/// <summary>
/// NitroxTransform is always attached to an Entity
/// </summary>
public NitroxTransform(NitroxVector3 localPosition, NitroxQuaternion localRotation, NitroxVector3 scale, Entity entity)
{
LocalPosition = localPosition;
LocalRotation = localRotation;
LocalScale = scale;
Entity = entity;
}
public void SetParent(NitroxTransform parent, bool worldPositionStays = true)
{
if (!worldPositionStays)
{
Parent = parent;
return;
}
NitroxVector3 position = Position;
NitroxQuaternion rotation = Rotation;
Parent = parent;
Position = position;
Rotation = rotation;
}
//Used https://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/
public NitroxVector3 ToEuler()
{
float sqw = W * W;
float sqx = X * X;
float sqy = Y * Y;
float sqz = Z * Z;
float unit = sqx + sqy + sqz + sqw; // if normalized is one, otherwise is correction factor
float test = X * Y + Z * W;
float heading, attitude, bank;
if (test > 0.499f * unit) // singularity at north pole
{
heading = 2 * Mathf.Atan2(X, W);
attitude = Mathf.PI / 2f;
bank = 0;
}
else if (test < -0.499f * unit) // singularity at south pole
{
heading = -2 * Mathf.Atan2(X, W);
attitude = -Mathf.PI / 2f;
bank = 0;
}
else
{
heading = Mathf.Atan2(2 * Y * W - 2 * X * Z, sqx - sqy - sqz + sqw);
attitude = Mathf.Asin(2 * test / unit);
bank = Mathf.Atan2(2 * X * W - 2 * Y * Z, -sqx + sqy - sqz + sqw);
}
NitroxVector3 euler = new NitroxVector3(bank * Mathf.RAD2DEG, heading * Mathf.RAD2DEG, attitude * Mathf.RAD2DEG);
NormalizeEuler(ref euler);
return(euler);
}
public static void NormalizeEuler(ref NitroxVector3 vector3)
{
NormalizeEulerPart(ref vector3.X);
NormalizeEulerPart(ref vector3.Y);
NormalizeEulerPart(ref vector3.Z);
}
public static NitroxQuaternion FromEuler(NitroxVector3 vector) => FromEuler(vector.X, vector.Y, vector.Z);