/// <summary>
/// Multiply two quaternions.
/// </summary>
/// <param name="quaternion1">The first quaternion.</param>
/// <param name="quaternion2">The second quaternion.</param>
/// <returns>The product of both quaternions.</returns>
#region public static JQuaternion Multiply(JQuaternion quaternion1, JQuaternion quaternion2)
public static FPQuaternion Multiply(FPQuaternion quaternion1, FPQuaternion quaternion2)
{
FPQuaternion result;
FPQuaternion.Multiply(ref quaternion1, ref quaternion2, out result);
return(result);
}
/// <summary>
/// Quaternions are subtracted.
/// </summary>
/// <param name="quaternion1">The first quaternion.</param>
/// <param name="quaternion2">The second quaternion.</param>
/// <param name="result">The difference of both quaternions.</param>
public static void Subtract(ref FPQuaternion quaternion1, ref FPQuaternion quaternion2, out FPQuaternion result)
{
result.x = quaternion1.x - quaternion2.x;
result.y = quaternion1.y - quaternion2.y;
result.z = quaternion1.z - quaternion2.z;
result.w = quaternion1.w - quaternion2.w;
}
/// <summary>
/// Scale a quaternion
/// </summary>
/// <param name="quaternion1">The quaternion to scale.</param>
/// <param name="scaleFactor">Scale factor.</param>
/// <returns>The scaled quaternion.</returns>
#region public static JQuaternion Multiply(JQuaternion quaternion1, FP scaleFactor)
public static FPQuaternion Multiply(FPQuaternion quaternion1, Fix64 scaleFactor)
{
FPQuaternion result;
FPQuaternion.Multiply(ref quaternion1, scaleFactor, out result);
return(result);
}
/// <summary>
/// Creates a quaternion from a matrix.
/// </summary>
/// <param name="matrix">A matrix representing an orientation.</param>
/// <returns>JQuaternion representing an orientation.</returns>
#region public static JQuaternion CreateFromMatrix(JMatrix matrix)
public static FPQuaternion CreateFromMatrix(FPMatrix matrix)
{
FPQuaternion result;
FPQuaternion.CreateFromMatrix(ref matrix, out result);
return(result);
}
/// <summary>
/// Scale a quaternion
/// </summary>
/// <param name="quaternion1">The quaternion to scale.</param>
/// <param name="scaleFactor">Scale factor.</param>
/// <param name="result">The scaled quaternion.</param>
public static void Multiply(ref FPQuaternion quaternion1, Fix64 scaleFactor, out FPQuaternion result)
{
result.x = quaternion1.x * scaleFactor;
result.y = quaternion1.y * scaleFactor;
result.z = quaternion1.z * scaleFactor;
result.w = quaternion1.w * scaleFactor;
}
/// <summary>
/// Quaternions are added.
/// </summary>
/// <param name="quaternion1">The first quaternion.</param>
/// <param name="quaternion2">The second quaternion.</param>
/// <param name="result">The sum of both quaternions.</param>
public static void Add(ref FPQuaternion quaternion1, ref FPQuaternion quaternion2, out FPQuaternion result)
{
result.x = quaternion1.x + quaternion2.x;
result.y = quaternion1.y + quaternion2.y;
result.z = quaternion1.z + quaternion2.z;
result.w = quaternion1.w + quaternion2.w;
}
/// <summary>
/// Multiply two quaternions.
/// </summary>
/// <param name="value1">The first quaternion.</param>
/// <param name="value2">The second quaternion.</param>
/// <returns>The product of both quaternions.</returns>
#region public static FP operator *(JQuaternion value1, JQuaternion value2)
public static FPQuaternion operator *(FPQuaternion value1, FPQuaternion value2)
{
FPQuaternion result;
FPQuaternion.Multiply(ref value1, ref value2, out result);
return(result);
}
/// <summary>
/// Add two quaternions.
/// </summary>
/// <param name="value1">The first quaternion.</param>
/// <param name="value2">The second quaternion.</param>
/// <returns>The sum of both quaternions.</returns>
#region public static FP operator +(JQuaternion value1, JQuaternion value2)
public static FPQuaternion operator +(FPQuaternion value1, FPQuaternion value2)
{
FPQuaternion result;
FPQuaternion.Add(ref value1, ref value2, out result);
return(result);
}
/// <summary>
/// Quaternions are added.
/// </summary>
/// <param name="quaternion1">The first quaternion.</param>
/// <param name="quaternion2">The second quaternion.</param>
/// <returns>The sum of both quaternions.</returns>
#region public static JQuaternion Add(JQuaternion quaternion1, JQuaternion quaternion2)
public static FPQuaternion Add(FPQuaternion quaternion1, FPQuaternion quaternion2)
{
FPQuaternion result;
FPQuaternion.Add(ref quaternion1, ref quaternion2, out result);
return(result);
}
/// <summary>
/// Subtract two quaternions.
/// </summary>
/// <param name="value1">The first quaternion.</param>
/// <param name="value2">The second quaternion.</param>
/// <returns>The difference of both quaternions.</returns>
#region public static FP operator -(JQuaternion value1, JQuaternion value2)
public static FPQuaternion operator -(FPQuaternion value1, FPQuaternion value2)
{
FPQuaternion result;
FPQuaternion.Subtract(ref value1, ref value2, out result);
return(result);
}
/// <summary>
/// Quaternions are subtracted.
/// </summary>
/// <param name="quaternion1">The first quaternion.</param>
/// <param name="quaternion2">The second quaternion.</param>
/// <returns>The difference of both quaternions.</returns>
#region public static JQuaternion Subtract(JQuaternion quaternion1, JQuaternion quaternion2)
public static FPQuaternion Subtract(FPQuaternion quaternion1, FPQuaternion quaternion2)
{
FPQuaternion result;
FPQuaternion.Subtract(ref quaternion1, ref quaternion2, out result);
return(result);
}
public static FPQuaternion LerpUnclamped(FPQuaternion a, FPQuaternion b, Fix64 t)
{
FPQuaternion result = FPQuaternion.Multiply(a, (1 - t)) + FPQuaternion.Multiply(b, t);
result.Normalize();
return(result);
}
public static FPQuaternion FromToRotation(FPVector fromVector, FPVector toVector)
{
FPVector w = FPVector.Cross(fromVector, toVector);
FPQuaternion q = new FPQuaternion(w.x, w.y, w.z, FPVector.Dot(fromVector, toVector));
q.w += Fix64.Sqrt(fromVector.sqrMagnitude * toVector.sqrMagnitude);
q.Normalize();
return(q);
}
public static FPQuaternion Conjugate(FPQuaternion value)
{
FPQuaternion quaternion;
quaternion.x = -value.x;
quaternion.y = -value.y;
quaternion.z = -value.z;
quaternion.w = value.w;
return(quaternion);
}
public static FPQuaternion Euler(Fix64 x, Fix64 y, Fix64 z)
{
x *= Fix64.Deg2Rad;
y *= Fix64.Deg2Rad;
z *= Fix64.Deg2Rad;
FPQuaternion rotation;
FPQuaternion.CreateFromYawPitchRoll(y, x, z, out rotation);
return(rotation);
}
public static Fix64 Angle(FPQuaternion a, FPQuaternion b)
{
FPQuaternion aInv = FPQuaternion.Inverse(a);
FPQuaternion f = b * aInv;
Fix64 angle = Fix64.Acos(f.w) * 2 * Fix64.Rad2Deg;
if (angle > 180)
{
angle = 360 - angle;
}
return(angle);
}
public static FPQuaternion Slerp(FPQuaternion from, FPQuaternion to, Fix64 t)
{
t = FPMath.Clamp(t, 0, 1);
Fix64 dot = Dot(from, to);
if (dot < 0.0f)
{
to = Multiply(to, -1);
dot = -dot;
}
Fix64 halfTheta = Fix64.Acos(dot);
return(Multiply(Multiply(from, Fix64.Sin((1 - t) * halfTheta)) + Multiply(to, Fix64.Sin(t * halfTheta)), 1 / Fix64.Sin(halfTheta)));
}
public void Rotate(FPVector axis, Fix64 angle, Space relativeTo)
{
FPQuaternion result = FPQuaternion.identity;
if (relativeTo == Space.Self)
{
result = this.rotation * FPQuaternion.AngleAxis(angle, axis);
}
else
{
result = FPQuaternion.AngleAxis(angle, axis) * this.rotation;
}
result.Normalize();
this.rotation = result;
}
public void Rotate(FPVector eulerAngles, Space relativeTo)
{
FPQuaternion result = FPQuaternion.identity;
if (relativeTo == Space.Self)
{
result = this.rotation * FPQuaternion.Euler(eulerAngles);
}
else
{
result = FPQuaternion.Euler(eulerAngles) * this.rotation;
}
result.Normalize();
this.rotation = result;
}
/// <summary>
/// Multiply two quaternions.
/// </summary>
/// <param name="quaternion1">The first quaternion.</param>
/// <param name="quaternion2">The second quaternion.</param>
/// <param name="result">The product of both quaternions.</param>
public static void Multiply(ref FPQuaternion quaternion1, ref FPQuaternion quaternion2, out FPQuaternion result)
{
Fix64 x = quaternion1.x;
Fix64 y = quaternion1.y;
Fix64 z = quaternion1.z;
Fix64 w = quaternion1.w;
Fix64 num4 = quaternion2.x;
Fix64 num3 = quaternion2.y;
Fix64 num2 = quaternion2.z;
Fix64 num = quaternion2.w;
Fix64 num12 = (y * num2) - (z * num3);
Fix64 num11 = (z * num4) - (x * num2);
Fix64 num10 = (x * num3) - (y * num4);
Fix64 num9 = ((x * num4) + (y * num3)) + (z * num2);
result.x = ((x * num) + (num4 * w)) + num12;
result.y = ((y * num) + (num3 * w)) + num11;
result.z = ((z * num) + (num2 * w)) + num10;
result.w = (w * num) - num9;
}
/// <summary>
/// Creates a quaternion from a matrix.
/// </summary>
/// <param name="matrix">A matrix representing an orientation.</param>
/// <param name="result">JQuaternion representing an orientation.</param>
public static void CreateFromMatrix(ref FPMatrix matrix, out FPQuaternion result)
{
Fix64 num8 = (matrix.M11 + matrix.M22) + matrix.M33;
if (num8 > Fix64.Zero)
{
Fix64 num = Fix64.Sqrt((num8 + Fix64.One));
result.w = num * Fix64.Half;
num = Fix64.Half / num;
result.x = (matrix.M23 - matrix.M32) * num;
result.y = (matrix.M31 - matrix.M13) * num;
result.z = (matrix.M12 - matrix.M21) * num;
}
else if ((matrix.M11 >= matrix.M22) && (matrix.M11 >= matrix.M33))
{
Fix64 num7 = Fix64.Sqrt((((Fix64.One + matrix.M11) - matrix.M22) - matrix.M33));
Fix64 num4 = Fix64.Half / num7;
result.x = Fix64.Half * num7;
result.y = (matrix.M12 + matrix.M21) * num4;
result.z = (matrix.M13 + matrix.M31) * num4;
result.w = (matrix.M23 - matrix.M32) * num4;
}
else if (matrix.M22 > matrix.M33)
{
Fix64 num6 = Fix64.Sqrt((((Fix64.One + matrix.M22) - matrix.M11) - matrix.M33));
Fix64 num3 = Fix64.Half / num6;
result.x = (matrix.M21 + matrix.M12) * num3;
result.y = Fix64.Half * num6;
result.z = (matrix.M32 + matrix.M23) * num3;
result.w = (matrix.M31 - matrix.M13) * num3;
}
else
{
Fix64 num5 = Fix64.Sqrt((((Fix64.One + matrix.M33) - matrix.M11) - matrix.M22));
Fix64 num2 = Fix64.Half / num5;
result.x = (matrix.M31 + matrix.M13) * num2;
result.y = (matrix.M32 + matrix.M23) * num2;
result.z = Fix64.Half * num5;
result.w = (matrix.M12 - matrix.M21) * num2;
}
}
public static FPQuaternion RotateTowards(FPQuaternion from, FPQuaternion to, Fix64 maxDegreesDelta)
{
Fix64 dot = Dot(from, to);
if (dot < 0.0f)
{
to = Multiply(to, -1);
dot = -dot;
}
Fix64 halfTheta = Fix64.Acos(dot);
Fix64 theta = halfTheta * 2;
maxDegreesDelta *= Fix64.Deg2Rad;
if (maxDegreesDelta >= theta)
{
return(to);
}
maxDegreesDelta /= theta;
return(Multiply(Multiply(from, Fix64.Sin((1 - maxDegreesDelta) * halfTheta)) + Multiply(to, Fix64.Sin(maxDegreesDelta * halfTheta)), 1 / Fix64.Sin(halfTheta)));
}
public void SetFromToRotation(FPVector fromDirection, FPVector toDirection)
{
FPQuaternion targetRotation = FPQuaternion.FromToRotation(fromDirection, toDirection);
this.Set(targetRotation.x, targetRotation.y, targetRotation.z, targetRotation.w);
}
public void LookAt(FPVector target)
{
this.rotation = FPQuaternion.CreateFromMatrix(FPMatrix.CreateFromLookAt(position, target));
}
public static void CreateFromYawPitchRoll(Fix64 yaw, Fix64 pitch, Fix64 roll, out FPQuaternion result)
{
Fix64 num9 = roll * Fix64.Half;
Fix64 num6 = Fix64.Sin(num9);
Fix64 num5 = Fix64.Cos(num9);
Fix64 num8 = pitch * Fix64.Half;
Fix64 num4 = Fix64.Sin(num8);
Fix64 num3 = Fix64.Cos(num8);
Fix64 num7 = yaw * Fix64.Half;
Fix64 num2 = Fix64.Sin(num7);
Fix64 num = Fix64.Cos(num7);
result.x = ((num * num4) * num5) + ((num2 * num3) * num6);
result.y = ((num2 * num3) * num5) - ((num * num4) * num6);
result.z = ((num * num3) * num6) - ((num2 * num4) * num5);
result.w = ((num * num3) * num5) + ((num2 * num4) * num6);
}
static FPQuaternion()
{
identity = new FPQuaternion(0, 0, 0, 1);
}
public static Fix64 Dot(FPQuaternion a, FPQuaternion b)
{
return(a.w * b.w + a.x * b.x + a.y * b.y + a.z * b.z);
}
public static FPQuaternion Inverse(FPQuaternion rotation)
{
Fix64 invNorm = Fix64.One / ((rotation.x * rotation.x) + (rotation.y * rotation.y) + (rotation.z * rotation.z) + (rotation.w * rotation.w));
return(FPQuaternion.Multiply(FPQuaternion.Conjugate(rotation), invNorm));
}
public static FPQuaternion Lerp(FPQuaternion a, FPQuaternion b, Fix64 t)
{
t = FPMath.Clamp(t, Fix64.Zero, Fix64.One);
return(LerpUnclamped(a, b, t));
}
