public static bool CompressedQuaternionUnitTest()
{
var stream = new VRage.Library.Collections.BitStream();
stream.ResetWrite();
Quaternion q = Quaternion.Identity;
stream.WriteQuaternionNormCompressed(q);
stream.ResetRead();
var q2 = stream.ReadQuaternionNormCompressed();
bool fail = !q.Equals(q2, 1 / 511.0f);
stream.ResetWrite();
q = Quaternion.CreateFromAxisAngle(Vector3.Forward, (float)Math.PI / 3.0f);
stream.WriteQuaternionNormCompressed(q);
stream.ResetRead();
q2 = stream.ReadQuaternionNormCompressed();
fail |= !q.Equals(q2, 1 / 511.0f);
stream.ResetWrite();
var v = new Vector3(1, -1, 3);
v.Normalize();
q = Quaternion.CreateFromAxisAngle(v, (float)Math.PI / 3.0f);
stream.WriteQuaternionNormCompressed(q);
stream.ResetRead();
q2 = stream.ReadQuaternionNormCompressed();
fail |= !q.Equals(q2, 1 / 511.0f);
return(fail);
}
void WriteTransform(BitStream stream, MyEntity entity, Vector3D? deltaPosBase, bool lowPrecisionOrientation)
{
var matrix = entity.WorldMatrix;
stream.WriteBool(deltaPosBase == null);
if (deltaPosBase == null)
{
stream.Write(matrix.Translation); // 24 B
}
else
{
stream.Write((Vector3)(matrix.Translation - deltaPosBase.Value)); // 6 B
}
var orientation = Quaternion.CreateFromForwardUp(matrix.Forward, matrix.Up);
stream.WriteBool(lowPrecisionOrientation);
if (lowPrecisionOrientation)
{
stream.WriteQuaternionNormCompressed(orientation); // 29b
}
else
{
stream.WriteQuaternionNorm(orientation); // 52b
}
}
