public Versor(Versor other)
{
this.x = other.x;
this.y = other.y;
this.z = other.z;
this.w = other.w;
}
public Versor Lerp(Versor r, float t)
{
Versor q = new Versor(this);
float cos_half_tetha = q.Dot(r);
if (cos_half_tetha < 0.0f)
{
q = -q;
cos_half_tetha = q.Dot(r);
}
if ((float)Math.Abs(cos_half_tetha) >= 1.0f)
{
return(q);
}
float sin_half_theta = (float)Math.Sqrt(1.0f - cos_half_tetha * cos_half_tetha);
Versor result = new Versor();
if (Math.Abs(sin_half_theta) < 0.0001)
{
result = (1.0f - t) * q + t * r;
return(result);
}
float half_tetha = (float)Math.Acos(cos_half_tetha);
float a = (float)Math.Sin((1.0f - t) * half_tetha) / sin_half_theta;
float b = (float)Math.Sin(t * half_tetha) / sin_half_theta;
result = q * a + r * b;
return(result);
}
public static Versor operator *(Versor v1, Versor v2)
{
Versor res = new Versor();
res.x = v1.x * v2.x;
res.y = v1.y * v2.y;
res.z = v1.z * v2.z;
res.w = v1.w * v2.w;
return(res);
}
public static Versor operator *(float amt, Versor v2)
{
Versor res = new Versor();
res.x = amt * v2.x;
res.y = amt * v2.y;
res.z = amt * v2.z;
res.w = amt * v2.w;
return(res);
}
public static Versor operator *(Versor v1, float amt)
{
Versor res = new Versor();
res.x = v1.x * amt;
res.y = v1.y * amt;
res.z = v1.z * amt;
res.w = v1.w * amt;
return(res);
}
public static Versor operator -(Versor v1, Versor v2)
{
Versor res = new Versor();
res.x = v1.x - v2.x;
res.y = v1.y - v2.y;
res.z = v1.z - v2.z;
res.w = v1.z - v2.w;
return(res);
}
public static Versor operator +(Versor v1, Versor v2)
{
Versor res = new Versor();
res.x = v1.x + v2.x;
res.y = v1.y + v2.y;
res.z = v1.z + v2.z;
res.w = v1.w + v2.w;
return(res);
}
public Versor FromAngleAxis(float rad, Vector3 axis)
{
Versor res = new Versor();
res.x = (float)Math.Cos(rad / 2.0f);
res.y = (float)Math.Sin(rad / 2.0f) * axis.x;
res.z = (float)Math.Sin(rad / 2.0f) * axis.y;
res.w = (float)Math.Sin(rad / 2.0f) * axis.z;
return(res);
}
public Versor FromAngleAxis(float rad, float x, float y, float z)
{
Versor res = new Versor();
res.x = (float)Math.Cos(rad / 2.0f);
res.y = (float)Math.Sin(rad / 2.0f) * x;
res.z = (float)Math.Sin(rad / 2.0f) * y;
res.w = (float)Math.Sin(rad / 2.0) * z;
return(res);
}
public static Versor operator /(Versor v1, float amt)
{
Versor res = new Versor();
res.x = v1.x / amt;
res.y = v1.y / amt;
res.z = v1.z / amt;
res.w = v1.w / amt;
return(res);
}
public Versor Normalize()
{
float norm1;
float norm2;
Versor v = new Versor(this.x, this.y, this.z, w);
norm2 = v.x * v.x + v.y * v.y + v.z * v.z;
if (Math.Abs(1.0f - norm2) < 1e-6f)
{
return(v);
}
norm1 = (float)Math.Sqrt(norm2);
v.x /= norm1;
v.y /= norm1;
v.z /= norm1;
v.w /= norm1;
return(v);
}
public static Matrix44 FromQuaternion(Versor q)
{
float w = q.x;
float x = q.y;
float y = q.z;
float z = q.w;
Vector4[] v = new Vector4[4];
v[0] = new Vector4(1.0f - 2.0f * y * y - 2.0f * z * z,
2.0f * x * y + 2.0f * w * z, 2.0f * x * z - 2.0f * w * y, 0.0f);
v[1] = new Vector4(2.0f * x * y - 2.0f * w * z,
1.0f - 2.0f * x * x - 2.0f * z * z, 2.0f * y * z + 2.0f * w * x, 0.0f);
v[2] = new Vector4(2.0f * x * z + 2.0f * w * y, 2.0f * y * z - 2.0f * w * x,
1.0f - 2.0f * x * x - 2.0f * y * y, 0.0f);
v[3] = new Vector4(0.0f, 0.0f, 0.0f, 1.0f);
return(new Matrix44(v[0], v[1], v[2], v[3]));
}
public float Dot(Versor v2)
{
Versor v1 = new Versor(this);
return(v1.x * v2.x + v1.y * v2.y + v1.z * v2.z + v1.w * v2.w);
}
