/// <summary>
/// Determines whether this instance can be considered equal to another.
/// </summary>
/// <param name="p"> Another object.</param>
/// <param name="epsilon">Precision of comparison.</param>
/// <returns>True, if this instance can be considered equal to another.</returns>
public bool IsEquivalent(QuaternionTranslation p, float epsilon = 0.05f)
{
var q0 = p.Q;
var q1 = -p.Q;
bool t0 = (Math.Abs(this.Q.V.X - q0.V.X) <= epsilon) && (Math.Abs(this.Q.V.Y - q0.V.Y) <= epsilon) && (Math.Abs(this.Q.V.Z - q0.V.Z) <= epsilon) && (Math.Abs(this.Q.W - q0.W) <= epsilon);
bool t1 = (Math.Abs(this.Q.V.X - q1.V.X) <= epsilon) && (Math.Abs(this.Q.V.Y - q1.V.Y) <= epsilon) && (Math.Abs(this.Q.V.Z - q1.V.Z) <= epsilon) && (Math.Abs(this.Q.W - q1.W) <= epsilon);
return((t0 | t1) && (Math.Abs(this.T.X - p.T.X) <= epsilon) && (Math.Abs(this.T.Y - p.T.Y) <= epsilon) && (Math.Abs(this.T.Z - p.T.Z) <= epsilon));
}
/// <summary>
/// Calculates normalized linear interpolation.
/// </summary>
/// <param name="start"> Starting point.</param>
/// <param name="end"> Ending point.</param>
/// <param name="amount">Amount of interpolation.</param>
public void NormalizedLinearInterpolation(QuaternionTranslation start, QuaternionTranslation end, float amount)
{
var d = end.Q;
if ((start.Q | d) < 0)
{
d = -d;
}
var vDiff = d.V - start.Q.V;
this.Q.V = start.Q.V + (vDiff * amount);
this.Q.W = start.Q.W + ((d.W - start.Q.W) * amount);
this.Q.Normalize();
vDiff = end.T - start.T;
this.T = start.T + (vDiff * amount);
}
/// <summary>
/// </summary>
/// <param name="vx"> </param>
/// <param name="vy"> </param>
/// <param name="vz"> </param>
/// <param name="pos"></param>
public void SetFromVectors(Vector3 vx, Vector3 vy, Vector3 vz, Vector3 pos)
{
var m34 = new Matrix34
{
M00 = vx.X,
M01 = vy.X,
M02 = vz.X,
M03 = pos.X,
M10 = vx.Y,
M11 = vy.Y,
M12 = vz.Y,
M13 = pos.Y,
M20 = vx.Z,
M21 = vy.Z,
M22 = vz.Z,
M23 = pos.Z
};
this = new QuaternionTranslation(m34);
}
/// <summary>
/// </summary>
/// <param name="vx"> </param>
/// <param name="vy"> </param>
/// <param name="vz"> </param>
/// <param name="pos"></param>
public void SetFromVectors(Vector3 vx, Vector3 vy, Vector3 vz, Vector3 pos)
{
var m34 = new Matrix34
{
M00 = vx.X,
M01 = vy.X,
M02 = vz.X,
M03 = pos.X,
M10 = vx.Y,
M11 = vy.Y,
M12 = vz.Y,
M13 = pos.Y,
M20 = vx.Z,
M21 = vy.Z,
M22 = vz.Z,
M23 = pos.Z
};
this = new QuaternionTranslation(m34);
}
/// <summary>
/// Calculates normalized linear interpolation.
/// </summary>
/// <param name="start"> Starting point.</param>
/// <param name="end"> Ending point.</param>
/// <param name="amount">Amount of interpolation.</param>
public void NormalizedLinearInterpolation(QuaternionTranslation start, QuaternionTranslation end, float amount)
{
var d = end.Q;
if ((start.Q | d) < 0) { d = -d; }
var vDiff = d.V - start.Q.V;
this.Q.V = start.Q.V + (vDiff * amount);
this.Q.W = start.Q.W + ((d.W - start.Q.W) * amount);
this.Q.Normalize();
vDiff = end.T - start.T;
this.T = start.T + (vDiff * amount);
}
/// <summary>
/// Determines whether this instance can be considered equal to another.
/// </summary>
/// <param name="p"> Another object.</param>
/// <param name="epsilon">Precision of comparison.</param>
/// <returns>True, if this instance can be considered equal to another.</returns>
public bool IsEquivalent(QuaternionTranslation p, float epsilon = 0.05f)
{
var q0 = p.Q;
var q1 = -p.Q;
bool t0 = (Math.Abs(this.Q.V.X - q0.V.X) <= epsilon) && (Math.Abs(this.Q.V.Y - q0.V.Y) <= epsilon) && (Math.Abs(this.Q.V.Z - q0.V.Z) <= epsilon) && (Math.Abs(this.Q.W - q0.W) <= epsilon);
bool t1 = (Math.Abs(this.Q.V.X - q1.V.X) <= epsilon) && (Math.Abs(this.Q.V.Y - q1.V.Y) <= epsilon) && (Math.Abs(this.Q.V.Z - q1.V.Z) <= epsilon) && (Math.Abs(this.Q.W - q1.W) <= epsilon);
return ((t0 | t1) && (Math.Abs(this.T.X - p.T.X) <= epsilon) && (Math.Abs(this.T.Y - p.T.Y) <= epsilon) && (Math.Abs(this.T.Z - p.T.Z) <= epsilon));
}
