} // End of IvQuat::Normalize()
//-------------------------------------------------------------------------------
// @ IvQuat::Dot()
//-------------------------------------------------------------------------------
// Dot product by self
//-------------------------------------------------------------------------------
public float Dot(IvQuat quat)
{
return(w * quat.w + x * quat.x + y * quat.y + z * quat.z);
} // End of IvQuat::Dot()
public Matrix4x4 GetMatrix()
{
return(IvQuat.GetMatrix(this));
}
static public Matrix4x4 ParsingMatrix(TRSParser parser, string order)
{
parser.Parsing(order);
Matrix4x4 trs = Matrix4x4.identity;
foreach (TRSParser.Sentences sts in parser)
{
if (0 == sts.Count)
{
continue;
}
switch (sts.kind)
{
case TRSParser.Sentences.eKind.Translate:
{
trs = trs * TRSHelper.GetTranslate(sts [0].xyz);
}
break;
case TRSParser.Sentences.eKind.Rotate:
{
if (TRSParser.Command.eKind.X == sts [0].kind)
{
trs = trs * TRSHelper.GetRotateX(sts [0].degree);
}
if (TRSParser.Command.eKind.Y == sts [0].kind)
{
trs = trs * TRSHelper.GetRotateY(sts [0].degree);
}
if (TRSParser.Command.eKind.Z == sts [0].kind)
{
trs = trs * TRSHelper.GetRotateZ(sts [0].degree);
}
}
break;
case TRSParser.Sentences.eKind.Quaternion:
{
IvQuat q = new IvQuat();
Vector3 v3Rad = sts [0].xyz * Mathf.Deg2Rad;
q.Set(v3Rad.z, v3Rad.y, v3Rad.x);
Matrix4x4 m = q.GetMatrix();
trs = trs * m;
//chamto test - print fixedAngles of IvQuat
Vector3 angles = IvQuat.GetFixedAnglesFrom(ref m);
angles *= Mathf.Rad2Deg;
DebugWide.LogRed("1: IvQuat angles : " + angles + "\n"); //chamto test
}
break;
case TRSParser.Sentences.eKind.Scale:
trs = trs * TRSHelper.GetScale(sts [0].xyz);
break;
}
}
return(trs);
}
} // End of Rotation()
static public Matrix4x4 GetMatrix(ref Quaternion rotate)
{
IvQuat ivQ = new IvQuat(rotate.w, rotate.x, rotate.y, rotate.z);
return(IvQuat.GetMatrix(ivQ));
}
void Start()
{
Matrix4x4 mrx = Matrix4x4.identity;
Matrix4x4 mry = Matrix4x4.identity;
Matrix4x4 mrz = Matrix4x4.identity;
Matrix4x4 mt = Matrix4x4.identity;
Matrix4x4 r = Matrix4x4.zero;
mrx = TRSHelper.GetRotateX(45f);
mry = TRSHelper.GetRotateY(45f);
mrz = TRSHelper.GetRotateY(0f);
mt = TRSHelper.GetTranslate(new Vector3(0, 0, 0));
//r = mrx * mry * mrz * mt;
r = mt * mrx * mry * mrz;
//r = mrx * mry * mrz;
IvQuat quat = new IvQuat();
quat.Set(0f, 45f, 45f);
r = quat.GetMatrix();
//this.ApplyMatrixToGroupPosition (_testAxis, r);
//this.ApplyMatrixToGroupPosition (_testAxis, r);
//_testTarget.position = r.MultiplyPoint (_testTarget.position);
//_testTarget.position = mt.MultiplyPoint (_testTarget.position);
//------------------------------------------------------------
// float 비트 배열 분석
//------------------------------------------------------------
// bool bigIndian = true;
// DebugWide.LogBlue(ML.Util.ToBit(10.25f) + ": 10.25f");
// DebugWide.LogBlue(ML.Util.ToBit(1f,bigIndian) + ": 1f ");
// DebugWide.LogBlue(ML.Util.ToBit(-1f,bigIndian) + ": -1f ");
// DebugWide.LogBlue(ML.Util.ToBit(2f,bigIndian) + ": 2f ");
// DebugWide.LogBlue(ML.Util.ToBit(-2f,bigIndian) + ": -2f ");
// DebugWide.LogBlue(ML.Util.ToBit(3f,bigIndian) + ": 3f ");
// DebugWide.LogBlue(ML.Util.ToBit(-3f,bigIndian) + ": -3f ");
// DebugWide.LogBlue(ML.Util.ToBit(4f,bigIndian) + ": 4f ");
// DebugWide.LogBlue(ML.Util.ToBit(-4f,bigIndian) + ": -4f ");
// DebugWide.LogBlue(ML.Util.ToBit(5f,bigIndian) + ": 5f ");
// DebugWide.LogBlue(ML.Util.ToBit(-5f,bigIndian) + ": -5f ");
// DebugWide.LogBlue(ML.Util.ToBit(6f,bigIndian) + ": 6f ");
// DebugWide.LogBlue(ML.Util.ToBit(-6f,bigIndian) + ": -6f ");
// DebugWide.LogBlue(ML.Util.ToBit(float.NaN) + ": Nan");
// DebugWide.LogBlue(ML.Util.ToBit(float.Epsilon) + ": Epsilon " + float.Epsilon);
// DebugWide.LogBlue(ML.Util.ToBit(float.PositiveInfinity) + ": PositiveInfinity");
// DebugWide.LogBlue(ML.Util.ToBit(float.NegativeInfinity) + ": NegativeInfinity");
//
//
// float a = 1.00000011920929f; //1 + 1.0 * 1/(2^23)
// float b = 1.0f - a;
// DebugWide.LogBlue (Mathf.Log (8388608, 2)); //Log2^8388608 = 23
//
// DebugWide.LogBlue(ML.Util.ToBit(a) + ": a1 : " + a + " sqrt : " + Mathf.Sqrt(b));
// //a = 1.00000011111f;
// //a = 1.0000001f;
// //a = 1.000001f;
//
// if(float.Epsilon < Mathf.Abs(b))
// DebugWide.LogBlue(ML.Util.ToBit(b) + ": a2 : " + a);
//
// DebugWide.LogBlue(ML.Util.ToBit(b) + ": b3 : " + b);
this.SavePosition(_testAxis);
}
