public static Quaternion ToQuaternion(this Vector3 v)
{
/*
* Quaternion q = new Quaternion();
* // Abbreviations for the various angular functions
* double cy = Math.Cos(v.Z * 0.5);
* double sy = Math.Sin(v.Z * 0.5);
* double cr = Math.Cos(v.X * 0.5);
* double sr = Math.Sin(v.X * 0.5);
* double cp = Math.Cos(v.Y * 0.5);
* double sp = Math.Sin(v.Y * 0.5);
*
* q.W = (float)(cy * cr * cp + sy * sr * sp);
* q.X = (float)(cy * sr * cp - sy * cr * sp);
* q.Y = (float)(cy * cr * sp + sy * sr * cp);
* q.Z = (float)(sy * cr * cp - cy * sr * sp);
* return q;
*/
return(MatrixHelper.CreateRotate(v).ExtractRotation());
}
public static Vector3 ToEuler(this Quaternion q)
{
/*
* Vector3 v = new Vector3();
* // roll (x-axis rotation)
* var sinr = 2.0 * (q.W * q.X + q.Y * q.Z);
* var cosr = 1.0 - 2.0 * (q.X * q.X + q.Y * q.Y);
* v.X = (float)Math.Atan2(sinr, cosr);
*
* // pitch (y-axis rotation)
* double sinp = 2.0 * (q.W * q.Y - q.Z * q.X);
* if (Math.Abs(sinp) >= 1) v.Y = MathHelper.PiOver2; // use 90 degrees if out of range
* else v.Y = (float)Math.Asin(sinp);
*
* // yaw (z-axis rotation)
* double siny = 2.0 * (q.W * q.Z + q.X * q.Y);
* double cosy = 1.0 - 2.0 * (q.Y * q.Y + q.Z * q.Z);
* v.Z = (float)Math.Atan2(siny, cosy);
*
* return v;
*/
return(MatrixHelper.ExtractEulerRotation(Matrix4.CreateFromQuaternion(q)) * -1.0f);
}
public static void DrawTexture(Texture2D tex, RectangleF srcRect, RectangleF dstRect, Color4 color, Vector3 rot, Vector2 scale, Vector2 pivot, int layer = -1, bool flipY = false)
{
if (tex == null)
{
return;
}
if (layer < 0)
{
GL.Disable(EnableCap.DepthTest);
}
var ortho = Matrix4.CreateOrthographicOffCenter(0, MMW.ClientSize.Width, 0, MMW.ClientSize.Height, 0.0f, 1.0f);
var trans = new Vector3(pivot.X, pivot.Y, 0.0f);
var mat = Matrix4.CreateTranslation(-trans);
mat *= MatrixHelper.CreateRotate(new Vector3(rot.X, rot.Y, -rot.Z));
mat *= Matrix4.CreateScale(scale.X * dstRect.Width, scale.Y * dstRect.Height, 1.0f);
mat.Row3 += new Vector4(trans + new Vector3(dstRect.X, MMW.Height - dstRect.Y, 0.0f));
mat *= ortho;
tex2Shader.UseShader();
tex2Shader.SetParameter(tex2Shader.loc_layer, layer < 0 ? 0f : (float)layer);
tex2Shader.SetParameter(tex2Shader.loc_flipY, flipY ? 1.0f : 0.0f);
tex2Shader.SetParameter(tex2Shader.loc_color, ref color);
tex2Shader.SetParameter(TextureUnit.Texture0, tex);
tex2Shader.SetParameter(tex2Shader.loc_mvp, ref mat, false);
DrawSubMesh(texMesh2.subMeshes[0]);
tex2Shader.UnuseShader();
GL.BindTexture(TextureTarget.Texture2D, 0);
if (layer < 0)
{
GL.Enable(EnableCap.DepthTest);
}
}