public void TestAsQuaternion()
{
var twist = new Twist(0.4f);
var swing = new Swing(0.2f, 0.3f);
var twistSwing = new TwistSwing(twist, swing);
MathAssert.AreEqual(
twist.AsQuaternion(CartesianAxis.X).Chain(swing.AsQuaternion(CartesianAxis.X)),
twistSwing.AsQuaternion(CartesianAxis.X),
Acc);
MathAssert.AreEqual(
twist.AsQuaternion(CartesianAxis.X).Chain(swing.AsQuaternion(CartesianAxis.X)),
twistSwing.AsQuaternion(CartesianAxis.X),
Acc);
MathAssert.AreEqual(
twist.AsQuaternion(CartesianAxis.X).Chain(swing.AsQuaternion(CartesianAxis.X)),
twistSwing.AsQuaternion(CartesianAxis.X),
Acc);
MathAssert.AreEqual(
twist.AsQuaternion(CartesianAxis.X).Chain(swing.AsQuaternion(CartesianAxis.X)),
twistSwing.AsQuaternion(CartesianAxis.X),
Acc);
}
public Quaternion GetRotation(ChannelOutputs outputs)
{
OrientationSpace orientationSpace = GetOrientationSpace(outputs);
Vector3 rotationAngles = Rotation.GetValue(outputs);
TwistSwing rotationTwistSwing = RotationOrder.FromTwistSwingAngles(MathExtensions.DegreesToRadians(rotationAngles));
rotationTwistSwing = RotationConstraint.Clamp(rotationTwistSwing);
Quaternion orientedSpaceRotation = rotationTwistSwing.AsQuaternion(RotationOrder.TwistAxis);
Quaternion worldSpaceRotation = orientationSpace.TransformFromOrientedSpace(orientedSpaceRotation);
return(worldSpaceRotation);
}