public static FMat4 View(FVec3 position, FVec3 lookAt, FVec3 upVector)
{
FVec3 forward = FVec3.Normalize(lookAt - position);
FVec3 xVec = FVec3.Normalize(forward.Cross(upVector));
upVector = xVec.Cross(forward);
FMat4 result;
result.x.x = xVec.x;
result.x.y = xVec.y;
result.x.z = xVec.z;
result.x.w = position.Dot(-xVec);
result.y.x = upVector.x;
result.y.y = upVector.y;
result.y.z = upVector.z;
result.y.w = position.Dot(-upVector);
result.z.x = -forward.x;
result.z.y = -forward.y;
result.z.z = -forward.z;
result.z.w = position.Dot(forward);
result.w.x = Fix64.Zero;
result.w.y = Fix64.Zero;
result.w.z = Fix64.Zero;
result.w.w = Fix64.One;
return(result);
}
public static FMat3 LookAt(FVec3 forward, FVec3 up)
{
FVec3 z = FVec3.Normalize(forward);
FVec3 x = FVec3.Normalize(up.Cross(z));
FVec3 y = z.Cross(x);
return(new FMat3(x, y, z));
}
public static Sphere Merge(Sphere bs1, Sphere bs2)
{
FVec3 deltaVec = bs1.Center - bs2.Center;
float dist = deltaVec.Length;
float tworadius = dist + bs1.Radius + bs2.Radius;
float radius = tworadius / 2;
deltaVec.Normalize();
FVec3 startPt = bs1.Center - (deltaVec * bs1.Radius);
FVec3 center = startPt + deltaVec * radius;
return(new Sphere(center, radius));
}
public void Vector()
{
FVec3 fv = new FVec3(12.5f, 9, 8);
FVec3 fv2 = new FVec3(4, 6, 9);
Vec3 v = new Vec3(12.5f, 9, 8);
Vec3 v2 = new Vec3(4, 6, 9);
this._output.WriteLine((fv * fv2).ToString());
this._output.WriteLine((v * v2).ToString());
fv += fv2;
v += v2;
this._output.WriteLine(fv.ToString());
this._output.WriteLine(v.ToString());
this._output.WriteLine((fv - fv2).ToString());
this._output.WriteLine((v - v2).ToString());
this._output.WriteLine(fv.Dot(fv2).ToString());
this._output.WriteLine(v.Dot(v2).ToString());
this._output.WriteLine(fv.Cross(fv2).ToString());
this._output.WriteLine(v.Cross(v2).ToString());
this._output.WriteLine(FVec3.Normalize(fv).ToString());
this._output.WriteLine(Vec3.Normalize(v).ToString());
this._output.WriteLine(FVec3.Slerp(fv, fv2, ( Fix64 )0.45678).ToString());
this._output.WriteLine(Vec3.Slerp(v, v2, 0.45678f).ToString());
}
public void Quat4()
{
FQuat fq = FQuat.Euler(( Fix64 )45, ( Fix64 )(-23), ( Fix64 )(-48.88));
FQuat fq2 = FQuat.Euler(( Fix64 )23, ( Fix64 )(-78), ( Fix64 )(-132.43f));
Quat q = Quat.Euler(45, -23, -48.88f);
Quat q2 = Quat.Euler(23, -78, -132.43f);
FVec3 fv = new FVec3(12.5f, 9, 8);
FVec3 fv2 = new FVec3(1, 0, 0);
Vec3 v = new Vec3(12.5f, 9, 8);
Vec3 v2 = new Vec3(1, 0, 0);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
this._output.WriteLine(fq2.ToString());
this._output.WriteLine(q2.ToString());
Fix64 fa = FQuat.Angle(fq, fq2);
float a = Quat.Angle(q, q2);
this._output.WriteLine(fa.ToString());
this._output.WriteLine(a.ToString());
fq = FQuat.AngleAxis(( Fix64 )(-123.324), fv);
q = Quat.AngleAxis(-123.324f, v);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fa = FQuat.Dot(fq, fq2);
a = Quat.Dot(q, q2);
this._output.WriteLine(fa.ToString());
this._output.WriteLine(a.ToString());
fq = FQuat.FromToRotation(FVec3.Normalize(fv), fv2);
q = Quat.FromToRotation(Vec3.Normalize(v), v2);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq = FQuat.Lerp(fq, fq2, ( Fix64 )0.66);
q = Quat.Lerp(q, q2, 0.66f);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq = FQuat.Normalize(fq);
q.Normalize();
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq.Inverse();
q = Quat.Inverse(q);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fv = FQuat.Orthogonal(fv);
v = Quat.Orthogonal(v);
this._output.WriteLine(fv.ToString());
this._output.WriteLine(v.ToString());
fq = FQuat.Slerp(fq, fq2, ( Fix64 )0.66);
q = Quat.Slerp(q, q2, 0.66f);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq = FQuat.LookRotation(FVec3.Normalize(fv), fv2);
q = Quat.LookRotation(Vec3.Normalize(v), v2);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq.ToAngleAxis(out fa, out fv);
q.ToAngleAxis(out a, out v);
this._output.WriteLine(fa.ToString());
this._output.WriteLine(a.ToString());
this._output.WriteLine(fv.ToString());
this._output.WriteLine(v.ToString());
fq = fq.Conjugate();
q = q.Conjugate();
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq.SetLookRotation(FVec3.Normalize(fv), fv2);
q.SetLookRotation(Vec3.Normalize(v), v2);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
}
public FRay(FVec3 origin, FVec3 direction)
{
this.origin = origin;
this.direction = FVec3.Normalize(direction);
}