protected Object3D()
{
position = new Vector3(0, 0, 0);
scale = 1;
rotation = new Quaternion(0, 0, 1, 0);
_id = IDManager.NewID;
}
Quaternion(ref Quaternion copy)
{
data = new float[4];
data[0] = copy.data[0];
data[1] = copy.data[1];
data[2] = copy.data[2];
data[3] = copy.data[3];
}
public Matrix(Vector3 position, Quaternion rotation, float scale)
{
throw new NotImplementedException();
}
public Vector3 transformVector(Vector3 vec)
{
Vector3 vn = new Vector3(ref vec);
vn.normalize();
Quaternion vecQuat = new Quaternion();
Quaternion resQuat = new Quaternion();
vecQuat.X = vn.X;
vecQuat.Y = vn.Y;
vecQuat.Z = vn.Z;
vecQuat.W = 0.0f;
resQuat = vecQuat * conjugate();
resQuat = this * resQuat;
return new Vector3(resQuat.X, resQuat.Y, resQuat.Z);
}
protected Vector3 getNext(float length, float angleClamp, Vector3 normal)
{
Vector3 rand = new Vector3((float)Util.r.NextDouble() * Util.r.NextSign(),
(float)Util.r.NextDouble() * Util.r.NextSign(),
(float)Util.r.NextDouble() * Util.r.NextSign());
rand = rand * length;
/*
Vector3 result;
Vector3 axis = rand.cross(normal);
float theta = (float)Math.Acos(rand.dot(normal));
theta = (theta > angleClamp) ? theta - (angleClamp * 2f) : theta;
Quaternion rot = new Quaternion(theta, axis.X, axis.Y, axis.Z);
result = rot.transformVector(rand);
theta = (float)(Util.r.NextDouble() * Math.PI * 2);
rot = new Quaternion(theta, normal.X, normal.Y, normal.Z);
result = rot.transformVector(result);
return result;
*/
Quaternion rot = new Quaternion(angleClamp, rand.X, rand.Y, rand.Z);
Vector3 result = rot.transformVector(normal);
return result;
}
