public bool RotateScene(warp_Quaternion quat)
{
if (_scene == null)
{
return(false);
}
_scene.rotate(quat);
return(true);
}
static public warp_Quaternion matrix(warp_Matrix xfrm)
{
warp_Quaternion quat = new warp_Quaternion();
// Check the sum of the diagonal
float tr = xfrm [0, 0] + xfrm [1, 1] + xfrm [2, 2];
if (tr > 0.0f)
{
// The sum is positive
// 4 muls, 1 div, 6 adds, 1 trig function call
float s = (float)Math.Sqrt(tr + 1.0f);
quat.W = s * 0.5f;
s = 0.5f / s;
quat.X = (xfrm [1, 2] - xfrm [2, 1]) * s;
quat.Y = (xfrm [2, 0] - xfrm [0, 2]) * s;
quat.Z = (xfrm [0, 1] - xfrm [1, 0]) * s;
}
else
{
// The sum is negative
// 4 muls, 1 div, 8 adds, 1 trig function call
int[] nIndex = { 1, 2, 0 };
int i, j, k;
i = 0;
if (xfrm [1, 1] > xfrm [i, i])
{
i = 1;
}
if (xfrm [2, 2] > xfrm [i, i])
{
i = 2;
}
j = nIndex [i];
k = nIndex [j];
float s = (float)Math.Sqrt((xfrm [i, i] - (xfrm [j, j] + xfrm [k, k])) + 1.0f);
quat [i] = s * 0.5f;
if (!warp_Math.FloatApproxEqual(s, 0.0f))
{
s = 0.5f / s;
}
quat [j] = (xfrm [i, j] + xfrm [j, i]) * s;
quat [k] = (xfrm [i, k] + xfrm [k, i]) * s;
quat [3] = (xfrm [j, k] - xfrm [k, j]) * s;
}
return(quat);
}
public bool RotateSelf(string name, warp_Quaternion quat)
{
if (_scene == null)
{
return(false);
}
warp_Object o = _scene.sceneobject(name);
if (o == null)
{
return(false);
}
o.rotateSelf(quat);
return(true);
}
static public warp_Quaternion matrix (warp_Matrix xfrm)
{
warp_Quaternion quat = new warp_Quaternion ();
// Check the sum of the diagonal
float tr = xfrm [0, 0] + xfrm [1, 1] + xfrm [2, 2];
if (tr > 0.0f)
{
// The sum is positive
// 4 muls, 1 div, 6 adds, 1 trig function call
float s = (float)Math.Sqrt (tr + 1.0f);
quat.W = s * 0.5f;
s = 0.5f / s;
quat.X = (xfrm [1, 2] - xfrm [2, 1]) * s;
quat.Y = (xfrm [2, 0] - xfrm [0, 2]) * s;
quat.Z = (xfrm [0, 1] - xfrm [1, 0]) * s;
} else
{
// The sum is negative
// 4 muls, 1 div, 8 adds, 1 trig function call
int[] nIndex = { 1, 2, 0 };
int i, j, k;
i = 0;
if (xfrm [1, 1] > xfrm [i, i])
i = 1;
if (xfrm [2, 2] > xfrm [i, i])
i = 2;
j = nIndex [i];
k = nIndex [j];
float s = (float)Math.Sqrt ((xfrm [i, i] - (xfrm [j, j] + xfrm [k, k])) + 1.0f);
quat [i] = s * 0.5f;
if (s != 0.0)
{
s = 0.5f / s;
}
quat [j] = (xfrm [i, j] + xfrm [j, i]) * s;
quat [k] = (xfrm [i, k] + xfrm [k, i]) * s;
quat [3] = (xfrm [j, k] - xfrm [k, j]) * s;
}
return quat;
}
public bool RotateSelf (string name, warp_Quaternion quat)
{
if (_scene == null)
{
return false;
}
warp_Object o = _scene.sceneobject (name);
if (o == null)
{
return false;
}
o.rotateSelf (quat);
return true;
}
public bool RotateScene (warp_Quaternion quat)
{
if (_scene == null)
{
return false;
}
_scene.rotate (quat);
return true;
}
