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public static Normalize ( |
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public Quaternion(Vector3D axis, float angle)
{
axis.Normalize();
float num2 = angle * 0.5f;
float num = MathUtility.Sin(num2);
float num3 = MathUtility.Cos(num2);
X = axis.X * num;
Y = axis.Y * num;
Z = axis.Z * num;
W = num3;
}
/// <summary>
/// Computes the tangent of a cubic bezier curve at the specified time,
/// when given four Point3D control points. This is used for calculating
/// normals (by crossing the horizontal and vertical tangent vectors).
/// </summary>
private static Vector3D BezierTangent(Point3D p1, Point3D p2,
Point3D p3, Point3D p4, float t)
{
Vector3D result = new Vector3D();
result.X = BezierTangent(p1.X, p2.X, p3.X, p4.X, t);
result.Y = BezierTangent(p1.Y, p2.Y, p3.Y, p4.Y, t);
result.Z = BezierTangent(p1.Z, p2.Z, p3.Z, p4.Z, t);
result.Normalize();
return result;
}
public static float AngleBetween(Vector3D vector1, Vector3D vector2)
{
vector1.Normalize();
vector2.Normalize();
if (Dot(vector1, vector2) < 0.0f)
{
Vector3D vectord2 = -vector1 - vector2;
return MathUtility.PI - (2.0f * MathUtility.Asin(vectord2.Length() / 2.0f));
}
Vector3D vectord = vector1 - vector2;
return 2.0f * MathUtility.Asin(vectord.Length() / 2.0f);
}
private void Rotate(Rotation rot)
{
var trans = new RotateTransform3D(rot);
Up = trans.Transform(Up);
Up.Normalize();
Forward = trans.Transform(Forward);
Forward.Normalize();
}