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public static QuaternionNormalize ( |
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public static Quaternion QuaternionFromMatrix(Matrix4x4 m)
{
Quaternion result = default(Quaternion);
result.w = Mathf.Sqrt(Mathf.Max(0f, 1f + m[0, 0] + m[1, 1] + m[2, 2])) / 2f;
result.x = Mathf.Sqrt(Mathf.Max(0f, 1f + m[0, 0] - m[1, 1] - m[2, 2])) / 2f;
result.y = Mathf.Sqrt(Mathf.Max(0f, 1f - m[0, 0] + m[1, 1] - m[2, 2])) / 2f;
result.z = Mathf.Sqrt(Mathf.Max(0f, 1f - m[0, 0] - m[1, 1] + m[2, 2])) / 2f;
result.x *= Mathf.Sign(result.x * (m[2, 1] - m[1, 2]));
result.y *= Mathf.Sign(result.y * (m[0, 2] - m[2, 0]));
result.z *= Mathf.Sign(result.z * (m[1, 0] - m[0, 1]));
MathUtils.QuaternionNormalize(ref result);
return(result);
}
public static Quaternion QuaternionFromMatrix(Matrix4x4 m)
{
Quaternion q = new Quaternion();
q.w = Mathf.Sqrt(Mathf.Max(0.0f, 1f + m[0, 0] + m[1, 1] + m[2, 2])) / 2f;
q.x = Mathf.Sqrt(Mathf.Max(0.0f, 1f + m[0, 0] - m[1, 1] - m[2, 2])) / 2f;
q.y = Mathf.Sqrt(Mathf.Max(0.0f, 1f - m[0, 0] + m[1, 1] - m[2, 2])) / 2f;
q.z = Mathf.Sqrt(Mathf.Max(0.0f, 1f - m[0, 0] - m[1, 1] + m[2, 2])) / 2f;
q.x *= Mathf.Sign(q.x * (m[2, 1] - m[1, 2]));
q.y *= Mathf.Sign(q.y * (m[0, 2] - m[2, 0]));
q.z *= Mathf.Sign(q.z * (m[1, 0] - m[0, 1]));
MathUtils.QuaternionNormalize(ref q);
return(q);
}