/// <summary>
/// @brief 乗算演算子
/// </summary>
/// <param name="left">左辺</param>
/// <param name="right">右辺</param>
/// <returns>計算結果</returns>
public static Vector3 operator *(Quaternion left, Vector3 right)
{
var v = new Quaternion();
v.x = right.x;
v.y = right.y;
v.z = right.z;
v = left * v * left.Conjugate;
return new Vector3 { x = v.x, y = v.y, z = v.z };
}
/// <summary>
/// @brief 乗算演算子
/// </summary>
/// <param name="left">左辺</param>
/// <param name="right">右辺</param>
/// <returns>計算結果</returns>
public static Vector3 operator *(Vector3 left, Quaternion right)
{
var v = new Quaternion();
v.x = left.x;
v.y = left.y;
v.z = left.z;
v = right * v * right.Conjugate;
return new Vector3 { x = v.x, y = v.y, z = v.z };
}
/// <summary>
/// @brief 内積を取得する
/// </summary>
/// <param name="right">右辺</param>
/// <returns>計算結果</returns>
public float Dot(Quaternion right)
{
return x * right.x + y + right.y + z * right.z + w * right.w;
}
/// <summary>
/// @brief 球面線形補完する
/// </summary>
/// <param name="end">最終地点</param>
/// <param name="t">補完の早さ</param>
/// <returns></returns>
public Quaternion Slerp(Quaternion end, float t)
{
Quaternion left = Normalize();
Quaternion right = end.Normalize();
float len1 = left.Length;
float len2 = right.Length;
if (len1 == 0.0f || len2 == 0.0f)
{
return Quaternion.Identity;
}
float cos = left.Dot(right) / (len1 * len2);
if (cos >= 1.0f)
{
return this;
}
Quaternion ret = new Quaternion();
float w = (float)Math.Acos(cos);
float sin_w = (float)Math.Sin(w);
float sin_t_w = (float)Math.Sin(t * w);
float sin_inv_t_w = (float)Math.Sin((1.0f - t) * w);
float mult_q1 = sin_inv_t_w / sin_w;
float mult_q2 = sin_t_w / sin_w;
ret.x = mult_q1 * left.x + mult_q2 * right.x;
ret.y = mult_q1 * left.y + mult_q2 * right.y;
ret.z = mult_q1 * left.z + mult_q2 * right.z;
ret.w = mult_q1 * left.w + mult_q2 * right.w;
return ret;
}
/// <summary>
/// @brief ビットの移動
/// </summary>
private void Move()
{
if (Game.Instance.InputController.XController != null && !Game.Instance.InputController.XController.IsPullTrigger(Index == BitIndex.BIT_LEFT ? XGameController.Trigger.LEFT : XGameController.Trigger.RIGHT, 128))
{
return;
}
int dir = 0x0000;
var Direciton = new Vector3 { x = 1.0f, y = 0.0f, z = 0.0f };//右向きの基本ベクトル
float Clockwise = (float)Math.PI / 60;//曲げる分；
var b = new Quaternion(Position.LocalAxisZ, Angle);//Zziku Angle分回転する回転量
var c = Direciton * b;//Angle分回転した向きベクトル
var EightDirection = XGameController.StickDirection.NONE;
// コントローラーが接続されていない場合は判定しない
if (Game.Instance.InputController.XController != null)
{
EightDirection = Game.Instance.InputController.XController.GetStick8Direction(false, 10000);
}
if (EightDirection == XGameController.StickDirection.LEFTDOWN)
{//左下
dir |= 0x0110;
}
else if (EightDirection == XGameController.StickDirection.LEFTUP)
{//左上
dir |= 0x1100;
}
else if (EightDirection == XGameController.StickDirection.RIGHTDOWN)
{//右下
dir |= 0x0011;
}
else if (EightDirection == XGameController.StickDirection.RIGHTUP)
{//右上
dir |= 0x1001;
}
// 移動処理
if (DX.CheckHitKey(DX.KEY_INPUT_UP) == 1
|| EightDirection == XGameController.StickDirection.UP)
{
dir |= 0x1000;
var Purpose = new Vector3 { x = 0.0f, y = -1.0f, z = 0.0f };
var Cross = c.Cross(Purpose);
if (((Rot < 270 && Rot > 90) || ((Rot > 270 && Rot < 360) || (Rot >= 0 && Rot < 90))) ||
Rot == 270)
{
if (Cross.z >= 0)
{
Rot -= 3;
Clockwise = (float)Math.PI / 60;
}
else
{
Rot += 3;
Clockwise = -(float)Math.PI / 60;
}
if (Rot >= 360)//360度を越えたら
{
Rot -= 360;
}
if (Rot < 0)//-になったら
{
Rot += 360;
}
Position.LocalRotation *= new Quaternion(Vector3.AxisZ, Clockwise);
}
else
{
Rot = 90;
}
}
else if (DX.CheckHitKey(DX.KEY_INPUT_DOWN) == 1
|| EightDirection == XGameController.StickDirection.DOWN)
{
dir |= 0x0010;
var Purpose = new Vector3 { x = 0.0f, y = 1.0f, z = 0.0f };
var Cross = c.Cross(Purpose);
if (((Rot < 270 && Rot > 90) || ((Rot > 270 && Rot < 360) || (Rot >= 0 && Rot < 90))) ||
Rot == 90)
{
if (Cross.z >= 0)
{
Rot -= 3;
Clockwise = (float)Math.PI / 60;
}
else
{
Rot += 3;
Clockwise = -(float)Math.PI / 60;
}
if (Rot >= 360)//360度を越えたら
{
Rot -= 360;
}
if (Rot < 0)//-になったら
{
Rot += 360;
}
Position.LocalRotation *= new Quaternion(Vector3.AxisZ, Clockwise);
}
else
{
Rot = 270;
}
}
if (DX.CheckHitKey(DX.KEY_INPUT_LEFT) == 1
|| EightDirection == XGameController.StickDirection.LEFT)
{
dir |= 0x0100;
var Purpose = new Vector3 { x = -1.0f, y = 0.0f, z = 0.0f };
var Cross = c.Cross(Purpose);
if (((Rot > 180 && Rot < 360) || (Rot > 0 && Rot < 180)) || Rot == 0)
{
if (Cross.z <= 0)
{
Rot -= 3;
Clockwise = (float)Math.PI / 60;
}
else
{
Rot += 3;
Clockwise = -(float)Math.PI / 60;
}
if (Rot >= 360)//360度を越えたら
{
Rot -= 360;
}
if (Rot < 0)//-になったら
{
Rot += 360;
}
Position.LocalRotation *= new Quaternion(Vector3.AxisZ, Clockwise);
}
else
{
Rot = 180;
}
}
else if (DX.CheckHitKey(DX.KEY_INPUT_RIGHT) == 1
|| EightDirection == XGameController.StickDirection.RIGHT)
{
dir |= 0x0001;
var Purpose = new Vector3 { x = 1.0f, y = 0.0f, z = 0.0f };
var Cross = c.Cross(Purpose);
if (((Rot > 180 && Rot < 360) || (Rot > 0 && Rot < 180)) || Rot == 180)
{
if (Cross.z <= 0)
{
Rot -= 3;
Clockwise = (float)Math.PI / 60;
}
else
{
Rot += 3;
Clockwise = -(float)Math.PI / 60;
}
if (Rot >= 360)//360度を越えたら
{
Rot -= 360;
}
if (Rot < 0)//-になったら
{
Rot += 360;
}
Position.LocalRotation *= new Quaternion(Vector3.AxisZ, Clockwise);
}
else
{
Rot = 0;
}
}
float theta;
switch (dir)
{
case 0x0001: theta = 0.0f; break;
case 0x0011: theta = (float)Math.PI * 0.25f; break;
case 0x0010: theta = (float)Math.PI * 0.5f; break;
case 0x0110: theta = (float)Math.PI * 0.75f; break;
case 0x0100: theta = (float)Math.PI; break;
case 0x1100: theta = (float)Math.PI * 1.25f; break;
case 0x1000: theta = (float)Math.PI * 1.5f; break;
case 0x1001: theta = (float)Math.PI * 1.75f; break;
default: theta = -1.0f; break;
}
if (theta >= 0.0f)
{
Position.LocalPosition.x += (float)Math.Cos(theta) * Speed;
Position.LocalPosition.y += -(float)Math.Sin(theta) * Speed;
}
Angle = Rot * -(float)Math.PI / 180;
}
