public Quaternionf(Quaternionf copy) :
this(copy.X, copy.Y, copy.Z, copy.W)
{
}
public Quaternionf[] Unpack()
{
int bitIndex = 0;
int byteIndex = 0;
Quaternionf[] buffer = new Quaternionf[NumItems];
for (int i = 0; i < NumItems; i++)
{
int flags = 0;
int bitOffset = 0;
while (bitOffset < 3)
{
flags |= (Data[byteIndex] >> bitIndex) << bitOffset;
int read = Math.Min(3 - bitOffset, 8 - bitIndex);
bitIndex += read;
bitOffset += read;
if (bitIndex == 8)
{
byteIndex++;
bitIndex = 0;
}
}
flags &= 7;
float sum = 0;
Quaternionf quaternion = new Quaternionf();
for (int j = 0; j < 4; j++)
{
if ((flags & 3) != j)
{
int bitSize = ((flags & 3) + 1) % 4 == j ? 9 : 10;
float halfMaxValue = 0.5f * ((1 << bitSize) - 1);
int value = 0;
bitOffset = 0;
while (bitOffset < bitSize)
{
value |= (Data[byteIndex] >> bitIndex) << bitOffset;
int num = Math.Min(bitSize - bitOffset, 8 - bitIndex);
bitIndex += num;
bitOffset += num;
if (bitIndex == 8)
{
byteIndex++;
bitIndex = 0;
}
}
value &= (1 << bitSize) - 1;
// final value's range is [-1.0f : 1.0f]
quaternion[j] = value / halfMaxValue - 1.0f;
sum += quaternion[j] * quaternion[j];
}
}
int lastComponent = flags & 3;
quaternion[lastComponent] = (float)Math.Sqrt(1.0f - sum);
if ((flags & 4) != 0)
{
quaternion[lastComponent] = -quaternion[lastComponent];
}
buffer[i] = quaternion;
}
return buffer;
}