/// <summary>
/// Convert a Transform array into matrix 4x3 format, stored as a Vector4 array
/// </summary>
public static Vector4[] GetTransformArrayAsMatrix4x3(Transform[] source, Vector4[] transforms)
{
if (source == null)
throw new ArgumentNullException();
for (int i = 0, j = 0; i < source.Length; i++)
{
float xx = source[i].Rotation.X * source[i].Rotation.X;
float yy = source[i].Rotation.Y * source[i].Rotation.Y;
float zz = source[i].Rotation.Z * source[i].Rotation.Z;
float xy = source[i].Rotation.X * source[i].Rotation.Y;
float zw = source[i].Rotation.Z * source[i].Rotation.W;
float zx = source[i].Rotation.Z * source[i].Rotation.X;
float yw = source[i].Rotation.Y * source[i].Rotation.W;
float yz = source[i].Rotation.Y * source[i].Rotation.Z;
float xw = source[i].Rotation.X * source[i].Rotation.W;
if (source[i].Scale == 1)
{
transforms[j].X = 1f - (2f * (yy + zz));//x
transforms[j].Y = 2f * (xy - zw);//y
transforms[j].Z = 2f * (zx + yw);//z
transforms[j].W = source[i].Translation.X;
j++;
transforms[j].X = 2f * (xy + zw);//x
transforms[j].Y = 1f - (2f * (zz + xx));//y
transforms[j].Z = 2f * (yz - xw);//z
transforms[j].W = source[i].Translation.Y;
j++;
transforms[j].X = 2f * (zx - yw);//x
transforms[j].Y = 2f * (yz + xw);//y
transforms[j].Z = 1f - (2f * (yy + xx));//z
transforms[j].W = source[i].Translation.Z;
j++;
}
else
{
transforms[j].X = (1f - (2f * (yy + zz))) * source[i].Scale;//x
transforms[j].Y = (2f * (xy - zw)) * source[i].Scale;//y
transforms[j].Z = (2f * (zx + yw)) * source[i].Scale;//z
transforms[j].W = source[i].Translation.X;
j++;
transforms[j].X = (2f * (xy + zw)) * source[i].Scale;//x
transforms[j].Y = (1f - (2f * (zz + xx))) * source[i].Scale;//y
transforms[j].Z = (2f * (yz - xw)) * source[i].Scale;//z
transforms[j].W = source[i].Translation.Y;
j++;
transforms[j].X = (2f * (zx - yw)) * source[i].Scale;//x
transforms[j].Y = (2f * (yz + xw)) * source[i].Scale;//y
transforms[j].Z = (1f - (2f * (yy + xx))) * source[i].Scale;//z
transforms[j].W = source[i].Translation.Z;
j++;
}
}
return transforms;
}
/// <summary>
/// Multiply two transforms
/// </summary>
/// <param name="transform1"></param>
/// <param name="transform2"></param>
/// <param name="result"></param>
public static void Multiply(ref Transform transform1, ref Transform transform2, out Transform result)
{
Quaternion q;
Vector3 t;
float s = transform2.Scale * transform1.Scale;
transform2.Rotation.Normalize();
if (transform2.Rotation.W == 1 &&
(transform2.Rotation.X == 0 && transform2.Rotation.Y == 0 && transform2.Rotation.Z == 0))
{
q.X = transform1.Rotation.X;
q.Y = transform1.Rotation.Y;
q.Z = transform1.Rotation.Z;
q.W = transform1.Rotation.W;
t.X = transform1.Translation.X;
t.Y = transform1.Translation.Y;
t.Z = transform1.Translation.Z;
}
else
{
float num12 = transform2.Rotation.X + transform2.Rotation.X;
float num2 = transform2.Rotation.Y + transform2.Rotation.Y;
float num = transform2.Rotation.Z + transform2.Rotation.Z;
float num11 = transform2.Rotation.W * num12;
float num10 = transform2.Rotation.W * num2;
float num9 = transform2.Rotation.W * num;
float num8 = transform2.Rotation.X * num12;
float num7 = transform2.Rotation.X * num2;
float num6 = transform2.Rotation.X * num;
float num5 = transform2.Rotation.Y * num2;
float num4 = transform2.Rotation.Y * num;
float num3 = transform2.Rotation.Z * num;
t.X = ((transform1.Translation.X * ((1f - num5) - num3)) + (transform1.Translation.Y * (num7 - num9))) + (transform1.Translation.Z * (num6 + num10));
t.Y = ((transform1.Translation.X * (num7 + num9)) + (transform1.Translation.Y * ((1f - num8) - num3))) + (transform1.Translation.Z * (num4 - num11));
t.Z = ((transform1.Translation.X * (num6 - num10)) + (transform1.Translation.Y * (num4 + num11))) + (transform1.Translation.Z * ((1f - num8) - num5));
num12 = (transform2.Rotation.Y * transform1.Rotation.Z) - (transform2.Rotation.Z * transform1.Rotation.Y);
num11 = (transform2.Rotation.Z * transform1.Rotation.X) - (transform2.Rotation.X * transform1.Rotation.Z);
num10 = (transform2.Rotation.X * transform1.Rotation.Y) - (transform2.Rotation.Y * transform1.Rotation.X);
num9 = ((transform2.Rotation.X * transform1.Rotation.X) + (transform2.Rotation.Y * transform1.Rotation.Y)) + (transform2.Rotation.Z * transform1.Rotation.Z);
q.X = ((transform2.Rotation.X * transform1.Rotation.W) + (transform1.Rotation.X * transform2.Rotation.W)) + num12;
q.Y = ((transform2.Rotation.Y * transform1.Rotation.W) + (transform1.Rotation.Y * transform2.Rotation.W)) + num11;
q.Z = ((transform2.Rotation.Z * transform1.Rotation.W) + (transform1.Rotation.Z * transform2.Rotation.W)) + num10;
q.W = (transform2.Rotation.W * transform1.Rotation.W) - num9;
}
t.X = t.X * transform2.Scale + transform2.Translation.X;
t.Y = t.Y * transform2.Scale + transform2.Translation.Y;
t.Z = t.Z * transform2.Scale + transform2.Translation.Z;
#if XBOX360
result = new Transform();
#endif
result.Rotation.X = q.X;
result.Rotation.Y = q.Y;
result.Rotation.Z = q.Z;
result.Rotation.W = q.W;
result.Translation.X = t.X;
result.Translation.Y = t.Y;
result.Translation.Z = t.Z;
result.Scale = s;
}
/// <summary>
/// Interpolate to another transform
/// </summary>
/// <param name="to"></param>
/// <param name="amount"></param>
/// <returns></returns>
public Transform Interpolate(Transform to, float amount)
{
Transform result;
Interpolate(ref this, ref to, amount, out result);
return result;
}
/// <summary>
/// Construct the transform from a binary source
/// </summary>
/// <param name="reader"></param>
public Transform(BinaryReader reader)
{
#if XBOX360
this = new Transform();
#endif
Rotation.X = reader.ReadSingle();
Rotation.Y = reader.ReadSingle();
Rotation.Z = reader.ReadSingle();
Rotation.W = reader.ReadSingle();
Translation.X = reader.ReadSingle();
Translation.Y = reader.ReadSingle();
Translation.Z = reader.ReadSingle();
Scale = reader.ReadSingle();
}
/// <summary>
/// Interpolate between two transforms
/// </summary>
/// <param name="from"></param>
/// <param name="to"></param>
/// <param name="amount"></param>
/// <param name="result"></param>
public static void Interpolate(ref Transform from, ref Transform to, float amount, out Transform result)
{
result = new Transform();
Quaternion.Lerp(ref from.Rotation, ref to.Rotation, amount, out result.Rotation);
Vector3.Lerp(ref from.Translation, ref to.Translation, amount, out result.Translation);
result.Scale = from.Scale + ((to.Scale - from.Scale) * amount);
}