/// <summary>
/// This function returns a vector that is rotated by the opposite of me
/// </summary>
public MyVector GetRotatedVectorReverse(MyVector vector, bool isQuatNormalized)
{
if (!isQuatNormalized)
{
// I'm not normalized, clone myself and normalize it
MyQuaternion myUnitClone = new MyQuaternion(this.X, this.Y, this.Z, this.W);
myUnitClone.BecomeUnitQuaternion();
return(myUnitClone.GetRotatedVectorReverse(vector, true));
}
MyVector qvec = new MyVector(this.X, this.Y, this.Z);
//Vector uv = qvec.Cross(vector);
MyVector uv = MyVector.Cross(qvec, vector);
//Vector uuv = qvec.Cross(uv);
MyVector uuv = MyVector.Cross(qvec, uv);
//uv *= (2.0f * quat.w);
uv.Multiply(this.W * -2d);
//uuv *= 2.0f;
uuv.Multiply(2d);
//return vector + uv + uuv;
MyVector retVal = vector.Clone();
retVal.Add(uv);
retVal.Add(uuv);
return(retVal);
}
public DoubleVector GetRotatedVectorReverse(DoubleVector doubleVector, bool isQuatNormalized)
{
if (!isQuatNormalized)
{
// I'm not normalized, clone myself and normalize it
MyQuaternion myUnitClone = new MyQuaternion(this.X, this.Y, this.Z, this.W);
myUnitClone.BecomeUnitQuaternion();
return(myUnitClone.GetRotatedVectorReverse(doubleVector, true));
}
return(new DoubleVector(GetRotatedVectorReverse(doubleVector.Standard, true), GetRotatedVectorReverse(doubleVector.Orth, true)));
}
/// <summary>
/// WARNING: Don't rotate my direction facing outside of me, we will fall out of sync
/// </summary>
public virtual void RotateAroundAxis(MyVector rotateAround, double radians)
{
// Avoid mathmatical drift
_numRotations++;
if (_numRotations > 10000)
{
_numRotations = 0;
_rotation.BecomeUnitQuaternion();
}
// Make a quaternion that holds the axis and radians passed in
MyQuaternion intermediate = new MyQuaternion(rotateAround, radians);
// Apply that to my existing one
_rotation = MyQuaternion.Multiply(intermediate, _rotation); // it seems counterintuitive to multiply them in this order, but testing shows it doesn't work the other way (and reading some articles confirms the order)
if (_dirFacingRequested)
{
SyncDirFacing();
}
}
/// <summary>
/// This function creates a vector that is the vector passed in rotated by my definition
/// </summary>
/// <param name="vector">The vector to rotate (I don't touch this vector, I create a new one that is rotated)</param>
/// <param name="isQuatNormalized">Whether this class is already normalized or not (if you don't know, pass false)</param>
public MyVector GetRotatedVector(MyVector vector, bool isQuatNormalized)
{
if (!isQuatNormalized)
{
// I'm not normalized, clone myself and normalize it
MyQuaternion myUnitClone = new MyQuaternion(this.X, this.Y, this.Z, this.W);
myUnitClone.BecomeUnitQuaternion();
return myUnitClone.GetRotatedVector(vector, true);
}
MyVector qvec = new MyVector(this.X, this.Y, this.Z);
//Vector uv = qvec.Cross(vector);
MyVector uv = MyVector.Cross(qvec, vector);
//Vector uuv = qvec.Cross(uv);
MyVector uuv = MyVector.Cross(qvec, uv);
//uv *= (2.0f * quat.w);
uv.Multiply(this.W * 2d);
//uuv *= 2.0f;
uuv.Multiply(2d);
//return vector + uv + uuv;
MyVector retVal = vector.Clone();
retVal.Add(uv);
retVal.Add(uuv);
return retVal;
}
public DoubleVector GetRotatedVectorReverse(DoubleVector doubleVector, bool isQuatNormalized)
{
if (!isQuatNormalized)
{
// I'm not normalized, clone myself and normalize it
MyQuaternion myUnitClone = new MyQuaternion(this.X, this.Y, this.Z, this.W);
myUnitClone.BecomeUnitQuaternion();
return myUnitClone.GetRotatedVectorReverse(doubleVector, true);
}
return new DoubleVector(GetRotatedVectorReverse(doubleVector.Standard, true), GetRotatedVectorReverse(doubleVector.Orth, true));
}
