public Fix64Vec3 EulerAngles()
{
Fix64 xDegree = Fix64.RadToDeg(GetXAngle());
Fix64 yDegree = Fix64.RadToDeg(GetYAngle());
Fix64 zDegree = Fix64.RadToDeg(GetZAngle());
return(new Fix64Vec3(xDegree, yDegree, zDegree));
}
//https://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/
public Fix64Vec3 EulerAngles1()
{
Fix64 sqw = w * w;
Fix64 sqx = x * x;
Fix64 sqy = y * y;
Fix64 sqz = z * z;
Fix64 unit = sqx + sqy + sqz + sqw; // if normalised is one, otherwise is correction factor
Fix64 test = x * y + z * w;
Fix64 _x = Fix64.zero;
Fix64 _y = Fix64.zero;
Fix64 _z = Fix64.zero;
Fix64 cutoff = Fix64.FromDivision(499, 1000) * unit;
_z = Fix64.Atan2((Fix64)2 * y * w - (Fix64)2 * x * z, sqx - sqy - sqz + sqw);
_y = Fix64.Asin((Fix64)2 * test / unit);
_x = Fix64.Atan2((Fix64)2 * x * w - (Fix64)2 * y * z, -sqx + sqy - sqz + sqw);
//if (test >= cutoff)
//{ // singularity at north pole
// _z = (Fix64)2 * Fix64.Atan2(x, w);
// _y = Fix64.halfPi;
// _x = Fix64.zero;
//}
//else if (test < -cutoff)
//{ // singularity at south pole
// _z = -(Fix64)2 * Fix64.Atan2(x, w);
// _y = -Fix64.halfPi;
// _x = Fix64.zero;
//}
//else
//{
// _z = Fix64.Atan2((Fix64)2 * y * w - (Fix64)2 * x * z, sqx - sqy - sqz + sqw);
// _y = Fix64.Asin((Fix64)2 * test / unit);
// _x = Fix64.Atan2((Fix64)2 * x * w - (Fix64)2 * y * z, -sqx + sqy - sqz + sqw);
//}
Fix64 xDegree = Fix64.RadToDeg(_x);
Fix64 yDegree = Fix64.RadToDeg(_y);
Fix64 zDegree = Fix64.RadToDeg(_z);
return(new Fix64Vec3(xDegree, zDegree, yDegree));
}
public bool Load(uint step)
{
bool result = _body2D.LoadSavedExport(step);
pTransform._internal_WriteTranform((Fix64Vec3)_body2D.position, new Fix64Vec3(Fix64.zero, Fix64.zero, Fix64.RadToDeg(_body2D.angle)));
return(result);
}
public void OnTransformUpdated()
{
pTransform._internal_WriteTranform((Fix64Vec3)_body2D.position, new Fix64Vec3(Fix64.zero, Fix64.zero, Fix64.RadToDeg(_body2D.angle)));
}
