public static uint4 hashwide(quaternion4 q)
{
return((math.asuint(q.x) * math.uint4(0xCF286E83u, 0xE121E6ADu, 0xC9CA1249u, 0x69B60C81u) +
math.asuint(q.y) * math.uint4(0xE0EB6C25u, 0xF648BEABu, 0x6BDB2B07u, 0xEF63C699u) +
math.asuint(q.z) * math.uint4(0x9001903Fu, 0xA895B9CDu, 0x9D23B201u, 0x4B01D3E1u) +
math.asuint(q.w) * math.uint4(0x7461CA0Du, 0x79725379u, 0xD6258E5Bu, 0xEE390C97u)) + 0x9C8A2F05u);
}
public static uint hash(quaternion4 q)
{
return(math.csum(
math.asuint(q.x) * math.uint4(0xC4B1493Fu, 0xBA0966D3u, 0xAFBEE253u, 0x5B419C01u) +
math.asuint(q.y) * math.uint4(0x515D90F5u, 0xEC9F68F3u, 0xF9EA92D5u, 0xC2FAFCB9u) +
math.asuint(q.z) * math.uint4(0x616E9CA1u, 0xC5C5394Bu, 0xCAE78587u, 0x7A1541C9u) +
math.asuint(q.w) * math.uint4(0xF83BD927u, 0x6A243BCBu, 0x509B84C9u, 0x91D13847u)) + 0x52F7230Fu);
}
static quaternion4 chgsign(quaternion4 q, float4 sign)
{
uint4 sign_bits = math.asuint(sign) & 0x80000000;
return(quaternion4(
math.asfloat(math.asuint(q.x) ^ sign_bits),
math.asfloat(math.asuint(q.y) ^ sign_bits),
math.asfloat(math.asuint(q.z) ^ sign_bits),
math.asfloat(math.asuint(q.w) ^ sign_bits)
));
}
public static quaternion4 mul(quaternion4 lhs, quaternion4 rhs)
{
var a = transpose(float4x4(lhs));
var b = transpose(float4x4(rhs));
a.c0 = mul(math.quaternion(a.c0), math.quaternion(b.c0)).value;
a.c1 = mul(math.quaternion(a.c1), math.quaternion(b.c1)).value;
a.c2 = mul(math.quaternion(a.c2), math.quaternion(b.c2)).value;
a.c3 = mul(math.quaternion(a.c3), math.quaternion(b.c3)).value;
return(quaternion4(transpose(a)));
}
public static quaternion4 lerp(quaternion4 q1, quaternion4 q2, float4 blend)
{
q2 = chgsign(q2, dot(q1, q2));
return(normalize(
quaternion4(
math.lerp(q1.x, q2.x, blend),
math.lerp(q1.y, q2.y, blend),
math.lerp(q1.z, q2.z, blend),
math.lerp(q1.w, q2.w, blend)
)
));
}
static unsafe void InitializeDefaultRotationValues(int index, ref BlobBuilderArray <float> arrayBuilder, List <LocalRotationChannel> rotationChannels)
{
if (rotationChannels.Count == 0)
{
return;
}
// Fill as SOA 4-wide quaternions
quaternion4 *dataPtr = (quaternion4 *)((float *)arrayBuilder.GetUnsafePtr() + index);
int length = rotationChannels.Count >> 2;
for (int i = 0; i < length; ++i)
{
int idx = i << 2;
*(dataPtr + i) = mathex.quaternion4(
rotationChannels[idx + 0].DefaultValue,
rotationChannels[idx + 1].DefaultValue,
rotationChannels[idx + 2].DefaultValue,
rotationChannels[idx + 3].DefaultValue
);
}
// Fill remaining rotations
for (int i = length << 2; i < rotationChannels.Count; ++i)
{
int chunkIdx = i >> 2;
int subIdx = i & 0x3; // equivalent to % 4;
quaternion q = rotationChannels[i].DefaultValue;
ref quaternion4 q4 = ref UnsafeUtilityEx.AsRef <quaternion4>(dataPtr + chunkIdx);
q4.x[subIdx] = q.value.x;
q4.y[subIdx] = q.value.y;
q4.z[subIdx] = q.value.z;
q4.w[subIdx] = q.value.w;
}
public static quaternion4 conjugate(quaternion4 q)
{
return(quaternion4(q.x * -1f, q.y * -1f, q.z * -1f, q.w));
}
public static quaternion4 quatWeight(quaternion4 q, float4 weight)
{
q.x *= weight; q.y *= weight; q.z *= weight;
return(normalizesafe(q));
}
public static quaternion4 add(quaternion4 q1, quaternion4 q2) => q1 + chgsign(q2, dot(q1, q2));
public static quaternion4 normalizesafe(quaternion4 q)
{
float4 lensq = dot(q, q);
return(select(Animation.quaternion4.identity, q * math.rsqrt(lensq), lensq > math.FLT_MIN_NORMAL));
}
public static quaternion4 normalize(quaternion4 q) => q *math.rsqrt(dot(q, q));
public static float4 dot(quaternion4 q1, quaternion4 q2) => q1.x * q2.x + q1.y * q2.y + q1.z * q2.z + q1.w * q2.w;
public static quaternion4 select(quaternion4 a, quaternion4 b, bool4 c)
{
return(quaternion4(math.select(a.x, b.x, c), math.select(a.y, b.y, c), math.select(a.z, b.z, c), math.select(a.w, b.w, c)));
}
public static float4x4 float4x4(quaternion4 q)
{
return(new float4x4(q.x, q.y, q.z, q.w));
}