public bool InvertFast()
{
float ood = this.determinant;
if (SBSMath.Abs(ood) < SBSMath.Epsilon)
{
return(false);
}
ood = 1.0f / ood;
float _m00 = ood * (m11 * m22 - m12 * m21);
float _m01 = ood * (m21 * m02 - m22 * m01);
float _m02 = ood * (m01 * m12 - m02 * m11);
float _m03 = 0.0f;
float _m10 = ood * (m12 * m20 - m10 * m22);
float _m11 = ood * (m22 * m00 - m20 * m02);
float _m12 = ood * (m02 * m10 - m00 * m12);
float _m13 = 0.0f;
float _m20 = ood * (m10 * m21 - m11 * m20);
float _m21 = ood * (m20 * m01 - m21 * m00);
float _m22 = ood * (m00 * m11 - m01 * m10);
float _m23 = 0.0f;
float _m30 = ood * (m10 * (m22 * m31 - m21 * m32) + m11 * (m20 * m32 - m22 * m30) + m12 * (m21 * m30 - m20 * m31));
float _m31 = ood * (m20 * (m02 * m31 - m01 * m32) + m21 * (m00 * m32 - m02 * m30) + m22 * (m01 * m30 - m00 * m31));
float _m32 = ood * (m30 * (m02 * m11 - m01 * m12) + m31 * (m00 * m12 - m02 * m10) + m32 * (m01 * m10 - m00 * m11));
float _m33 = 1.0f;
m00 = _m00; m01 = _m01; m02 = _m02; m03 = _m03;
m10 = _m10; m11 = _m11; m12 = _m12; m13 = _m13;
m20 = _m20; m21 = _m21; m22 = _m22; m23 = _m23;
m30 = _m30; m31 = _m31; m32 = _m32; m33 = _m33;
return(true);
}
public static float Distance(SBSVector3 v0, SBSVector3 v1)
{
float dx = v1.x - v0.x;
float dy = v1.y - v0.y;
float dz = v1.z - v0.z;
float dd = dx * dx + dy * dy + dz * dz;
return(SBSMath.Sqrt(dd));
}
public static SBSQuaternion AngleAxis(float angle, SBSVector3 axis)
{
angle *= (SBSMath.ToRadians * 0.5f);
SBSVector3 a = axis.normalized;
float s = SBSMath.Sin(angle),
c = SBSMath.Cos(angle);
return(new SBSQuaternion(a.x * s, a.y * s, a.z * s, c));
}
public void Encapsulate(SBSBounds bounds)
{
min.x = SBSMath.Min(min.x, bounds.min.x);
min.y = SBSMath.Min(min.y, bounds.min.y);
min.z = SBSMath.Min(min.z, bounds.min.z);
max.x = SBSMath.Max(max.x, bounds.max.x);
max.y = SBSMath.Max(max.y, bounds.max.y);
max.z = SBSMath.Max(max.z, bounds.max.z);
}
public void Encapsulate(float px, float py, float pz)
{
min.x = SBSMath.Min(min.x, px);
min.y = SBSMath.Min(min.y, py);
min.z = SBSMath.Min(min.z, pz);
max.x = SBSMath.Max(max.x, px);
max.y = SBSMath.Max(max.y, py);
max.z = SBSMath.Max(max.z, pz);
}
public void SetAngleAxis(float angle, SBSVector3 axis)
{
angle *= (SBSMath.ToRadians * 0.5f);
SBSVector3 a = axis.normalized;
float s = SBSMath.Sin(angle),
c = SBSMath.Cos(angle);
x = a.x * s;
y = a.y * s;
z = a.z * s;
w = c;
}
public void Encapsulate(SBSVector3 p)
{
float px = p.x, py = p.y, pz = p.z;
min.x = SBSMath.Min(min.x, px);
min.y = SBSMath.Min(min.y, py);
min.z = SBSMath.Min(min.z, pz);
max.x = SBSMath.Max(max.x, px);
max.y = SBSMath.Max(max.y, py);
max.z = SBSMath.Max(max.z, pz);
}
public static SBSQuaternion Slerp(SBSQuaternion q0, SBSQuaternion q1, float t)
{
float w1 = q0.w, x1 = q0.x, y1 = q0.y, z1 = q0.z,
w2 = q1.w, x2 = q1.x, y2 = q1.y, z2 = q1.z,
dot = w1 * w2 + x1 * x2 + y1 * y2 + z1 * z2;
if (dot < 0.0f)
{
dot = -dot;
w2 = -w2;
x2 = -x2;
y2 = -y2;
z2 = -z2;
}
if (dot < 0.95f)
{
float angle = SBSMath.Acos(dot),
s = 1.0f / SBSMath.Sin(angle),
s1 = SBSMath.Sin(angle * (1.0f - t)) * s,
s2 = SBSMath.Sin(angle * t) * s;
w1 = w1 * s1 + w2 * s2;
x1 = x1 * s1 + x2 * s2;
y1 = y1 * s1 + y2 * s2;
z1 = z1 * s1 + z2 * s2;
}
else
{
w1 += t * (w2 - w1);
x1 += t * (x2 - x1);
y1 += t * (y2 - y1);
z1 += t * (z2 - z1);
float oom = x1 * x1 + y1 * y1 + z1 * z1 + w1 * w1;
if (oom < SBSMath.SqrEpsilon)
{
return(new SBSQuaternion(0.0f, 0.0f, 0.0f, 1.0f));
}
oom = 1.0f / SBSMath.Sqrt(oom);
x1 *= oom;
y1 *= oom;
z1 *= oom;
w1 *= oom;
}
return(new SBSQuaternion(x1, y1, z1, w1));
}
public void Normalize()
{
float oom = x * x + y * y + z * z + w * w;
if (oom < SBSMath.SqrEpsilon)
{
x = 0.0f;
y = 0.0f;
z = 0.0f;
w = 1.0f;
return;
}
oom = 1.0f / SBSMath.Sqrt(oom);
x *= oom;
y *= oom;
z *= oom;
w *= oom;
}
public static SBSQuaternion LookRotation(SBSVector3 forward, SBSVector3 up)
{
#if UNITY_FLASH
forward = forward.normalized;
#else
forward.Normalize();
#endif
SBSVector3 right = SBSVector3.Cross(up.normalized, forward).normalized;
up = SBSVector3.Cross(forward, right);
float w = SBSMath.Sqrt(1.0f + right.x + up.y + forward.z) * 0.5f,
oo4w = 1.0f / (4.0f * w),
x = (forward.y - up.z) * oo4w,
y = (right.z - forward.x) * oo4w,
z = (up.x - right.y) * oo4w;
return(new SBSQuaternion(x, y, z, w));
}
public float Normalize()
{
float m = x * x + y * y + z * z;
if (m < SBSMath.SqrEpsilon)
{
return(0.0f);
}
m = SBSMath.Sqrt(m);
float oom = 1.0f / m;
x *= oom;
y *= oom;
z *= oom;
return(m);
}
public static void Slerp(SBSQuaternion q0, SBSQuaternion q1, float t, out SBSQuaternion o)
#endif
{
float w1 = q0.w, x1 = q0.x, y1 = q0.y, z1 = q0.z,
w2 = q1.w, x2 = q1.x, y2 = q1.y, z2 = q1.z,
dot = w1 * w2 + x1 * x2 + y1 * y2 + z1 * z2;
if (dot < 0.0f)
{
dot = -dot;
w2 = -w2;
x2 = -x2;
y2 = -y2;
z2 = -z2;
}
if (dot < 0.95f)
{
float angle = SBSMath.Acos(dot),
s = 1.0f / SBSMath.Sin(angle),
s1 = SBSMath.Sin(angle * (1.0f - t)) * s,
s2 = SBSMath.Sin(angle * t) * s;
o.w = w1 * s1 + w2 * s2;
o.x = x1 * s1 + x2 * s2;
o.y = y1 * s1 + y2 * s2;
o.z = z1 * s1 + z2 * s2;
}
else
{
o.w = w1 + t * (w2 - w1);
o.x = x1 + t * (x2 - x1);
o.y = y1 + t * (y2 - y1);
o.z = z1 + t * (z2 - z1);
o.Normalize();
}
}
public static float Angle(SBSVector3 v0, SBSVector3 v1)
{
return(SBSMath.Acos(SBSVector3.Dot(v0.normalized, v1.normalized)) * SBSMath.ToDegrees);
}
