public void ToMatrix(out Matrix result)
{
var q = Quaternion.FromVector4(Orientation.ToVector4());
Matrix.CreateFromQuaternion(ref q, out result);
result.Translation = Position;
}
public MatrixD GetWorldMatrix()
{
Vector4 oriV4 = Orientation.ToVector4();
Quaternion quat = new Quaternion(oriV4.X, oriV4.Y, oriV4.Z, oriV4.W);
quat.Normalize();
Matrix m = Matrix.CreateFromQuaternion(quat);
m.Translation = Position;
return(m);
}
static public Vector3 UnpackPosition(ref HalfVector4 position)
{
Vector4 unpacked = position.ToVector4();
return(unpacked.W * new Vector3(unpacked.X, unpacked.Y, unpacked.Z));
}
static public Vector3 UnpackPosition(ref HalfVector4 position)
{
Vector4 unpacked = position.ToVector4();
return unpacked.W * new Vector3(unpacked.X, unpacked.Y, unpacked.Z);
}
public static Vector3 Xyz(this HalfVector4 vec3)
{
return(vec3.ToVector4().Xyz());
}