/// <summary>
/// Quaternions are added.
/// </summary>
/// <param name="quaternion1">The first quaternion.</param>
/// <param name="quaternion2">The second quaternion.</param>
/// <param name="result">The sum of both quaternions.</param>
public static void Add(ref Fixed64Quaternion quaternion1, ref Fixed64Quaternion quaternion2, out Fixed64Quaternion result)
{
result.x = quaternion1.x + quaternion2.x;
result.y = quaternion1.y + quaternion2.y;
result.z = quaternion1.z + quaternion2.z;
result.w = quaternion1.w + quaternion2.w;
}
/// <summary>
/// Quaternions are subtracted.
/// </summary>
/// <param name="quaternion1">The first quaternion.</param>
/// <param name="quaternion2">The second quaternion.</param>
/// <param name="result">The difference of both quaternions.</param>
public static void Subtract(ref Fixed64Quaternion quaternion1, ref Fixed64Quaternion quaternion2, out Fixed64Quaternion result)
{
result.x = quaternion1.x - quaternion2.x;
result.y = quaternion1.y - quaternion2.y;
result.z = quaternion1.z - quaternion2.z;
result.w = quaternion1.w - quaternion2.w;
}
/// <summary>
/// Scale a quaternion
/// </summary>
/// <param name="quaternion1">The quaternion to scale.</param>
/// <param name="scaleFactor">Scale factor.</param>
/// <param name="result">The scaled quaternion.</param>
public static void Multiply(ref Fixed64Quaternion quaternion1, Fixed64 scaleFactor, out Fixed64Quaternion result)
{
result.x = quaternion1.x * scaleFactor;
result.y = quaternion1.y * scaleFactor;
result.z = quaternion1.z * scaleFactor;
result.w = quaternion1.w * scaleFactor;
}
public static Fixed64Quaternion LerpUnclamped(Fixed64Quaternion a, Fixed64Quaternion b, Fixed64 t)
{
Fixed64Quaternion result = Multiply(a, (1 - t)) + Multiply(b, t);
result.Normalize();
return(result);
}
public static Fixed64Quaternion Conjugate(Fixed64Quaternion value)
{
Fixed64Quaternion quaternion;
quaternion.x = -value.x;
quaternion.y = -value.y;
quaternion.z = -value.z;
quaternion.w = value.w;
return(quaternion);
}
public static Fixed64Quaternion FromToRotation(Fixed64Vector3 fromVector, Fixed64Vector3 toVector)
{
Fixed64Vector3 w = Fixed64Vector3.Cross(fromVector, toVector);
Fixed64Quaternion q = new Fixed64Quaternion(w.x, w.y, w.z, Fixed64Vector3.Dot(fromVector, toVector));
q.w += Fixed64.Sqrt(fromVector.SqrMagnitude * toVector.SqrMagnitude);
q.Normalize();
return(q);
}
public static Fixed64 Angle(Fixed64Quaternion a, Fixed64Quaternion b)
{
Fixed64Quaternion aInv = Inverse(a);
Fixed64Quaternion f = b * aInv;
Fixed64 angle = Fixed64.Acos(f.w) * 2 * Fixed64.Rad2Deg;
if (angle > 180)
{
angle = 360 - angle;
}
return(angle);
}
public static Fixed64Quaternion Slerp(Fixed64Quaternion from, Fixed64Quaternion to, Fixed64 t)
{
t = FixedMath.Clamp(t, 0, 1);
Fixed64 dot = Dot(from, to);
if (dot < 0.0f)
{
to = Multiply(to, -1);
dot = -dot;
}
Fixed64 halfTheta = Fixed64.Acos(dot);
return(Multiply(Multiply(from, Fixed64.Sin((1 - t) * halfTheta)) + Multiply(to, Fixed64.Sin(t * halfTheta)), 1 / Fixed64.Sin(halfTheta)));
}
/// <summary>
/// Multiply two quaternions.
/// </summary>
/// <param name="quaternion1">The first quaternion.</param>
/// <param name="quaternion2">The second quaternion.</param>
/// <param name="result">The product of both quaternions.</param>
public static void Multiply(ref Fixed64Quaternion quaternion1, ref Fixed64Quaternion quaternion2, out Fixed64Quaternion result)
{
Fixed64 x = quaternion1.x;
Fixed64 y = quaternion1.y;
Fixed64 z = quaternion1.z;
Fixed64 w = quaternion1.w;
Fixed64 num4 = quaternion2.x;
Fixed64 num3 = quaternion2.y;
Fixed64 num2 = quaternion2.z;
Fixed64 num = quaternion2.w;
Fixed64 num12 = (y * num2) - (z * num3);
Fixed64 num11 = (z * num4) - (x * num2);
Fixed64 num10 = (x * num3) - (y * num4);
Fixed64 num9 = ((x * num4) + (y * num3)) + (z * num2);
result.x = ((x * num) + (num4 * w)) + num12;
result.y = ((y * num) + (num3 * w)) + num11;
result.z = ((z * num) + (num2 * w)) + num10;
result.w = (w * num) - num9;
}
/// <summary>
/// Creates a quaternion from a matrix.
/// </summary>
/// <param name="matrix">A matrix representing an orientation.</param>
/// <param name="result">JQuaternion representing an orientation.</param>
public static void CreateFromMatrix(ref Fixed64Matrix matrix, out Fixed64Quaternion result)
{
Fixed64 num8 = (matrix.M11 + matrix.M22) + matrix.M33;
if (num8 > Fixed64.Zero)
{
Fixed64 num = Fixed64.Sqrt((num8 + Fixed64.One));
result.w = num * Fixed64.Half;
num = Fixed64.Half / num;
result.x = (matrix.M23 - matrix.M32) * num;
result.y = (matrix.M31 - matrix.M13) * num;
result.z = (matrix.M12 - matrix.M21) * num;
}
else if ((matrix.M11 >= matrix.M22) && (matrix.M11 >= matrix.M33))
{
Fixed64 num7 = Fixed64.Sqrt((((Fixed64.One + matrix.M11) - matrix.M22) - matrix.M33));
Fixed64 num4 = Fixed64.Half / num7;
result.x = Fixed64.Half * num7;
result.y = (matrix.M12 + matrix.M21) * num4;
result.z = (matrix.M13 + matrix.M31) * num4;
result.w = (matrix.M23 - matrix.M32) * num4;
}
else if (matrix.M22 > matrix.M33)
{
Fixed64 num6 = Fixed64.Sqrt((((Fixed64.One + matrix.M22) - matrix.M11) - matrix.M33));
Fixed64 num3 = Fixed64.Half / num6;
result.x = (matrix.M21 + matrix.M12) * num3;
result.y = Fixed64.Half * num6;
result.z = (matrix.M32 + matrix.M23) * num3;
result.w = (matrix.M31 - matrix.M13) * num3;
}
else
{
Fixed64 num5 = Fixed64.Sqrt((((Fixed64.One + matrix.M33) - matrix.M11) - matrix.M22));
Fixed64 num2 = Fixed64.Half / num5;
result.x = (matrix.M31 + matrix.M13) * num2;
result.y = (matrix.M32 + matrix.M23) * num2;
result.z = Fixed64.Half * num5;
result.w = (matrix.M12 - matrix.M21) * num2;
}
}
public static Fixed64Quaternion RotateTowards(Fixed64Quaternion from, Fixed64Quaternion to, Fixed64 maxDegreesDelta)
{
Fixed64 dot = Dot(from, to);
if (dot < 0.0f)
{
to = Multiply(to, -1);
dot = -dot;
}
Fixed64 halfTheta = Fixed64.Acos(dot);
Fixed64 theta = halfTheta * 2;
maxDegreesDelta *= Fixed64.Deg2Rad;
if (maxDegreesDelta >= theta)
{
return(to);
}
maxDegreesDelta /= theta;
return(Multiply(Multiply(from, Fixed64.Sin((1 - maxDegreesDelta) * halfTheta)) + Multiply(to, Fixed64.Sin(maxDegreesDelta * halfTheta)), 1 / Fixed64.Sin(halfTheta)));
}
static Fixed64Quaternion()
{
identity = new Fixed64Quaternion(0, 0, 0, 1);
}
/// <summary>
/// Scale a quaternion
/// </summary>
/// <param name="quaternion1">The quaternion to scale.</param>
/// <param name="scaleFactor">Scale factor.</param>
/// <returns>The scaled quaternion.</returns>
#region public static JQuaternion Multiply(JQuaternion quaternion1, FP scaleFactor)
public static Fixed64Quaternion Multiply(Fixed64Quaternion quaternion1, Fixed64 scaleFactor)
{
Multiply(ref quaternion1, scaleFactor, out Fixed64Quaternion result);
return(result);
}
/// <summary>
/// Multiply two quaternions.
/// </summary>
/// <param name="quaternion1">The first quaternion.</param>
/// <param name="quaternion2">The second quaternion.</param>
/// <returns>The product of both quaternions.</returns>
#region public static JQuaternion Multiply(JQuaternion quaternion1, JQuaternion quaternion2)
public static Fixed64Quaternion Multiply(Fixed64Quaternion quaternion1, Fixed64Quaternion quaternion2)
{
Multiply(ref quaternion1, ref quaternion2, out Fixed64Quaternion result);
return(result);
}
/// <summary>
/// Quaternions are subtracted.
/// </summary>
/// <param name="quaternion1">The first quaternion.</param>
/// <param name="quaternion2">The second quaternion.</param>
/// <returns>The difference of both quaternions.</returns>
#region public static JQuaternion Subtract(JQuaternion quaternion1, JQuaternion quaternion2)
public static Fixed64Quaternion Subtract(Fixed64Quaternion quaternion1, Fixed64Quaternion quaternion2)
{
Subtract(ref quaternion1, ref quaternion2, out Fixed64Quaternion result);
return(result);
}
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);
}
/// <summary>
/// Quaternions are added.
/// </summary>
/// <param name="quaternion1">The first quaternion.</param>
/// <param name="quaternion2">The second quaternion.</param>
/// <returns>The sum of both quaternions.</returns>
#region public static JQuaternion Add(JQuaternion quaternion1, JQuaternion quaternion2)
public static Fixed64Quaternion Add(Fixed64Quaternion quaternion1, Fixed64Quaternion quaternion2)
{
Add(ref quaternion1, ref quaternion2, out Fixed64Quaternion result);
return(result);
}
public static Fixed64Quaternion Inverse(Fixed64Quaternion rotation)
{
Fixed64 invNorm = Fixed64.One / ((rotation.x * rotation.x) + (rotation.y * rotation.y) + (rotation.z * rotation.z) + (rotation.w * rotation.w));
return(Multiply(Conjugate(rotation), invNorm));
}
public static Fixed64 Dot(Fixed64Quaternion a, Fixed64Quaternion b)
{
return(a.w * b.w + a.x * b.x + a.y * b.y + a.z * b.z);
}
public void SetFromToRotation(Fixed64Vector3 fromDirection, Fixed64Vector3 toDirection)
{
Fixed64Quaternion targetRotation = FromToRotation(fromDirection, toDirection);
Set(targetRotation.x, targetRotation.y, targetRotation.z, targetRotation.w);
}
public static Fixed64Quaternion Lerp(Fixed64Quaternion a, Fixed64Quaternion b, Fixed64 t)
{
t = FixedMath.Clamp(t, Fixed64.Zero, Fixed64.One);
return(LerpUnclamped(a, b, t));
}
