Example #1
0
 public Quaternion(Quaternion q)
 {
     X = q.X;
     Y = q.Y;
     Z = q.Z;
     W = q.W;
 }
Example #2
0
 private bool Equals(Quaternion other)
 {
     return Equals(other);
 }
Example #3
0
 public static Quaternion Subtract(Quaternion q1, Quaternion q2)
 {
     return new Quaternion
     {
         Scalar = q1.Scalar - q2.Scalar,
         Vector = q1.Vector - q2.Vector
     };
 }
Example #4
0
 public static Quaternion Multiply(Quaternion q1, Quaternion q2)
 {
     var quaternion = new Quaternion();
     var vector3D = new Vector3D(q1.X, q1.Y, q1.Z);
     var vector3D2 = new Vector3D(q2.X, q2.Y, q2.Z);
     var w = q1.W;
     var w2 = q2.W;
     var vector3D3 = (Vector3D) (w*vector3D2 + w2*vector3D) + Vector3D.Cross(vector3D, vector3D2);
     quaternion.X = vector3D3[0];
     quaternion.Y = vector3D3[1];
     quaternion.Z = vector3D3[2];
     quaternion.W = w*w2 - Classes.Vector.Dot(vector3D, vector3D2);
     return quaternion;
 }
Example #5
0
 public static Quaternion FromAxisAngle(Vector axis, double angle)
 {
     angle *= 0.017453292519943295;
     axis.Normalise();
     var num = Math.Sin(angle/2.0);
     var w = Math.Cos(angle/2.0);
     var quaternion = new Quaternion(axis[0]*num, axis[1]*num, axis[2]*num, w);
     quaternion.Normalise();
     return quaternion;
 }
Example #6
0
 public static bool Equals(Quaternion q1, Quaternion q2)
 {
     return q1 == q2;
 }
Example #7
0
 public static Quaternion Add(Quaternion q1, Quaternion q2)
 {
     return new Quaternion
     {
         Scalar = q1.Scalar + q2.Scalar,
         Vector = q1.Vector + q2.Vector
     };
 }
        public void Convert()
        {
            if (!(InputItems == null | OutputItems == null))
            {
                if (!_isConverting)
                {
                    _isConverting = true;
                    var result = new Vector3D();
                    var num = 0.0;
                    var quaternion = new Quaternion();
                    switch (InputItems.SelectedItem)
                    {
                        case CartesianEnum.ABB_Quaternion:
                            quaternion = new Quaternion(InputItems.V1, InputItems.V2, InputItems.V3, InputItems.V4);
                            break;
                        case CartesianEnum.Roll_Pitch_Yaw:
                            _rotationMatrix = RotationMatrix3D.FromRPY(InputItems.V1, InputItems.V2, InputItems.V3);
                            break;
                        case CartesianEnum.Axis_Angle:
                            _rotationMatrix =
                                RotationMatrix3D.RotateAroundVector(
                                    new Vector3D(InputItems.V1, InputItems.V2, InputItems.V3), InputItems.V4);
                            break;
                        case CartesianEnum.Kuka_ABC:
                            _rotationMatrix = RotationMatrix3D.FromABC(InputItems.V1, InputItems.V2, InputItems.V3);
                            break;
                        case CartesianEnum.Euler_ZYZ:
                            _rotationMatrix = RotationMatrix3D.FromEulerZYZ(InputItems.V1, InputItems.V2, InputItems.V3);
                            break;
                    }
                    switch (OutputItems.SelectedItem)
                    {
                        case CartesianEnum.ABB_Quaternion:
                            quaternion = (Quaternion) _rotationMatrix;
                            result = quaternion.Vector;
                            num = quaternion.Scalar;

                            break;
                        case CartesianEnum.Roll_Pitch_Yaw:
                            result = _rotationMatrix.RPY;
                            break;
                        case CartesianEnum.Axis_Angle:
                            result = _rotationMatrix.RotationAxis();
                            num = _rotationMatrix.RotationAngle();
                            break;
                        case CartesianEnum.Kuka_ABC:
                            result = _rotationMatrix.ABC;
                            break;
                        case CartesianEnum.Euler_ZYZ:
                            result = _rotationMatrix.EulerZYZ;
                            break;
                        case CartesianEnum.Alpha_Beta_Gamma:
                            result = _rotationMatrix.ABG;
                            break;
                    }
                    var text = quaternion.ToString();

            //                    var text = quaternion.ToString("F3");
                    if (Matrix != null && Matrix != text)
                    {
                        Matrix = text;
                    }
                    WriteValues(result, 0.0, false);
                    if (OutputItems.SelectedItem == CartesianEnum.ABB_Quaternion)
                    {
                        WriteValues(result, num, true);
                    }
                    if (OutputItems.SelectedItem == CartesianEnum.Axis_Angle)
                    {
                        OutputItems.V4 = num;
                    }
                    _isConverting = false;
                }
            }
        }