//
// Resumen:
// Creates a rotation matrix.
public static MyMatrix4x4 Rotate(MyQuatern q)
{
// Manipulacion algebraica de p' = q*p*q^-1
// Cos(angulo/2) + Sin(angulo)(ijk)
// Vec3 angel = q.eulerAngles;
/*
* m00 = 1 - 2 * qy2 - 2 * qz2 | m01 = 2 * qx * qy - 2 * qz * qw | m02 = 2 * qx * qz + 2 * qy * qw
* m10 = 2 * qx * qy + 2 * qz * qw | m11 = 1 - 2 * qx2 - 2 * qz2 | m12 = 2 * qy * qz - 2 * qx * qw
* m20 = 2 * qx * qz - 2 * qy * qw | m21 = 2 * qy * qz + 2 * qx * qw | m22 = 1 - 2 * qx2 - 2 * qy2
*/
MyMatrix4x4 newM = MyMatrix4x4.identity;
newM.m00 = 1 - 2 * (q.y * q.y) - 2 * (q.z * q.z);
newM.m01 = 2 * q.x * q.y - 2 * q.z * q.w;
newM.m02 = 2 * q.x * q.z + 2 * q.y * q.w;
newM.m10 = 2 * q.x * q.y + 2 * q.z * q.w;
newM.m11 = 1 - 2 * (q.x * q.x) - 2 * (q.z * q.z);
newM.m12 = 2 * q.y * q.z - 2 * q.x * q.w;
newM.m20 = 2 * q.x * q.z - 2 * q.y * q.w;
newM.m21 = 2 * q.y * q.z + 2 * q.x * q.w;
newM.m22 = 1 - 2 * (q.x * q.x) - 2 * (q.y * q.y);
return(newM);
}
void FixedUpdate()
{
switch (ejercicio)
{
case Funciones.Uno:
Vector3Debugger.EnableEditorView("primero");
Vector3Debugger.DisableEditorView("segundo");
Vector3Debugger.DisableEditorView("tercero");
// ---------------
MyQuatern miQuat1 = MyQuatern.Euler(0, valor, 0);
ejer1 = (miQuat1 * new Vec3(ejer1));
// ---------------
Vector3Debugger.UpdatePosition("primero", ejer1);
break;
case Funciones.Dos:
Vector3Debugger.EnableEditorView("segundo");
Vector3Debugger.DisableEditorView("primero");
Vector3Debugger.DisableEditorView("tercero");
// ---------------
MyQuatern miQuat2 = MyQuatern.Euler(0, valor, 0);
ejer2[1] = (miQuat2 * new Vec3(ejer2[1]));
ejer2[2] = (miQuat2 * new Vec3(ejer2[2]));
ejer2[3] = (miQuat2 * new Vec3(ejer2[3]));
// ---------------
Vector3Debugger.UpdatePositionsSecuence("segundo", ejer2);
break;
case Funciones.Tres:
Vector3Debugger.EnableEditorView("tercero");
Vector3Debugger.DisableEditorView("primero");
Vector3Debugger.DisableEditorView("segundo");
// ---------------
MyQuatern miQuat3 = MyQuatern.Euler(valor * 1.5f, valor * 1.5f, 0);
ejer3[1] = (miQuat3 * new Vec3(ejer3[1]));
ejer3[3] = (MyQuatern.Inverse(miQuat3) * new Vec3(ejer3[3]));
// ---------------
Vector3Debugger.UpdatePositionsSecuence("tercero", ejer3);
break;
}
}
//
// Resumen:
// Creates a translation, rotation and scaling matrix.
public static MyMatrix4x4 TRS(Vec3 pos, MyQuatern q, Vec3 s)
{
MyMatrix4x4 translate = MyMatrix4x4.Translate(pos);
MyMatrix4x4 rotate = MyMatrix4x4.Rotate(q);
MyMatrix4x4 scale = MyMatrix4x4.Scale(s);
MyMatrix4x4 newM = translate * rotate * scale;
return(newM);
}
//
// Resumen:
// Sets this matrix to a translation, rotation and scaling matrix.
public void SetTRS(Vec3 pos, MyQuatern q, Vec3 s)
{
this = MyMatrix4x4.TRS(pos, q, s);
}
