public Quaternion(Vec3 right, Vec3 forward, Vec3 up)
{
float s, p, tr = right.x + forward.y + up.z;
_w = 1;
_v = new Vector3();
if (tr > 0)
{
s = (float)Math.Sqrt(tr + 1.0f);
p = 0.5f / s;
_w = s * 0.5f;
_v.x = (forward.z - up.y) * p;
_v.y = (up.x - right.z) * p;
_v.z = (right.y - forward.x) * p;
}
else if ((right.x >= forward.y) && (right.x >= up.z))
{
s = (float)Math.Sqrt(right.x - forward.y - up.z + 1.0f);
p = 0.5f / s;
_w = (forward.z - up.y) * p;
_v.x = s * 0.5f;
_v.y = (right.y + forward.x) * p;
_v.z = (right.z + up.x) * p;
}
else if ((forward.y >= right.x) && (forward.y >= up.z))
{
s = (float)Math.Sqrt(forward.y - up.z - right.x + 1.0f);
p = 0.5f / s;
_w = (up.x - right.z) * p;
_v.x = (forward.x + right.y) * p;
_v.y = s * 0.5f;
_v.z = (forward.z + up.y) * p;
}
else if ((up.z >= right.x) && (up.z >= forward.y))
{
s = (float)Math.Sqrt(up.z - right.x - forward.y + 1.0f);
p = 0.5f / s;
_w = (right.y - forward.x) * p;
_v.x = (up.x + right.z) * p;
_v.y = (up.y + forward.z) * p;
_v.z = s * 0.5f;
}
}
public Object_Type1(BinaryReader br, string[] filePathsCollection)
{
filesPaths = filePathsCollection;
/////////////////////////
vector1.X = (float)br.ReadDouble();
vector1.Y = (float)br.ReadDouble();
vector1.Z = (float)br.ReadDouble();
vector2.X = (float)br.ReadDouble();
vector2.Y = (float)br.ReadDouble();
vector2.Z = (float)br.ReadDouble();
br.ReadUInt32();
br.ReadUInt32();
id = br.ReadInt16();
temp1 = br.ReadUInt16();
rotMatrix34.m00 = (float)br.ReadDouble();
rotMatrix34.m01 = (float)br.ReadDouble();
rotMatrix34.m02 = (float)br.ReadDouble();
rotMatrix34.m03 = (float)br.ReadDouble();
rotMatrix34.m10 = (float)br.ReadDouble();
rotMatrix34.m11 = (float)br.ReadDouble();
rotMatrix34.m12 = (float)br.ReadDouble();
rotMatrix34.m13 = (float)br.ReadDouble();
rotMatrix34.m20 = (float)br.ReadDouble();
rotMatrix34.m21 = (float)br.ReadDouble();
rotMatrix34.m22 = (float)br.ReadDouble();
rotMatrix34.m23 = (float)br.ReadDouble();
br.BaseStream.Position = br.BaseStream.Position + 16;
//////////////////////////
pos = rotMatrix34.GetTranslation();
scale = rotMatrix34.GetScale();
rotMatrix34.DescaleRotation();
quaternion = new Quaternion(rotMatrix34);
//quaternion = quaternion * new Quaternion(-0.7071f, 0, 0, 0.7071f);
//quaternion = new Quaternion(quaternion.x, quaternion.z, (-1)*quaternion.y, quaternion.w);
//quaternion = quaternion.Normalized;
rotation.x = quaternion.x;
rotation.y = quaternion.y;
rotation.z = quaternion.z;
rotation.w = quaternion.w;
path = GetFilePath(id);
}
