private void UpdateOrientation()
{
Quatf q = orientation.GetRotation();
q.Normalize();
orientation = Mat3f.CreateRotation(q);
}
public Quatf Normalized()
{
Quatf copy = this;
copy.Normalized();
return(copy);
}
/// <summary>
/// Converts a plain C# Quatf to a Unity Quaternion.
/// </summary>
/// <returns>The quaternion as a Unity Quaternion.</returns>
/// <param name="size">The quaternion as a C# Quatf.</param>
public static Quaternion ToQuaternion(this Quatf quat, bool rhToLh = true)
{
Quaternion q = new Quaternion(quat.x, quat.y, quat.z, quat.w);
if (rhToLh)
{
q.x = -q.x;
q.y = -q.y;
}
return(q);
}
public void GetAngleAxis(out Vec3f axis, out float angle)
{
Quatf q = this;
if (MathUtils.Absolute(q.w) > 1.0f)
{
q.Normalize();
}
angle = 2.0f * (float)MathUtils.Acos(q.w);
var den = (float)MathUtils.Sqrt(1.0f - (q.w * q.w));
if (den > 0.0001f)
{
axis = q.XYZ / den;
}
else
{
// This occurs when the angle is zero.
// Not a problem: just set an arbitrary normalized axis.
axis = Vec3f.Up;
}
}
