public static Matrix3D CreateFromQuaternion(Quaternion3D quaternion)
{
Matrix3D matrix = new Matrix3D();
double num9 = quaternion.X * quaternion.X;
double num8 = quaternion.Y * quaternion.Y;
double num7 = quaternion.Z * quaternion.Z;
double num6 = quaternion.X * quaternion.Y;
double num5 = quaternion.Z * quaternion.W;
double num4 = quaternion.Z * quaternion.X;
double num3 = quaternion.Y * quaternion.W;
double num2 = quaternion.Y * quaternion.Z;
double num = quaternion.X * quaternion.W;
matrix.M11 = 1f - (2f * (num8 + num7));
matrix.M12 = 2f * (num6 + num5);
matrix.M13 = 2f * (num4 - num3);
matrix.M14 = 0f;
matrix.M21 = 2f * (num6 - num5);
matrix.M22 = 1f - (2f * (num7 + num9));
matrix.M23 = 2f * (num2 + num);
matrix.M24 = 0f;
matrix.M31 = 2f * (num4 + num3);
matrix.M32 = 2f * (num2 - num);
matrix.M33 = 1f - (2f * (num8 + num9));
matrix.M34 = 0f;
matrix.OffsetX = 0f;
matrix.OffsetY = 0f;
matrix.OffsetZ = 0f;
matrix.M44 = 1f;
return(matrix);
}
/*
* public Quaternion3D(Vector3D axisOfRotation, double angleInDegrees)
* {
* angleInDegrees = angleInDegrees % 360.0F;
* double num2 = angleInDegrees * 0.017453292519943295F;
* double length = axisOfRotation.Length;
* if (length == 0.0)
* {
* throw new InvalidOperationException("error vector");
* }
* Vector3D vectord = (Vector3D)((axisOfRotation / length) * System.Math.Sin(0.5 * num2));
* this.X = vectord.X;
* this.Y = vectord.Y;
* this.Z = vectord.Z;
* this.W = System.Math.Cos(0.5 * num2);
* //this._isNotDistinguishedIdentity = true;
* }
*/
public static Quaternion3D CreateFromAxisAngle(Vector3D axis, double angle)
{
Quaternion3D quaternion = new Quaternion3D();
double num2 = angle * 0.5;
double num = System.Math.Sin(num2);
double num3 = System.Math.Cos(num2);
quaternion.X = axis.X * num;
quaternion.Y = axis.Y * num;
quaternion.Z = axis.Z * num;
quaternion.W = num3;
return(quaternion);
}
public static Quaternion3D operator *(Quaternion3D quaternion1, Quaternion3D quaternion2)
{
Quaternion3D quaternion = new Quaternion3D();
double x = quaternion1.X;
double y = quaternion1.Y;
double z = quaternion1.Z;
double w = quaternion1.W;
double num4 = quaternion2.X;
double num3 = quaternion2.Y;
double num2 = quaternion2.Z;
double num = quaternion2.W;
double num12 = (y * num2) - (z * num3);
double num11 = (z * num4) - (x * num2);
double num10 = (x * num3) - (y * num4);
double num9 = ((x * num4) + (y * num3)) + (z * num2);
quaternion.X = ((x * num) + (num4 * w)) + num12;
quaternion.Y = ((y * num) + (num3 * w)) + num11;
quaternion.Z = ((z * num) + (num2 * w)) + num10;
quaternion.W = (w * num) - num9;
return(quaternion);
}
static Quaternion3D()
{
_identity = new Quaternion3D(0, 0, 0, 1);
}
