public static void Test()
{
Debug.Log("IsLittleEndian " + BitConverter.IsLittleEndian);
Debug.Log(FixPointMathTest.ConvertFloatToBinStr(1f));
Debug.Log(FixPointMathTest.ConvertFloatToBinStr(17.625f));
Debug.Log(FixPointMath.SqrtOld(new FloatL(0.955d)));
Debug.Log(Mathf.Sqrt(0.955f));
Debug.Log(FixPointMath.Sqrt(new FloatL(0.955d)));
Vector3L dir = new Vector3L(-0.093d, -0.093d, 0.988d);
FloatL angle1 = Vector3L_Angle(Vector3L.forward, dir);
float angle2 = Vector3_Angle(Vector3.forward, dir.Convert());
Debug.Log("angle1 " + angle1 + " angle2 " + angle2);
Debug.Log("sin 10 " + Mathf.Sin(10 * Mathf.Deg2Rad));
Debug.Log("sinL 10 " + FixPointMath.Sin(10 * Mathf.Deg2Rad));
Debug.Log("cos 10 " + Mathf.Cos(10 * Mathf.Deg2Rad));
Debug.Log("cosL 10 " + FixPointMath.Cos(10 * Mathf.Deg2Rad));
Debug.Log("acos 0.1 " + Mathf.Acos(0.1f));
Debug.Log("acosL 0.1 " + FixPointMath.Acos(0.1f));
Debug.Log("atan2 3/2 " + Mathf.Atan2(3, 2));
Debug.Log("atan2L 3/2 " + FixPointMath.Atan2(3, 2));
Debug.Log("asin 0.6 " + Mathf.Asin(0.6f));
Debug.Log("asinL 0.6 " + FixPointMath.Asin(0.6f));
}
public static QuaternionL LookRotation(Vector3L forward, Vector3L up)
{
forward = Vector3L.Normalize(forward);
Vector3L right = Vector3L.Normalize(Vector3L.Cross(up, forward));
up = Vector3L.Cross(forward, right);
FloatL m00 = right.x;
FloatL m01 = right.y;
FloatL m02 = right.z;
FloatL m10 = up.x;
FloatL m11 = up.y;
FloatL m12 = up.z;
FloatL m20 = forward.x;
FloatL m21 = forward.y;
FloatL m22 = forward.z;
FloatL num8 = (m00 + m11) + m22;
QuaternionL quaternion = new QuaternionL();
if (num8 > 0f)
{
FloatL num = FixPointMath.Sqrt(num8 + 1f);
quaternion.w = num * 0.5f;
num = 0.5f / num;
quaternion.x = (m12 - m21) * num;
quaternion.y = (m20 - m02) * num;
quaternion.z = (m01 - m10) * num;
return(quaternion);
}
if ((m00 >= m11) && (m00 >= m22))
{
FloatL num7 = FixPointMath.Sqrt(((1f + m00) - m11) - m22);
FloatL num4 = 0.5f / num7;
quaternion.x = 0.5f * num7;
quaternion.y = (m01 + m10) * num4;
quaternion.z = (m02 + m20) * num4;
quaternion.w = (m12 - m21) * num4;
return(quaternion);
}
if (m11 > m22)
{
FloatL num6 = FixPointMath.Sqrt(((1f + m11) - m00) - m22);
FloatL num3 = 0.5f / num6;
quaternion.x = (m10 + m01) * num3;
quaternion.y = 0.5f * num6;
quaternion.z = (m21 + m12) * num3;
quaternion.w = (m20 - m02) * num3;
return(quaternion);
}
FloatL num5 = FixPointMath.Sqrt(((1f + m22) - m00) - m11);
FloatL num2 = 0.5f / num5;
quaternion.x = (m20 + m02) * num2;
quaternion.y = (m21 + m12) * num2;
quaternion.z = 0.5f * num5;
quaternion.w = (m01 - m10) * num2;
return(quaternion);
}
static void ToAxisAngleRad(QuaternionL q, out Vector3L axis, out FloatL angle)
{
if (FixPointMath.Abs(q.w) > 1.0f)
{
q.Normalize();
}
angle = 2.0f * FixPointMath.Acos(q.w); // angle
FloatL den = FixPointMath.Sqrt(1.0f - q.w * q.w);
if (den > 0.0001f)
{
axis = q.xyz / den;
}
else
{
// This occurs when the angle is zero.
// Not a problem: just set an arbitrary normalized axis.
axis = new Vector3L(1, 0, 0);
}
}
public static FloatL Magnitude(Vector3L a)
{
return(FixPointMath.Sqrt(a.x * a.x + a.y * a.y + a.z * a.z));
}
public static FloatL Distance(Vector3L a, Vector3L b)
{
Vector3L vector = new Vector3L(a.x - b.x, a.y - b.y, a.z - b.z);
return(FixPointMath.Sqrt(vector.x * vector.x + vector.y * vector.y + vector.z * vector.z));
}
public static FloatL Magnitude(Vector4L a)
{
return(FixPointMath.Sqrt(Vector4L.Dot(a, a)));
}
