/// <summary>
/// 轴向旋转
/// </summary>
/// <param name="angle"></param>
/// <param name="axis"></param>
/// <returns></returns>
public static LQuaternion AngleAxis(LFloat angle, LVector3 axis)
{
axis = axis.normalized;
angle = angle * LMath.Deg2Rad;
LQuaternion q = new LQuaternion();
LFloat halfAngle = angle * LFloat.half;
LFloat s = LMath.Sin(halfAngle);
q.w = LMath.Cos(halfAngle);
q.x = s * axis.x;
q.y = s * axis.y;
q.z = s * axis.z;
return(q);
}
/// <summary>
/// 欧拉角转四元数
/// </summary>
/// <param name="x"></param>
/// <param name="y"></param>
/// <param name="z"></param>
/// <returns></returns>
public static LQuaternion Euler(LFloat x, LFloat y, LFloat z)
{
LFloat cX = LMath.Cos(x * LMath.PI / 360);
LFloat sX = LMath.Sin(x * LMath.PI / 360);
LFloat cY = LMath.Cos(y * LMath.PI / 360);
LFloat sY = LMath.Sin(y * LMath.PI / 360);
LFloat cZ = LMath.Cos(z * LMath.PI / 360);
LFloat sZ = LMath.Sin(z * LMath.PI / 360);
LQuaternion qX = new LQuaternion(sX, LFloat.zero, LFloat.zero, cX);
LQuaternion qY = new LQuaternion(LFloat.zero, sY, LFloat.zero, cY);
LQuaternion qZ = new LQuaternion(LFloat.zero, LFloat.zero, sZ, cZ);
LQuaternion q = (qY * qX) * qZ;
return(q);
}
static void TestLutCos()
{
TestLut((i) => i * 0.001f * Mathf.PI * 2 - Mathf.PI, (p) => Mathf.Cos(p), (p) => LMath.Cos(p.ToLFloat()));
}