public void ApplyQuaternion(Quaternion q)
{
Quaternion i = new Quaternion();
i.X = q.W * X + q.Y * Z - q.Z * Y;
i.Y = q.W * Y + q.Z * X - q.X * Z;
i.Z = q.W * Z + q.X * Y - q.Y * X;
i.W = -q.X * X - q.Y * Y - q.Z * Z;
X = i.X * q.W + i.W * -q.X + i.Y * -q.Z - i.Z * -q.Y;
Y = i.Y * q.W + i.W * -q.Y + i.Z * -q.X - i.X * -q.Z;
Z = i.Z * q.W + i.W * -q.Z + i.X * -q.Y - i.Y * -q.X;
}
/// <summary>
/// Creates a new quaternion that is the inverse of the specified quaternion.
/// </summary>
/// <param name="q">The quaternion to invert.</param>
/// <returns>A new quaternion that is the inverse of the specified quaternion.</returns>
public static Quaternion Invert(Quaternion q)
{
return new Quaternion(OTK.Quaternion.Invert(q.OpenTK));
}
/// <summary>
/// Creates a new quaternion representing the spherical linear interpolation of two specified quaternions.
/// </summary>
/// <param name="a">The first quaternion.</param>
/// <param name="b">The second quaternion.</param>
/// <param name="blend">The degree of blending.</param>
/// <returns>A new quaternion representing the slerp of the two specified quaternions.</returns>
public static Quaternion Slerp(Quaternion a, Quaternion b, float blend)
{
return new Quaternion(OTK.Quaternion.Slerp(a.OpenTK, b.OpenTK, blend));
}
/// <summary>
/// Creates a new quaternion representing the conjugate of the specified quaternion.
/// </summary>
/// <param name="q">The quaternion to conjugate.</param>
/// <returns>A new quaternion representing the conjugate of the specified quaternion.</returns>
public static Quaternion Conjugate(Quaternion q)
{
return new Quaternion(OTK.Quaternion.Conjugate(q.OpenTK));
}
