public override void WriteJson(JsonWriter writer, object value, JsonSerializer serializer)
{
var obj = (Quaternion)value;
TQuaternion tobj = new TQuaternion()
{
x = obj.x, y = obj.y, z = obj.z, w = obj.w
};
serializer.Serialize(writer, tobj);
}
public static TQuaternion Parse(string str)
{
var sps = str.Trim('(', ')').Split(',');
var data = new TQuaternion
{
x = float.Parse(sps[0]),
y = float.Parse(sps[1]),
z = float.Parse(sps[2])
};
return(data);
}
// Поворот с помощью кватерниона
public TVector RotateByQuaternion(TQuaternion Q)
{
TVector Result = new TVector(Vector);
TQuaternion ResultQ;
TQuaternion vector = new TQuaternion(0, this);
ResultQ = Q.Mult(vector);
ResultQ = ResultQ.Mult(Q.Conjugate());
for (int i = 1; i < 4; i++)
{
Result.Vector[i - 1] = ResultQ.Vec[i];
}
return(Result);
}
// Поворот на угол вокруг оси (через кватернионы)
public TVector RotateByAngleOnAxis(double phi, TVector V)
{
TQuaternion Q = new TQuaternion(phi, V);
Q = Q.Normalization();
TQuaternion ThisVecQ = new TQuaternion(0, Vector[0], Vector[1], Vector[2]);
TQuaternion ResultQ = Q.Mult(ThisVecQ);
ResultQ = ResultQ.Mult(Q.Conjugate());
TVector Result = new TVector(Vector);
for (int i = 1; i < 4; i++)
{
Result.Vector[i - 1] = ResultQ.Vec[i];
}
return(Result);
}
public override object ReadJson(JsonReader reader, Type objectType, object existingValue, JsonSerializer serializer)
{
TQuaternion tObj = serializer.Deserialize <TQuaternion>(reader);
return(new Quaternion(tObj.x, tObj.y, tObj.z, tObj.w));
}