public void SetFromToRotation(TSVector fromDirection, TSVector toDirection)
{
TSQuaternion targetRotation = TSQuaternion.FromToRotation(fromDirection, toDirection);
this.Set(targetRotation.x, targetRotation.y, targetRotation.z, targetRotation.w);
}
/// <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 TSQuaternion quaternion1, ref TSQuaternion quaternion2, out TSQuaternion result)
{
FP x = quaternion1.x;
FP y = quaternion1.y;
FP z = quaternion1.z;
FP w = quaternion1.w;
FP num4 = quaternion2.x;
FP num3 = quaternion2.y;
FP num2 = quaternion2.z;
FP num = quaternion2.w;
FP num12 = (y * num2) - (z * num3);
FP num11 = (z * num4) - (x * num2);
FP num10 = (x * num3) - (y * num4);
FP 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;
}
static TSQuaternion()
{
identity = new TSQuaternion(0, 0, 0, 1);
}
/// <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 TSQuaternion quaternion1, ref TSQuaternion quaternion2, out TSQuaternion 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;
}
public static TSQuaternion Lerp(TSQuaternion a, TSQuaternion b, FP t)
{
t = TSMath.Clamp(t, FP.Zero, FP.One);
return(LerpUnclamped(a, b, t));
}
public static TSQuaternion Inverse(TSQuaternion rotation)
{
FP invNorm = FP.One / ((rotation.x * rotation.x) + (rotation.y * rotation.y) + (rotation.z * rotation.z) + (rotation.w * rotation.w));
return(TSQuaternion.Multiply(TSQuaternion.Conjugate(rotation), invNorm));
}
public static FP Dot(TSQuaternion a, TSQuaternion b)
{
return(a.w * b.w + a.x * b.x + a.y * b.y + a.z * b.z);
}
/// <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 TSQuaternion quaternion1, ref TSQuaternion quaternion2, out TSQuaternion 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;
}