public Transform(Transform parent)
{
this.parent = parent;
position = Vector3.Zero;
rotation = Quaternion.Zero;
scale = Vector3.One;
}
public Transform()
{
position = Vector3.Zero;
rotation = Quaternion.Zero;
scale = Vector3.One;
}
public void Rotate(Vector3 axic, float angle)
{
rotation = (new Quaternion(axic, angle) * rotation).Normalized;
}
public void Update()
{
if(_position != null) {
_position = new Vector3(position);
_rotation = new Quaternion(rotation);
_scale = new Vector3(scale);
} else {
_position = new Vector3(position) + 1;
_rotation = new Quaternion(rotation) * 0.5;
_scale = new Vector3(scale) + 1;
}
}
public Vector3 Rotate(Quaternion rotation)
{
var w = (rotation * this) * rotation.Conjugate;
return new Vector3(w.X, w.Y, w.Z);
}
public void LookAt(Vector3 point, Vector3 up)
{
rotation = GetLookAtRotation(point, up);
}
public Quaternion SLerp(Quaternion dest, float lerp_factor, bool shortest)
{
var cos = Dot(dest);
var corrected_dest = dest;
if(shortest && cos < 0) {
cos *= -1;
corrected_dest = new Quaternion(-1 * dest.x, -1 * dest.y, -1 * dest.z, -1 * dest.w);
}
if(System.Math.Abs(cos) >= 1 - EPSILON) {
return NLerp(corrected_dest, lerp_factor, false);
} else {
var sin = System.Math.Sqrt(1 - cos * cos);
var angle = System.Math.Atan2(sin, cos);
var src_factor = System.Math.Sin((1 - lerp_factor) * angle) * (1 / sin);
var dest_factor = System.Math.Sin((lerp_factor) * angle) * (1 / sin);
return (this * src_factor) + (corrected_dest * dest_factor);
}
}
public Quaternion Set(Quaternion v)
{
Set(v.x, v.y, v.z, v.w);
return this;
}
public Quaternion NLerp(Quaternion dest, float lerp_factor, bool shortest)
{
var corrected_dest = dest;
if(shortest && Dot(dest) < 0) {
corrected_dest = new Quaternion(-1 * dest.x, -1 * dest.y, -1 * dest.z, -1 * dest.w);
}
return (((corrected_dest - this) * lerp_factor) + this).Normalize();
}
public float Dot(Quaternion v)
{
return x * v.x + y * v.y + z * v.z + w * v.z;
}
public Quaternion(Quaternion v)
{
Set(v);
}
