public void SetPitchYaw(float pitch, float yaw)
{
Math.Quaternion yawq = Math.Quaternion.FromAxis(Math.Vector3.Up, yaw);
Math.Quaternion pitchq = Math.Quaternion.FromAxis(Math.Vector3.Left, pitch);
_orientation = yawq * pitchq;
}
public void AdjustPitch(float radians)
{
const float maxPitch = (float)System.Math.PI * 0.49f;
const float minPitch = (float)System.Math.PI * -0.49f;
//Math.Vector3 right = _orientation * Math.Vector3.Right;
Math.Quaternion rotation = Math.Quaternion.FromAxis(Math.Vector3.Right, radians);
_orientation = _orientation * rotation;
}
public FrameTransformation(float[] matrix43)
{
_original.M11 = matrix43[0];
_original.M12 = matrix43[1];
_original.M13 = matrix43[2];
_original.M14 = 0;
_original.M21 = matrix43[3];
_original.M22 = matrix43[4];
_original.M23 = matrix43[5];
_original.M24 = 0;
_original.M31 = matrix43[6];
_original.M32 = matrix43[7];
_original.M33 = matrix43[8];
_original.M34 = 0;
_original.M41 = matrix43[9];
_original.M42 = matrix43[10];
_original.M43 = matrix43[11];
_original.M44 = 1.0f;
// TODO: scale
_scale = Math.Vector3.One;
_scale.X = (float)System.Math.Sqrt(
matrix43[0 * 3 + 0] * matrix43[0 * 3 + 0] +
matrix43[0 * 3 + 1] * matrix43[0 * 3 + 1] +
matrix43[0 * 3 + 2] * matrix43[0 * 3 + 2]);
_scale.Y = (float)System.Math.Sqrt(
matrix43[1 * 3 + 0] * matrix43[1 * 3 + 0] +
matrix43[1 * 3 + 1] * matrix43[1 * 3 + 1] +
matrix43[1 * 3 + 2] * matrix43[1 * 3 + 2]);
_scale.Z = (float)System.Math.Sqrt(
matrix43[2 * 3 + 0] * matrix43[2 * 3 + 0] +
matrix43[2 * 3 + 1] * matrix43[2 * 3 + 1] +
matrix43[2 * 3 + 2] * matrix43[2 * 3 + 2]);
// translation
_translation.X = matrix43[3 * 3 + 0];
_translation.Y = matrix43[3 * 3 + 1];
_translation.Z = matrix43[3 * 3 + 2];
// TODO: rotation
_rotation = Math.Quaternion.FromAxis(Math.Vector3.Up, 0);
}
public void AdjustYaw(float radians)
{
Math.Quaternion rotation = Math.Quaternion.FromAxis(Math.Vector3.Up, radians);
_orientation = rotation * _orientation;
}
