public static void ConstructTransformFromMatrixWithDesiredScale(FMatrix aMatrix, FMatrix bMatrix,
FVector desiredScale, ref FTransform outTransform)
{
// the goal of using M is to get the correct orientation
// but for translation, we still need scale
var m = aMatrix * bMatrix;
m.RemoveScaling();
// apply negative scale back to axes
var signedScale = desiredScale.GetSignVector();
m.SetAxis(0, m.GetScaledAxis(EAxis.X) * signedScale.X);
m.SetAxis(1, m.GetScaledAxis(EAxis.Y) * signedScale.Y);
m.SetAxis(2, m.GetScaledAxis(EAxis.Z) * signedScale.Z);
// @note: if you have negative with 0 scale, this will return rotation that is identity
// since matrix loses that axes
var rotation = new FQuat(m);
rotation.Normalize();
// set values back to output
outTransform.Scale3D = desiredScale;
outTransform.Rotation = rotation;
// technically I could calculate this using FTransform but then it does more quat multiplication
// instead of using Scale in matrix multiplication
// it's a question of between RemoveScaling vs using FTransform to move translation
outTransform.Translation = m.GetOrigin();
}
public void Quat4()
{
FQuat fq = FQuat.Euler(( Fix64 )45, ( Fix64 )(-23), ( Fix64 )(-48.88));
FQuat fq2 = FQuat.Euler(( Fix64 )23, ( Fix64 )(-78), ( Fix64 )(-132.43f));
Quat q = Quat.Euler(45, -23, -48.88f);
Quat q2 = Quat.Euler(23, -78, -132.43f);
FVec3 fv = new FVec3(12.5f, 9, 8);
FVec3 fv2 = new FVec3(1, 0, 0);
Vec3 v = new Vec3(12.5f, 9, 8);
Vec3 v2 = new Vec3(1, 0, 0);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
this._output.WriteLine(fq2.ToString());
this._output.WriteLine(q2.ToString());
Fix64 fa = FQuat.Angle(fq, fq2);
float a = Quat.Angle(q, q2);
this._output.WriteLine(fa.ToString());
this._output.WriteLine(a.ToString());
fq = FQuat.AngleAxis(( Fix64 )(-123.324), fv);
q = Quat.AngleAxis(-123.324f, v);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fa = FQuat.Dot(fq, fq2);
a = Quat.Dot(q, q2);
this._output.WriteLine(fa.ToString());
this._output.WriteLine(a.ToString());
fq = FQuat.FromToRotation(FVec3.Normalize(fv), fv2);
q = Quat.FromToRotation(Vec3.Normalize(v), v2);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq = FQuat.Lerp(fq, fq2, ( Fix64 )0.66);
q = Quat.Lerp(q, q2, 0.66f);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq = FQuat.Normalize(fq);
q.Normalize();
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq.Inverse();
q = Quat.Inverse(q);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fv = FQuat.Orthogonal(fv);
v = Quat.Orthogonal(v);
this._output.WriteLine(fv.ToString());
this._output.WriteLine(v.ToString());
fq = FQuat.Slerp(fq, fq2, ( Fix64 )0.66);
q = Quat.Slerp(q, q2, 0.66f);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq = FQuat.LookRotation(FVec3.Normalize(fv), fv2);
q = Quat.LookRotation(Vec3.Normalize(v), v2);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq.ToAngleAxis(out fa, out fv);
q.ToAngleAxis(out a, out v);
this._output.WriteLine(fa.ToString());
this._output.WriteLine(a.ToString());
this._output.WriteLine(fv.ToString());
this._output.WriteLine(v.ToString());
fq = fq.Conjugate();
q = q.Conjugate();
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq.SetLookRotation(FVec3.Normalize(fv), fv2);
q.SetLookRotation(Vec3.Normalize(v), v2);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
}