/// <summary>
/// Stores the values of the given Transform in a Transformd struct. Note: Very inefficient.
/// </summary>
public static Transformd StoreTransform(UnityEngine.Transform transform)
{
Quatd rotation = transform.localRotation;
Vector3d position = transform.localPosition;
return(new Transformd(rotation, position));
}
public static Vector4d AxisAngle(Quatd q)
{
double angle = 2 * Mathd.Acos(q.w);
double den = Mathd.Sqrt(1 - q.w * q.w);
if (den == 0)
{
return(new Vector4d(0, 0, -1, angle));
}
return(new Vector4d(q.x / den, q.y / den, q.z / den, angle));
}
public Transformd InterpolateWith(Transformd Transformd, double c)
{
/* not sure if very "efficient" but good enough? */
Vector3d sourceScale = basis.Scale;
Quatd sourceRotation = basis.RotationQuatd();
Vector3d sourceLocation = origin;
Vector3d destinationScale = Transformd.basis.Scale;
Quatd destinationRotation = Transformd.basis.RotationQuatd();
Vector3d destinationLocation = Transformd.origin;
var interpolated = new Transformd();
interpolated.basis.SetQuatScale(sourceRotation.Slerp(destinationRotation, c).Normalized(), sourceScale.LinearInterpolate(destinationScale, c));
interpolated.origin = sourceLocation.LinearInterpolate(destinationLocation, c);
return(interpolated);
}
public Transformd(Quatd quat, Vector3d origin)
{
basis = new Basisd(quat);
this.origin = origin;
}