Example #1
0
        public static void CreateFromYawPitchRoll(Fixed64 yaw, Fixed64 pitch, Fixed64 roll, out Fixed64Quaternion result)
        {
            Fixed64 num9 = roll * Fixed64.Half;
            Fixed64 num6 = Fixed64.Sin(num9);
            Fixed64 num5 = Fixed64.Cos(num9);
            Fixed64 num8 = pitch * Fixed64.Half;
            Fixed64 num4 = Fixed64.Sin(num8);
            Fixed64 num3 = Fixed64.Cos(num8);
            Fixed64 num7 = yaw * Fixed64.Half;
            Fixed64 num2 = Fixed64.Sin(num7);
            Fixed64 num  = Fixed64.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);
        }
Example #2
0
        public static Fixed64Quaternion AngleAxis(Fixed64 angle, Fixed64Vector3 axis)
        {
            axis = axis * Fixed64.Deg2Rad;
            axis.Normalize();

            Fixed64 halfAngle = angle * Fixed64.Deg2Rad * Fixed64.Half;

            Fixed64Quaternion rotation;
            Fixed64           sin = Fixed64.Sin(halfAngle);

            rotation.x = axis.x * sin;
            rotation.y = axis.y * sin;
            rotation.z = axis.z * sin;
            rotation.w = Fixed64.Cos(halfAngle);

            return(rotation);
        }