/// <summary>
/// Inverts quaternion
/// </summary>
/// <returns>
/// inverted quaternion
/// </returns>
public JsValue QuatInv(CpuBlock c, JsValue thizArg, JsValue[] x)
{
var thiz = ((ObjectInstance)thizArg);
var q1 = BlockUtils.ToQuat(thiz);
return(BlockUtils.Quat2Obj(c, Quaternion.Inverse(q1)));
}
/// <summary>
/// Multiply quaternion with either another quaternion or a 3d vector.
/// </summary>
/// <returns>
/// Vector if second argument is vector and quaternion if second argument is quaternion
/// </returns>
public JsValue QuatMult(CpuBlock c, JsValue thizArg, JsValue[] x)
{
if (x.Length < 1)
{
throw new Exception("Invalid value");
}
var q1obj = ((ObjectInstance)thizArg);
var q2obj = ((ObjectInstance)x[0]);
var q1 = BlockUtils.ToQuat(q1obj);
if (q2obj.HasProperty("w"))
{
var q2 = BlockUtils.ToQuat(q2obj);
return(BlockUtils.Quat2Obj(c, q1 * q2));
}
else
{
var v = BlockUtils.ToVector3(q2obj);
return(BlockUtils.Vec2Obj(c, q1 * v));
}
}