private void Start()
{
var angleContainer = new Coordinate(1, 1, 1, 0);
var rotationMatrixFromEulerAngles = RotateMath.GetRotationMatrixFromEulerAngles(angleContainer);
_wAngle = RotateMath.ExtractAngle(rotationMatrixFromEulerAngles);
_rotationAxis = RotateMath.ExtractRotationAxis(rotationMatrixFromEulerAngles);
var rotateLabQuaternion = RotateMath.Quaternion(_rotationAxis, _wAngle);
var unityQuaternion = Quaternion.AngleAxis(_wAngle, _rotationAxis.GetAsVector3());
Debug.Log("RotateLab quaternion is: " + rotateLabQuaternion);
Debug.Log("Unity quaternion is: " + unityQuaternion.x + ", " + unityQuaternion.y + ", " + unityQuaternion.z + ", " + unityQuaternion.w);
}
void Start()
{
var rotationMatrix = RotateMath.GetRotationMatrixFromEulerAngles(new Coordinate(_anglesContainer, 0));
Debug.Log(rotationMatrix);
var extractedRotationAxis = RotateMath.ExtractRotationAxis(rotationMatrix);
var extractedAngle = RotateMath.ExtractAngle(rotationMatrix);
var quaternionCoord = RotateMath.Quaternion(extractedRotationAxis, extractedAngle);
quaternion = new Quaternion(quaternionCoord.X, quaternionCoord.Y, quaternionCoord.Z, quaternionCoord.W);
var line = new Line(new Coordinate(0, 0, 0, 1), extractedRotationAxis.GetAsVector3() * 5);
line.Draw(0.1f, Color.red);
}
void Update()
{
var quaternion = RotateMath.Quaternion(_rotationAxis, _wAngle);
transform.rotation *= new Quaternion(quaternion.X, quaternion.Y, quaternion.Z, quaternion.W);
}
