3 = rotation.z * 2f;
//float num4 = rotation.x * num;
//float num5 = rotation.y * num2;
//float num6 = rotation.z * num3;
//float num7 = rotation.x * num2;
//float num8 = rotation.x * num3;
//float num9 = rotation.y * num3;
//float num10 = rotation.w * num;
//float num11 = rotation.w * num2;
//float num12 = rotation.w * num3;
//TheVector3 result = new TheVector3();
//result.x = (1f - (num5 + num6)) * point.x + (num7 - num12) * point.y + (num8 + num11) * point.z;
//result.y = (num7 + num12) * point.x + (1f - (num4 + num6)) * point.y + (num9 - num10) * point.z;
//result.z = (num8 - num11) * point.x + (num9 + num10) * point.y + (1f - (num4 + num5)) * point.z;
//return result;
// Extract the vector part of the quaternion
TheVector3 u = new TheVector3(rotation.x, rotation.y, rotation.z);
// Extract the scalar part of the quaternion
float s = rotation.w;
// Do the math
TheVector3 vprime = 2.0f * TheVector3.DotProduct(u, point) * u
+ (s * s - TheVector3.DotProduct(u, u)) * point
+ 2.0f * s * TheVector3.CrossProduct(u, point);
return(vprime);
}
public static TheVector3 SLerp(TheVector3 start, TheVector3 end, float value)
{
float dot = DotProduct(start, end);
Math.Math.Clamp(dot, -1, 1);
float theta = Math.Math.Acos(dot) * value;
TheVector3 relative_vector = end - start * dot;
return((start * Math.Math.Cos(theta)) + (relative_vector.Normalized * Math.Math.Sin(theta)));
}
public TheVector3 ToEulerAngles()
{
TheVector3 ret = new TheVector3
{
x = Math.Math.Atan2(2 * (x * y + w * z), w * w + x * x - y * y - z * z),
y = Math.Math.Asin(-2 * (x * z - w * y)),
z = Math.Math.Atan2(2 * (y * z + w * x), w * w - x * x - y * y + z * z)
};
return(ret);
}
public static TheQuaternion FromAngleAxis(float angle, TheVector3 axis)
{
TheVector3 tmp = axis * Math.Math.Sin(angle / 2);
TheQuaternion ret = new TheQuaternion
{
x = tmp.x,
y = tmp.y,
z = tmp.z,
w = Math.Math.Cos(angle / 2)
};
return(ret);
}
public static TheVector3 Normalize(TheVector3 vector)
{
TheVector3 ret;
float magnitude = Magnitude(vector);
if (magnitude > 1E-05f)
{
ret = vector / magnitude;
}
else
{
ret = Zero;
}
return(ret);
}
public static TheVector3 Project(TheVector3 vector, TheVector3 normal)
{
TheVector3 ret;
float dot = DotProduct(normal, normal);
if (dot < Math.Math.Epsilon)
{
ret = Zero;
}
else
{
ret = normal * DotProduct(vector, normal) / dot;
}
return(ret);
}
public override bool Equals(object other)
{
bool ret;
if (other == null || !(other is TheVector3))
{
ret = false;
}
else
{
TheVector3 vector = (TheVector3)other;
ret = (x == vector.x && y == vector.y && z == vector.z);
}
return(ret);
}
public static void ToAngleAxis(TheQuaternion a, out float angle, out TheVector3 axis)
{
angle = Math.Math.Acos(a.w);
float sin_theta_inv = 1.0f / Math.Math.Sin(angle);
axis = new TheVector3
{
x = a.x * sin_theta_inv,
y = a.y * sin_theta_inv,
z = a.z * sin_theta_inv
};
angle *= 2;
}
public static TheVector3 MoveTowards(TheVector3 position, TheVector3 target, float step)
{
TheVector3 diff = target - position;
float magnitude = diff.Length;
TheVector3 ret;
if (magnitude <= step || magnitude < Math.Math.Epsilon)
{
ret = target;
}
else
{
ret = position + diff / magnitude * step;
}
return(ret);
}
public static TheQuaternion FromEulerAngles(TheVector3 angles)
{
float cos_z_2 = Math.Math.Cos(0.5f * angles.z);
float cos_y_2 = Math.Math.Cos(0.5f * angles.y);
float cos_x_2 = Math.Math.Cos(0.5f * angles.x);
float sin_z_2 = Math.Math.Sin(0.5f * angles.z);
float sin_y_2 = Math.Math.Sin(0.5f * angles.y);
float sin_x_2 = Math.Math.Sin(0.5f * angles.x);
TheQuaternion ret = new TheQuaternion
{
x = cos_z_2 * cos_y_2 * sin_x_2 - sin_z_2 * sin_y_2 * cos_x_2,
y = cos_z_2 * sin_y_2 * cos_x_2 + sin_z_2 * cos_y_2 * sin_x_2,
z = sin_z_2 * cos_y_2 * cos_x_2 - cos_z_2 * sin_y_2 * sin_x_2,
w = cos_z_2 * cos_y_2 * cos_x_2 + sin_z_2 * sin_y_2 * sin_x_2
};
return(ret);
}
public static TheQuaternion LookRotation(TheVector3 direction)
{
TheVector3 up = TheVector3.Up;
return(lookRotation(direction, up));
}
public void ToAngleAxis(out float angle, out TheVector3 axis)
{
TheVector3 tmp = new TheVector3(x, y, z);
ToAngleAxis(this, out angle, out axis);
}
private extern void SetPosition(TheVector3 value);
public extern void SetSpawnPosition(TheVector3 position);
private extern void SetRotation(TheVector3 value);
public static TheVector3 NLerp(TheVector3 start, TheVector3 end, float value)
{
return(Lerp(start, end, value).Normalized);
}
public void Scale(TheVector3 scale)
{
x *= scale.x;
y *= scale.y;
z *= scale.z;
}
public static TheVector3 CrossProduct(TheVector3 vector_1, TheVector3 vector_2)
{
return(new TheVector3(vector_1.y * vector_2.z - vector_1.z * vector_2.y, vector_1.z * vector_2.x - vector_1.x * vector_2.z, vector_1.x * vector_2.y - vector_1.y * vector_2.x));
}
public static TheVector3 Reflect(TheVector3 direction, TheVector3 normal)
{
return(-2f * DotProduct(normal, direction) * normal + direction);
}
public extern void LookAt(TheVector3 value);
public extern void SetSpawnRotation(TheVector3 rotation);
public extern void SetSpawnScale(TheVector3 scale);
public static float Magnitude(TheVector3 vector)
{
return(Math.Math.Sqrt(vector.x * vector.x + vector.y * vector.y + vector.z * vector.z));
}
public static float DotProduct(TheVector3 vector_1, TheVector3 vector_2)
{
return(vector_1.x * vector_2.x + vector_1.y * vector_2.y + vector_1.z * vector_2.z);
}
private static extern TheQuaternion lookRotation(TheVector3 direction, TheVector3 up);
public static TheVector3 Scale(TheVector3 a, TheVector3 b)
{
return(new TheVector3(a.x * b.x, a.y * b.y, a.z * b.z));
}
public static float AngleBetween(TheVector3 vector_1, TheVector3 vector_2)
{
return(Math.Math.Acos(DotProduct(vector_1, vector_2) / DotProduct(vector_1.Normalized, vector_2.Normalized)) * Math.Math.RadToDeg);
}
public static TheVector3 Lerp(TheVector3 start, TheVector3 end, float value)
{
return(start + value * (end - start));
}
public static float Distance(TheVector3 vector_1, TheVector3 vector_2)
{
TheVector3 vector = new TheVector3(vector_1.x - vector_2.x, vector_1.y - vector_2.y, vector_1.z - vector_2.z);
return(Math.Math.Sqrt(vector.x * vector.x + vector.y * vector.y + vector.z * vector.z));
}
private extern void SetScale(TheVector3 value);
