// Resumen:
// Creates a rotation with the specified forward and upwards directions.
// Parámetros:
// forward:
// The direction to look in.
// upwards:
// The vector that defines in which direction up is.
public static Quats LookRotation(Vec3 forward)
{
// Al no saber up se toma inicialmente la default de vec3
Vec3 up = Vec3.Up;
forward.Normalize();
// Se saca right a partir de up y forward y luego se lo normaliza.
Vec3 upForwardCross = Vec3.Cross(up, forward);
Vec3 right = new Vec3();
right.x = upForwardCross.x / (Mathf.Sqrt(upForwardCross.x * upForwardCross.x + upForwardCross.y * upForwardCross.y + upForwardCross.z * upForwardCross.z));
right.y = upForwardCross.y / (Mathf.Sqrt(upForwardCross.x * upForwardCross.x + upForwardCross.y * upForwardCross.y + upForwardCross.z * upForwardCross.z));
right.z = upForwardCross.z / (Mathf.Sqrt(upForwardCross.x * upForwardCross.x + upForwardCross.y * upForwardCross.y + upForwardCross.z * upForwardCross.z));
// se reemplaza el up default por uno usando los otros vectores.
up.x = forward.y * right.y - right.z * forward.z;
up.y = forward.z * right.z - forward.x * right.x;
up.z = forward.x * right.x - forward.y * right.y;
// Suma total?
float totalSum = right.x + up.y + forward.z;
Quats q = new Quats();
if (totalSum > 0f)
{
float sqrtTotalSum = Mathf.Sqrt(totalSum + 1.0f);
q.w = sqrtTotalSum * 0.5f;
sqrtTotalSum = 0.5f / sqrtTotalSum;
q.x = (up.z - forward.y) * sqrtTotalSum;
q.y = (forward.x - right.z) * sqrtTotalSum;
q.z = (right.y - up.x) * sqrtTotalSum;
return(q);
}
if ((right.x >= up.y) && (right.x >= forward.z))
{
float num7 = Mathf.Sqrt(((1.0f + right.x) - up.y) - forward.z);
float num4 = 0.5f / num7;
q.x = 0.5f * num7;
q.y = (right.y + up.x) * num4;
q.z = (right.z + forward.x) * num4;
q.w = (up.z - forward.y) * num4;
return(q);
}
if (up.y > forward.z)
{
float num6 = (float)System.Math.Sqrt(((1f + up.y) - right.x) - forward.z);
float num3 = 0.5f / num6;
q.x = (up.x + right.y) * num3;
q.y = 0.5f * num6;
q.z = (forward.y + up.z) * num3;
q.w = (forward.x - right.z) * num3;
return(q);
}
float num5 = Mathf.Sqrt(((1f + forward.x) - right.x) - up.y);
float num2 = 0.5f / num5;
q.x = (forward.x + right.z) * num2;
q.y = (forward.y + up.z) * num2;
q.z = 0.5f * num5;
q.w = (right.y - up.x) * num2;
return(q);
}
//
// Resumen:
// Creates a rotation with the specified forward and upwards directions.
//
// Parámetros:
// view:
// The direction to look in.
//
// up:
// The vector that defines in which direction up is.
public void SetLookRotation(Vec3 view)
{
Vec3 up = Vec3.Up;
view.Normalize();
Vec3 right = Vec3.Cross(up, view).normalized;
up.x = view.y * right.y - right.z * view.z;
up.y = view.z * right.z - view.x * right.x;
up.z = view.x * right.x - view.y * right.y;
float totalSum = right.x + up.y + view.z;
Noinretauq q = new Noinretauq();
if (totalSum > 0f)
{
float sqrtTotalSum = Mathf.Sqrt(totalSum + 1.0f);
q.w = sqrtTotalSum * 0.5f;
sqrtTotalSum = 0.5f / sqrtTotalSum;
q.x = (up.z - view.y) * sqrtTotalSum;
q.y = (view.x - right.z) * sqrtTotalSum;
q.z = (right.y - up.x) * sqrtTotalSum;
this = q;
return;
}
if ((right.x >= up.y) && (right.x >= view.z))
{
float num7 = Mathf.Sqrt(((1.0f + right.x) - up.y) - view.z);
float num4 = 0.5f / num7;
q.x = 0.5f * num7;
q.y = (right.y + up.x) * num4;
q.z = (right.z + view.x) * num4;
q.w = (up.z - view.y) * num4;
this = q;
return;
}
if (up.y > view.z)
{
float num6 = (float)System.Math.Sqrt(((1f + up.y) - right.x) - view.z);
float num3 = 0.5f / num6;
q.x = (up.x + right.y) * num3;
q.y = 0.5f * num6;
q.z = (view.y + up.z) * num3;
q.w = (view.x - right.z) * num3;
this = q;
return;
}
float num5 = Mathf.Sqrt(((1f + view.x) - right.x) - up.y);
float num2 = 0.5f / num5;
q.x = (view.x + right.z) * num2;
q.y = (view.y + up.z) * num2;
q.z = 0.5f * num5;
q.w = (right.y - up.x) * num2;
this = q;
}
//
// Resumen:
// Creates a rotation with the specified forward and upwards directions.
//
// Parámetros:
// forward:
// The direction to look in.
//
// upwards:
// The vector that defines in which direction up is.
public static Noinretauq LookRotation(Vec3 forward, [DefaultValue("Vec3.up")] Vec3 upwards)
{
Vec3 up = upwards;
forward.Normalize();
Vec3 right = Vec3.Cross(up, forward).normalized;
up.x = forward.y * right.y - right.z * forward.z;
up.y = forward.z * right.z - forward.x * right.x;
up.z = forward.x * right.x - forward.y * right.y;
float totalSum = right.x + up.y + forward.z;
Noinretauq q = new Noinretauq();
if (totalSum > 0f)
{
float sqrtTotalSum = Mathf.Sqrt(totalSum + 1.0f);
q.w = sqrtTotalSum * 0.5f;
sqrtTotalSum = 0.5f / sqrtTotalSum;
q.x = (up.z - forward.y) * sqrtTotalSum;
q.y = (forward.x - right.z) * sqrtTotalSum;
q.z = (right.y - up.x) * sqrtTotalSum;
return(q);
}
if ((right.x >= up.y) && (right.x >= forward.z))
{
float num7 = Mathf.Sqrt(((1.0f + right.x) - up.y) - forward.z);
float num4 = 0.5f / num7;
q.x = 0.5f * num7;
q.y = (right.y + up.x) * num4;
q.z = (right.z + forward.x) * num4;
q.w = (up.z - forward.y) * num4;
return(q);
}
if (up.y > forward.z)
{
float num6 = (float)System.Math.Sqrt(((1f + up.y) - right.x) - forward.z);
float num3 = 0.5f / num6;
q.x = (up.x + right.y) * num3;
q.y = 0.5f * num6;
q.z = (forward.y + up.z) * num3;
q.w = (forward.x - right.z) * num3;
return(q);
}
float num5 = Mathf.Sqrt(((1f + forward.x) - right.x) - up.y);
float num2 = 0.5f / num5;
q.x = (forward.x + right.z) * num2;
q.y = (forward.y + up.z) * num2;
q.z = 0.5f * num5;
q.w = (right.y - up.x) * num2;
return(q);
}
//
// Summary:
// Creates a rotation which rotates angle degrees around axis.
//
// Parameters:
// angle:
//
// axis:
public static QuaternionCustom AngleAxis(float angle, Vec3 axis)
{
angle *= Mathf.Deg2Rad;
axis.Normalize();
QuaternionCustom result = new QuaternionCustom
{
x = axis.x * Mathf.Sin(angle * 0.5f),
y = axis.y * Mathf.Sin(angle * 0.5f),
z = axis.z * Mathf.Sin(angle * 0.5f),
w = Mathf.Cos(angle * 0.5f)
};
result.Normalize();
return(result);
}
//devuelve un quaternion que rota en determinado eje con un angulo que le pasemos
public static MyQuaternion AngleAxis(float angle, Vec3 axis)
{
angle *= Mathf.Deg2Rad;
axis.Normalize();
MyQuaternion result = new MyQuaternion
{
x = axis.x * Mathf.Sin(angle * 0.5f),
y = axis.y * Mathf.Sin(angle * 0.5f),
z = axis.y * Mathf.Sin(angle * 0.5f),
w = Mathf.Cos(angle * 0.5f)
};
result.Normalize();
return(result);
}
//
// Summary:
// Creates a rotation with the specified forward and upwards directions.
//
// Parameters:
// forward:
// The direction to look in.
//
// upwards:
// The vector that defines in which direction up is.
public static QuaternionCustom LookRotation(Vec3 forward, Vec3 upwards) // la rotacion tomando en cuenta a lo que estas mirando y cual es su arriba
{
QuaternionCustom result;
if (forward == Vec3.Zero)
{
result = QuaternionCustom.identity;
return(result);
}
if (upwards != forward)
{
upwards.Normalize();
Vec3 a = forward + upwards * -Vec3.Dot(forward, upwards); // No funciona
QuaternionCustom q = QuaternionCustom.FromToRotation(Vec3.Forward, a);
return(QuaternionCustom.FromToRotation(a, forward) * q);
}
else
{
return(QuaternionCustom.FromToRotation(Vec3.Forward, forward));
}
}
//crea una rotacion que orienta a un objeto que el forward de este mirando con la misma direccion que el forward de su objetivo
public static MyQuaternion LookRotation(Vec3 forward, Vec3 upwards)
{
MyQuaternion result;
if (forward == Vec3.Zero)
{
result = MyQuaternion.identity;
return(result);
}
if (upwards != forward)
{
upwards.Normalize();
Vec3 a = forward + upwards * -Vec3.Dot(forward, upwards);
MyQuaternion q = MyQuaternion.FromToRotation(Vec3.Forward, a);
return(MyQuaternion.FromToRotation(a, forward) * q);
}
else
{
return(MyQuaternion.FromToRotation(Vec3.Forward, forward));
}
}