public static Quaternion ConvertDegreeToQuaternion(
ConvertRotation.RotationOrder order,
float x,
float y,
float z)
{
Quaternion quaternion1 = Quaternion.AngleAxis(x, Vector3.get_right());
Quaternion quaternion2 = Quaternion.AngleAxis(y, Vector3.get_up());
Quaternion quaternion3 = Quaternion.AngleAxis(z, Vector3.get_forward());
switch (order)
{
case ConvertRotation.RotationOrder.xyz:
return(Quaternion.op_Multiply(Quaternion.op_Multiply(quaternion1, quaternion2), quaternion3));
case ConvertRotation.RotationOrder.xzy:
return(Quaternion.op_Multiply(Quaternion.op_Multiply(quaternion1, quaternion3), quaternion2));
case ConvertRotation.RotationOrder.yxz:
return(Quaternion.op_Multiply(Quaternion.op_Multiply(quaternion2, quaternion1), quaternion3));
case ConvertRotation.RotationOrder.yzx:
return(Quaternion.op_Multiply(Quaternion.op_Multiply(quaternion2, quaternion3), quaternion1));
case ConvertRotation.RotationOrder.zxy:
return(Quaternion.op_Multiply(Quaternion.op_Multiply(quaternion3, quaternion1), quaternion2));
case ConvertRotation.RotationOrder.zyx:
return(Quaternion.op_Multiply(Quaternion.op_Multiply(quaternion3, quaternion2), quaternion1));
default:
return(Quaternion.get_identity());
}
}
public static Vector3 ConvertRadianFromQuaternionEx(
ConvertRotation.RotationOrder order,
Quaternion q)
{
switch (order)
{
case ConvertRotation.RotationOrder.xyz:
float[] numArray1 = ConvertRotation.threeaxisrot((float)(-2.0 * (q.y * q.z - q.w * q.x)), (float)(q.w * q.w - q.x * q.x - q.y * q.y + q.z * q.z), (float)(2.0 * (q.x * q.z + q.w * q.y)), (float)(-2.0 * (q.x * q.y - q.w * q.z)), (float)(q.w * q.w + q.x * q.x - q.y * q.y - q.z * q.z));
return(new Vector3(numArray1[2], numArray1[1], numArray1[0]));
case ConvertRotation.RotationOrder.xzy:
float[] numArray2 = ConvertRotation.threeaxisrot((float)(2.0 * (q.y * q.z + q.w * q.x)), (float)(q.w * q.w - q.x * q.x + q.y * q.y - q.z * q.z), (float)(-2.0 * (q.x * q.y - q.w * q.z)), (float)(2.0 * (q.x * q.z + q.w * q.y)), (float)(q.w * q.w + q.x * q.x - q.y * q.y - q.z * q.z));
return(new Vector3(numArray2[2], numArray2[0], numArray2[1]));
case ConvertRotation.RotationOrder.yxz:
float[] numArray3 = ConvertRotation.threeaxisrot((float)(2.0 * (q.x * q.z + q.w * q.y)), (float)(q.w * q.w - q.x * q.x - q.y * q.y + q.z * q.z), (float)(-2.0 * (q.y * q.z - q.w * q.x)), (float)(2.0 * (q.x * q.y + q.w * q.z)), (float)(q.w * q.w - q.x * q.x + q.y * q.y - q.z * q.z));
return(new Vector3(numArray3[1], numArray3[2], numArray3[0]));
case ConvertRotation.RotationOrder.yzx:
float[] numArray4 = ConvertRotation.threeaxisrot((float)(-2.0 * (q.x * q.z - q.w * q.y)), (float)(q.w * q.w + q.x * q.x - q.y * q.y - q.z * q.z), (float)(2.0 * (q.x * q.y + q.w * q.z)), (float)(-2.0 * (q.y * q.z - q.w * q.x)), (float)(q.w * q.w - q.x * q.x + q.y * q.y - q.z * q.z));
return(new Vector3(numArray4[0], numArray4[2], numArray4[1]));
case ConvertRotation.RotationOrder.zxy:
float[] numArray5 = ConvertRotation.threeaxisrot((float)(-2.0 * (q.x * q.y - q.w * q.z)), (float)(q.w * q.w - q.x * q.x + q.y * q.y - q.z * q.z), (float)(2.0 * (q.y * q.z + q.w * q.x)), (float)(-2.0 * (q.x * q.z - q.w * q.y)), (float)(q.w * q.w - q.x * q.x - q.y * q.y + q.z * q.z));
return(new Vector3(numArray5[1], numArray5[0], numArray5[2]));
case ConvertRotation.RotationOrder.zyx:
float[] numArray6 = ConvertRotation.threeaxisrot((float)(2.0 * (q.x * q.y + q.w * q.z)), (float)(q.w * q.w + q.x * q.x - q.y * q.y - q.z * q.z), (float)(-2.0 * (q.x * q.z - q.w * q.y)), (float)(2.0 * (q.y * q.z + q.w * q.x)), (float)(q.w * q.w - q.x * q.x - q.y * q.y + q.z * q.z));
return(new Vector3(numArray6[0], numArray6[1], numArray6[2]));
default:
return(Vector3.get_zero());
}
}
public static Vector3 ConvertRadianFromQuaternion(
ConvertRotation.RotationOrder order,
Quaternion q)
{
Matrix4x4 m = Matrix4x4.TRS(Vector3.get_zero(), q, Vector3.get_one());
return(ConvertRotation.ConvertRadianFromMatrix(order, m));
}
public static Vector3 ConvertDegreeFromQuaternion(
ConvertRotation.RotationOrder order,
Quaternion q)
{
Vector3 vector3 = ConvertRotation.ConvertRadianFromQuaternion(order, q);
return(new Vector3((float)(vector3.x * 57.2957801818848), (float)(vector3.y * 57.2957801818848), (float)(vector3.z * 57.2957801818848)));
}
public static Quaternion ConvertRadianToQuaternion(
ConvertRotation.RotationOrder order,
float x,
float y,
float z)
{
return(ConvertRotation.ConvertDegreeToQuaternion(order, x * 57.29578f, y * 57.29578f, z * 57.29578f));
}
public static Vector3 ConvertDegreeFromMatrix(
ConvertRotation.RotationOrder order,
Matrix4x4 m)
{
Vector3 vector3 = ConvertRotation.ConvertRadianFromMatrix(order, m);
return(new Vector3((float)(vector3.x * 57.2957801818848), (float)(vector3.y * 57.2957801818848), (float)(vector3.z * 57.2957801818848)));
}
public void ManualCalc()
{
if (Object.op_Equality((Object)null, (Object)this.trfTarget) || Object.op_Equality((Object)null, (Object)this.trfLookAt))
{
return;
}
Vector3 upVector = this.GetUpVector();
Vector3 vector3_1 = Vector3.Normalize(Vector3.op_Subtraction(this.trfTarget.get_position(), this.trfLookAt.get_position()));
Vector3 vector3_2 = Vector3.Normalize(Vector3.Cross(upVector, vector3_1));
Vector3 vector3_3 = Vector3.Cross(vector3_1, vector3_2);
if (this.targetAxisType == H_LookAtDan_Info.AxisType.RevX || this.targetAxisType == H_LookAtDan_Info.AxisType.RevY || this.targetAxisType == H_LookAtDan_Info.AxisType.RevZ)
{
vector3_1 = Vector3.op_UnaryNegation(vector3_1);
vector3_2 = Vector3.op_UnaryNegation(vector3_2);
}
Vector3 xvec = Vector3.get_zero();
Vector3 yvec = Vector3.get_zero();
Vector3 zvec = Vector3.get_zero();
switch (this.targetAxisType)
{
case H_LookAtDan_Info.AxisType.X:
case H_LookAtDan_Info.AxisType.RevX:
xvec = vector3_1;
if (this.sourceAxisType == H_LookAtDan_Info.AxisType.Y)
{
yvec = vector3_3;
zvec = Vector3.op_UnaryNegation(vector3_2);
break;
}
if (this.sourceAxisType == H_LookAtDan_Info.AxisType.RevY)
{
yvec = Vector3.op_UnaryNegation(vector3_3);
zvec = vector3_2;
break;
}
if (this.sourceAxisType == H_LookAtDan_Info.AxisType.Z)
{
yvec = vector3_2;
zvec = vector3_3;
break;
}
if (this.sourceAxisType == H_LookAtDan_Info.AxisType.RevZ)
{
yvec = Vector3.op_UnaryNegation(vector3_2);
zvec = Vector3.op_UnaryNegation(vector3_3);
break;
}
break;
case H_LookAtDan_Info.AxisType.Y:
case H_LookAtDan_Info.AxisType.RevY:
yvec = vector3_1;
if (this.sourceAxisType == H_LookAtDan_Info.AxisType.X)
{
xvec = vector3_3;
zvec = vector3_2;
break;
}
if (this.sourceAxisType == H_LookAtDan_Info.AxisType.RevX)
{
xvec = Vector3.op_UnaryNegation(vector3_3);
zvec = Vector3.op_UnaryNegation(vector3_2);
break;
}
if (this.sourceAxisType == H_LookAtDan_Info.AxisType.Z)
{
xvec = Vector3.op_UnaryNegation(vector3_2);
zvec = vector3_3;
break;
}
if (this.sourceAxisType == H_LookAtDan_Info.AxisType.RevZ)
{
xvec = vector3_2;
zvec = Vector3.op_UnaryNegation(vector3_3);
break;
}
break;
case H_LookAtDan_Info.AxisType.Z:
case H_LookAtDan_Info.AxisType.RevZ:
zvec = vector3_1;
if (this.sourceAxisType == H_LookAtDan_Info.AxisType.X)
{
xvec = vector3_3;
yvec = Vector3.op_UnaryNegation(vector3_2);
break;
}
if (this.sourceAxisType == H_LookAtDan_Info.AxisType.RevX)
{
xvec = Vector3.op_UnaryNegation(vector3_3);
yvec = vector3_2;
break;
}
if (this.sourceAxisType == H_LookAtDan_Info.AxisType.Y)
{
xvec = vector3_2;
yvec = vector3_3;
break;
}
if (this.sourceAxisType == H_LookAtDan_Info.AxisType.RevY)
{
xvec = Vector3.op_UnaryNegation(vector3_2);
yvec = Vector3.op_UnaryNegation(vector3_3);
break;
}
break;
}
if (this.limitAxisType == H_LookAtDan_Info.AxisType.None)
{
Quaternion q = (Quaternion)null;
if (this.LookAtQuat(xvec, yvec, zvec, ref q))
{
this.trfLookAt.set_rotation(q);
}
else
{
this.trfLookAt.set_rotation(this.oldRotation);
}
this.oldRotation = this.trfLookAt.get_rotation();
}
else
{
Quaternion q1 = (Quaternion)null;
if (this.LookAtQuat(xvec, yvec, zvec, ref q1))
{
this.trfLookAt.set_rotation(q1);
}
else
{
this.trfLookAt.set_rotation(this.oldRotation);
}
ConvertRotation.RotationOrder rotOrder = (ConvertRotation.RotationOrder) this.rotOrder;
Quaternion localRotation = this.trfLookAt.get_localRotation();
Vector3 vector3_4 = ConvertRotation.ConvertDegreeFromQuaternion(rotOrder, localRotation);
Quaternion q2 = Quaternion.Slerp(localRotation, Quaternion.get_identity(), 0.5f);
Vector3 vector3_5 = ConvertRotation.ConvertDegreeFromQuaternion(rotOrder, q2);
if (this.limitAxisType == H_LookAtDan_Info.AxisType.X)
{
if (vector3_4.x < 0.0 && vector3_5.x > 0.0 || vector3_4.x > 0.0 && vector3_5.x < 0.0)
{
ref Vector3 local = ref vector3_4;
local.x = (__Null)(local.x * -1.0);
}
vector3_4.x = (__Null)(double)Mathf.Clamp((float)vector3_4.x, this.limitMin, this.limitMax);
}
public static Vector3 ConvertRadianFromMatrix(
ConvertRotation.RotationOrder order,
Matrix4x4 m)
{
switch (order)
{
case ConvertRotation.RotationOrder.xyz:
float m02 = (float)m.m02;
float num1 = Mathf.Asin(Mathf.Clamp(m02, -1f, 1f));
float val1;
float val2;
if ((double)m02 > 0.999899983406067)
{
val1 = 0.0f;
val2 = Mathf.Atan2((float)m.m21, (float)m.m11);
ConvertRotation.CheckNaN(ref val2, 0.0f);
}
else
{
val2 = Mathf.Atan2((float)-m.m12, (float)m.m22);
ConvertRotation.CheckNaN(ref val2, 0.0f);
val1 = Mathf.Atan2((float)-m.m01, (float)m.m00);
ConvertRotation.CheckNaN(ref val1, 0.0f);
}
return(new Vector3(val2, num1, val1));
case ConvertRotation.RotationOrder.xzy:
float num2 = (float)-m.m01;
float num3 = Mathf.Asin(Mathf.Clamp(num2, -1f, 1f));
float val3;
float val4;
if ((double)num2 > 0.999899983406067)
{
val3 = 0.0f;
val4 = Mathf.Atan2((float)-m.m12, (float)m.m22);
ConvertRotation.CheckNaN(ref val4, 0.0f);
}
else
{
val4 = Mathf.Atan2((float)m.m21, (float)m.m11);
ConvertRotation.CheckNaN(ref val4, 0.0f);
val3 = Mathf.Atan2((float)m.m02, (float)m.m00);
ConvertRotation.CheckNaN(ref val3, 0.0f);
}
return(new Vector3(val4, val3, num3));
case ConvertRotation.RotationOrder.yxz:
float num4 = (float)-m.m12;
float num5 = Mathf.Asin(Mathf.Clamp(num4, -1f, 1f));
float val5;
float val6;
if ((double)num4 > 0.999899983406067)
{
val5 = 0.0f;
val6 = Mathf.Atan2((float)-m.m20, (float)m.m00);
ConvertRotation.CheckNaN(ref val6, 0.0f);
}
else
{
val6 = Mathf.Atan2((float)m.m02, (float)m.m22);
ConvertRotation.CheckNaN(ref val6, 0.0f);
val5 = Mathf.Atan2((float)m.m10, (float)m.m11);
ConvertRotation.CheckNaN(ref val5, 0.0f);
}
return(new Vector3(num5, val6, val5));
case ConvertRotation.RotationOrder.yzx:
float m10 = (float)m.m10;
float num6 = Mathf.Asin(Mathf.Clamp(m10, -1f, 1f));
float val7;
float val8;
if ((double)m10 > 0.999899983406067)
{
val7 = 0.0f;
val8 = Mathf.Atan2((float)m.m02, (float)m.m22);
ConvertRotation.CheckNaN(ref val8, 0.0f);
}
else
{
val7 = Mathf.Atan2((float)-m.m12, (float)m.m11);
ConvertRotation.CheckNaN(ref val7, 0.0f);
val8 = Mathf.Atan2((float)-m.m20, (float)m.m00);
ConvertRotation.CheckNaN(ref val8, 0.0f);
}
return(new Vector3(val7, val8, num6));
case ConvertRotation.RotationOrder.zxy:
float m21 = (float)m.m21;
float num7 = Mathf.Asin(Mathf.Clamp(m21, -1f, 1f));
float val9;
float val10;
if ((double)m21 > 0.999899983406067)
{
val9 = 0.0f;
val10 = Mathf.Atan2((float)m.m10, (float)m.m00);
ConvertRotation.CheckNaN(ref val10, 0.0f);
}
else
{
val9 = Mathf.Atan2((float)-m.m20, (float)m.m22);
ConvertRotation.CheckNaN(ref val9, 0.0f);
val10 = Mathf.Atan2((float)-m.m01, (float)m.m11);
ConvertRotation.CheckNaN(ref val10, 0.0f);
}
return(new Vector3(num7, val9, val10));
case ConvertRotation.RotationOrder.zyx:
float num8 = (float)-m.m20;
float num9 = Mathf.Asin(Mathf.Clamp(num8, -1f, 1f));
float val11;
float val12;
if ((double)num8 > 0.999899983406067)
{
val11 = 0.0f;
val12 = Mathf.Atan2((float)-m.m01, (float)m.m11);
ConvertRotation.CheckNaN(ref val12, 0.0f);
}
else
{
val11 = Mathf.Atan2((float)m.m21, (float)m.m22);
ConvertRotation.CheckNaN(ref val11, 0.0f);
val12 = Mathf.Atan2((float)m.m10, (float)m.m00);
ConvertRotation.CheckNaN(ref val12, 0.0f);
}
return(new Vector3(val11, num9, val12));
default:
return(Vector3.get_zero());
}
}
