public Transform(Quaternion Rotation)
{
this.Offset = new Vector(0.0, 0.0, 0.0);
this.VelocityOffset = new Vector(0.0, 0.0, 0.0);
this.Rotation = Rotation;
}
public Transform(Vector Offset, Vector VelocityOffset, Quaternion Rotation)
{
this.Offset = Offset;
this.VelocityOffset = VelocityOffset;
this.Rotation = Rotation;
}
public Transform(Vector Offset)
{
this.Offset = Offset;
this.VelocityOffset = new Vector(0.0, 0.0, 0.0);
this.Rotation = Quaternion.Identity;
}
/// <summary>
/// Applies a rotation created by a quaternion to this axis-angle rotation.
/// </summary>
public AxisAngle Apply(Quaternion Rotation)
{
return new AxisAngle(Rotation.Rotate(this.Axis), Angle);
}
/// <summary>
/// Applies the rotation represented by this quaternion to another.
/// </summary>
public Quaternion ApplyTo(Quaternion Other)
{
return Quaternion.Normalize(this * Other);
}
/// <summary>
/// Applies a rotation to this quaternion.
/// </summary>
public Quaternion Apply(Quaternion Other)
{
return Quaternion.Normalize(Other * this);
}
/// <summary>
/// Normalizes the specified quaternion.
/// </summary>
public static Quaternion Normalize(Quaternion A)
{
A.Normalize();
return A;
}
public static Quaternion operator *(Quaternion A, Quaternion B)
{
Quaternion q = new Quaternion(
A.A * B.A - A.B * B.B - A.C * B.C - A.D * B.D,
A.A * B.B + A.B * B.A + A.C * B.D - A.D * B.C,
A.A * B.C - A.B * B.D + A.C * B.A + A.D * B.B,
A.A * B.D + A.B * B.C - A.C * B.B + A.D * B.A);
return q;
}