public static void QuaternionAngles(SourceQuaternion q, ref SourceRadianEuler angles)
{
// FIXME: doing it this way calculates too much data, needs to do an optimized version...
SourceMatrix3x4 matrix = new SourceMatrix3x4();
QuaternionMatrix(q, ref matrix);
MatrixAngles(matrix, ref angles);
}
public SourceQuaternion(SourceRadianEuler angle)
{
var t = new SourceQuaternion();
MathUtils.AngleQuaternion(angle, ref t);
this.x = t.x;
this.y = t.y;
this.z = t.z;
this.w = t.w;
}
public SourceQuaternion(SourceDegreeEuler angle)
{
SourceRadianEuler radians = new SourceRadianEuler(angle);
var t = new SourceQuaternion();
MathUtils.AngleQuaternion(radians, ref t);
this.x = t.x;
this.y = t.y;
this.z = t.z;
this.w = t.w;
}
public static void MatrixAngles(SourceMatrix3x4 matrix, ref SourceRadianEuler angles)
{
float[] a = new float[3];
for (int i = 0; i < 3; i++)
{
a[i] = angles[i];
}
MatrixAngles(matrix, ref a);
for (int i = 0; i < 3; i++)
{
angles[i] = a[i];
}
}
public static void AngleQuaternion(SourceRadianEuler angles, ref SourceQuaternion outQuat)
{
float sr, sp, sy, cr, cp, cy;
SinCos(angles.z * 0.5f, out sy, out cy);
SinCos(angles.y * 0.5f, out sp, out cp);
SinCos(angles.x * 0.5f, out sr, out cr);
// NJS: for some reason VC6 wasn't recognizing the common subexpressions:
float srXcp = sr * cp, crXsp = cr * sp;
outQuat.x = srXcp * cy - crXsp * sy; // X
outQuat.y = crXsp * cy + srXcp * sy; // Y
float crXcp = cr * cp, srXsp = sr * sp;
outQuat.z = crXcp * sy - srXsp * cy; // Z
outQuat.w = crXcp * cy + srXsp * sy; // W (real component)
}
public static void AngleMatrix(SourceRadianEuler angles, ref SourceMatrix3x4 matrix)
{
SourceQAngle quakeEuler = new SourceQAngle(RAD2DEG(angles.y), RAD2DEG(angles.z), RAD2DEG(angles.x));
AngleMatrix(quakeEuler, ref matrix);
}
public static void AngleMatrix(SourceRadianEuler angles, SourceVector position, ref SourceMatrix3x4 matrix)
{
AngleMatrix(angles, ref matrix);
MatrixSetColumn(position, 3, ref matrix);
}
public SourceDegreeEuler(SourceRadianEuler angles)
{
Init(MathUtils.RAD2DEG(angles.x), MathUtils.RAD2DEG(angles.y), MathUtils.RAD2DEG(angles.z));
}
public SourceDegreeEuler(SourceQuaternion q)
{
SourceRadianEuler radians = new SourceRadianEuler(q);
Init(MathUtils.RAD2DEG(radians.x), MathUtils.RAD2DEG(radians.y), MathUtils.RAD2DEG(radians.z));
}