public static Quaternion EulerToQuaternion(Vector3 eulerAngle)
{
//角度转弧度
eulerAngle = MoMath.Deg2Rad(eulerAngle);
float cX = MathF.Cos(eulerAngle.X / 2.0f);
float sX = MathF.Sin(eulerAngle.X / 2.0f);
float cY = MathF.Cos(eulerAngle.Y / 2.0f);
float sY = MathF.Sin(eulerAngle.Y / 2.0f);
float cZ = MathF.Cos(eulerAngle.Z / 2.0f);
float sZ = MathF.Sin(eulerAngle.Z / 2.0f);
Quaternion qX = new Quaternion(sX, 0, 0, cX);
Quaternion qY = new Quaternion(0, sY, 0, cY);
Quaternion qZ = new Quaternion(0, 0, sZ, cZ);
Quaternion q = (qY * qX) * qZ;
#if DEBUG
if (!MoMath.CompareApproximate(q.LengthSquared(), 1f))
{
string msg = string.Format($"EulerToQuaternion failed, {q.X} {q.Y} {q.Z} {q.W} sqrLength={q.LengthSquared()}");
MoLog.Log(ELogType.Assert, msg);
}
#endif
return(q);
}
/// <summary>
/// Rotates the transform around axis by angle
/// </summary>
public void Rotate(Vector3 worldAxis, float degreeAngle)
{
float radianAngle = MoMath.Deg2Rad(degreeAngle);
Vector3 localAxis = InverseTransformDirection(worldAxis);
if (localAxis.LengthSquared() > Vector3Helper.Epsilon)
{
localAxis = Vector3Helper.NormalizeSafe(localAxis);
Quaternion q = QuaternionHelper.AxisAngleToQuaternionSafe(localAxis, radianAngle);
Rotation = QuaternionHelper.NormalizeSafe(_rotation * q);
}
}
/// <summary>
/// Rotates the transform around axis by angle
/// </summary>
public void Rotate(Vector3 worldPoint, Vector3 worldAxis, float degreeAngle)
{
// 先移动位置
Quaternion q = QuaternionHelper.AxisAngleToQuaternionSafe(worldAxis, MoMath.Deg2Rad(degreeAngle));
Vector3 dif = _position - worldPoint;
dif = QuaternionHelper.RotateVectorByQuat(q, dif);
Position = worldPoint + dif;
// 再移动朝向
Rotate(worldAxis, degreeAngle);
}