/// <summary>
/// Transforms a vector by the given matrix.
/// </summary>
/// <param name="position">The vector to transform.</param>
/// <param name="matrix">The transform matrix.</param>
/// <returns>The transformed vector.</returns>
#region public static JVector Transform(JVector position, JMatrix matrix)
public static TSVector Transform(TSVector position, TSMatrix matrix)
{
TSVector result;
TSVector.Transform(ref position, ref matrix, out result);
return(result);
}
/// <summary>
/// Creates a quaternion from a matrix.
/// </summary>
/// <param name="matrix">A matrix representing an orientation.</param>
/// <returns>JQuaternion representing an orientation.</returns>
#region public static JQuaternion CreateFromMatrix(JMatrix matrix)
public static TSQuaternion CreateFromMatrix(TSMatrix matrix)
{
TSQuaternion result;
TSQuaternion.CreateFromMatrix(ref matrix, out result);
return(result);
}
/// <summary>
/// Transforms a vector by the transposed of the given Matrix.
/// </summary>
/// <param name="position">The vector to transform.</param>
/// <param name="matrix">The transform matrix.</param>
/// <param name="result">The transformed vector.</param>
public static void TransposedTransform(ref TSVector position, ref TSMatrix matrix, out TSVector result)
{
FP num0 = ((position.x * matrix.M11) + (position.y * matrix.M12)) + (position.z * matrix.M13);
FP num1 = ((position.x * matrix.M21) + (position.y * matrix.M22)) + (position.z * matrix.M23);
FP num2 = ((position.x * matrix.M31) + (position.y * matrix.M32)) + (position.z * matrix.M33);
result.x = num0;
result.y = num1;
result.z = num2;
}
/**
* @brief Rotates game object based on provided axis, point and angle of rotation.
**/
public void RotateAround(TSVector point, TSVector axis, FP angle)
{
TSVector vector = this.position;
TSVector vector2 = vector - point;
vector2 = TSVector.Transform(vector2, TSMatrix.AngleAxis(angle * FP.Deg2Rad, axis));
vector = point + vector2;
this.position = vector;
Rotate(axis, angle);
}
/// <summary>
/// Creates a quaternion from a matrix.
/// </summary>
/// <param name="matrix">A matrix representing an orientation.</param>
/// <param name="result">JQuaternion representing an orientation.</param>
public static void CreateFromMatrix(ref TSMatrix matrix, out TSQuaternion result)
{
FP num8 = (matrix.M11 + matrix.M22) + matrix.M33;
if (num8 > FP.Zero)
{
FP num = FP.Sqrt((num8 + FP.One));
result.w = num * FP.Half;
num = FP.Half / num;
result.x = (matrix.M23 - matrix.M32) * num;
result.y = (matrix.M31 - matrix.M13) * num;
result.z = (matrix.M12 - matrix.M21) * num;
}
else if ((matrix.M11 >= matrix.M22) && (matrix.M11 >= matrix.M33))
{
FP num7 = FP.Sqrt((((FP.One + matrix.M11) - matrix.M22) - matrix.M33));
FP num4 = FP.Half / num7;
result.x = FP.Half * num7;
result.y = (matrix.M12 + matrix.M21) * num4;
result.z = (matrix.M13 + matrix.M31) * num4;
result.w = (matrix.M23 - matrix.M32) * num4;
}
else if (matrix.M22 > matrix.M33)
{
FP num6 = FP.Sqrt((((FP.One + matrix.M22) - matrix.M11) - matrix.M33));
FP num3 = FP.Half / num6;
result.x = (matrix.M21 + matrix.M12) * num3;
result.y = FP.Half * num6;
result.z = (matrix.M32 + matrix.M23) * num3;
result.w = (matrix.M31 - matrix.M13) * num3;
}
else
{
FP num5 = FP.Sqrt((((FP.One + matrix.M33) - matrix.M11) - matrix.M22));
FP num2 = FP.Half / num5;
result.x = (matrix.M31 + matrix.M13) * num2;
result.y = (matrix.M32 + matrix.M23) * num2;
result.z = FP.Half * num5;
result.w = (matrix.M12 - matrix.M21) * num2;
}
}
/**
* @brief Moves game object based on provided translation vector and a relative {@link TSTransform}.
*
* The game object will move based on TSTransform's forward vector.
**/
public void Translate(TSVector translation, TSTransform relativeTo)
{
this.position += TSVector.Transform(translation, TSMatrix.CreateFromQuaternion(relativeTo.rotation));
}
/**
* @brief Rotates game object to point forward vector to a target position.
*
* @param target Target position.
**/
public void LookAt(TSVector target)
{
this.rotation = TSQuaternion.CreateFromMatrix(TSMatrix.CreateFromLookAt(position, target));
}
public static TSQuaternion LookRotation(TSVector forward, TSVector upwards)
{
return(CreateFromMatrix(TSMatrix.LookAt(forward, upwards)));
}