public Euler Copy(Euler euler)
{
this._x = euler._x;
this._y = euler._y;
this._z = euler._z;
this._order = euler._order;
this.OnChangeCallback();
return(this);
}
public Vector3 ApplyEuler(Euler euler)
{
var quaternion = new Quaternion();
return(this.ApplyQuaternion(quaternion.SetFromEuler(euler)));
}
public Quaternion SetFromEuler(Euler euler, bool update = false)
{
double x = euler._x, y = euler._y, z = euler._z;
string order = euler._order;
// http://www.mathworks.com/matlabcentral/fileexchange/
// 20696-function-to-convert-between-dcm-euler-angles-quaternions-and-euler-vectors/
// content/SpinCalc.m
var c1 = _Math.Cos(x / 2);
var c2 = _Math.Cos(y / 2);
var c3 = _Math.Cos(z / 2);
var s1 = _Math.Sin(x / 2);
var s2 = _Math.Sin(y / 2);
var s3 = _Math.Sin(z / 2);
if (order == "XYZ")
{
this._x = s1 * c2 * c3 + c1 * s2 * s3;
this._y = c1 * s2 * c3 - s1 * c2 * s3;
this._z = c1 * c2 * s3 + s1 * s2 * c3;
this._w = c1 * c2 * c3 - s1 * s2 * s3;
}
else if (order == "YXZ")
{
this._x = s1 * c2 * c3 + c1 * s2 * s3;
this._y = c1 * s2 * c3 - s1 * c2 * s3;
this._z = c1 * c2 * s3 - s1 * s2 * c3;
this._w = c1 * c2 * c3 + s1 * s2 * s3;
}
else if (order == "ZXY")
{
this._x = s1 * c2 * c3 - c1 * s2 * s3;
this._y = c1 * s2 * c3 + s1 * c2 * s3;
this._z = c1 * c2 * s3 + s1 * s2 * c3;
this._w = c1 * c2 * c3 - s1 * s2 * s3;
}
else if (order == "ZYX")
{
this._x = s1 * c2 * c3 - c1 * s2 * s3;
this._y = c1 * s2 * c3 + s1 * c2 * s3;
this._z = c1 * c2 * s3 - s1 * s2 * c3;
this._w = c1 * c2 * c3 + s1 * s2 * s3;
}
else if (order == "YZX")
{
this._x = s1 * c2 * c3 + c1 * s2 * s3;
this._y = c1 * s2 * c3 + s1 * c2 * s3;
this._z = c1 * c2 * s3 - s1 * s2 * c3;
this._w = c1 * c2 * c3 - s1 * s2 * s3;
}
else if (order == "XZY")
{
this._x = s1 * c2 * c3 - c1 * s2 * s3;
this._y = c1 * s2 * c3 - s1 * c2 * s3;
this._z = c1 * c2 * s3 + s1 * s2 * c3;
this._w = c1 * c2 * c3 + s1 * s2 * s3;
}
if (update != false)
{
this.OnChangeCallback();
}
return(this);
}
public bool Equals(Euler euler)
{
return(euler._x == this._x && euler._y == this._y && euler._z == this._z && euler._order == this._order);
}
public Matrix4 MakeRotationFromEuler(Euler euler)
{
var te = this.elements;
double x = euler._x, y = euler._y, z = euler._z;
double a = _Math.Cos(x), b = _Math.Sin(x);
double c = _Math.Cos(y), d = _Math.Sin(y);
double e = _Math.Cos(z), f = _Math.Sin(z);
if (euler._order == "XYZ")
{
double ae = a * e, af = a * f, be = b * e, bf = b * f;
te[0] = c * e;
te[4] = -c * f;
te[8] = d;
te[1] = af + be * d;
te[5] = ae - bf * d;
te[9] = -b * c;
te[2] = bf - ae * d;
te[6] = be + af * d;
te[10] = a * c;
}
else if (euler._order == "YXZ")
{
double ce = c * e, cf = c * f, de = d * e, df = d * f;
te[0] = ce + df * b;
te[4] = de * b - cf;
te[8] = a * d;
te[1] = a * f;
te[5] = a * e;
te[9] = -b;
te[2] = cf * b - de;
te[6] = df + ce * b;
te[10] = a * c;
}
else if (euler._order == "ZXY")
{
double ce = c * e, cf = c * f, de = d * e, df = d * f;
te[0] = ce - df * b;
te[4] = -a * f;
te[8] = de + cf * b;
te[1] = cf + de * b;
te[5] = a * e;
te[9] = df - ce * b;
te[2] = -a * d;
te[6] = b;
te[10] = a * c;
}
else if (euler._order == "ZYX")
{
double ae = a * e, af = a * f, be = b * e, bf = b * f;
te[0] = c * e;
te[4] = be * d - af;
te[8] = ae * d + bf;
te[1] = c * f;
te[5] = bf * d + ae;
te[9] = af * d - be;
te[2] = -d;
te[6] = b * c;
te[10] = a * c;
}
else if (euler._order == "YZX")
{
double ac = a * c, ad = a * d, bc = b * c, bd = b * d;
te[0] = c * e;
te[4] = bd - ac * f;
te[8] = bc * f + ad;
te[1] = f;
te[5] = a * e;
te[9] = -b * e;
te[2] = -d * e;
te[6] = ad * f + bc;
te[10] = ac - bd * f;
}
else if (euler._order == "XZY")
{
double ac = a * c, ad = a * d, bc = b * c, bd = b * d;
te[0] = c * e;
te[4] = -f;
te[8] = d * e;
te[1] = ac * f + bd;
te[5] = a * e;
te[9] = ad * f - bc;
te[2] = bc * f - ad;
te[6] = b * e;
te[10] = bd * f + ac;
}
// bottom row
te[3] = 0;
te[7] = 0;
te[11] = 0;
// last column
te[12] = 0;
te[13] = 0;
te[14] = 0;
te[15] = 1;
return(this);
}
