// Linear Interpolation between two points
// Implementation adapted from: http://www.blueraja.com/blog/404/how-to-use-unity-3ds-linear-interpolation-vector3-lerp-correctly#comment-23334
static public Mathd.Vector3 Lerp(Mathd.Vector3 start, Mathd.Vector3 end, float t)
{
// Ensure requested distance along interpolation is between 0 and 1
t = UnityEngine.Mathf.Clamp01(t);
// Method guarantees the return will equal the end position when t = 1
return(new Mathd.Vector3((1 - t) * start) + (t * end));
}
public Quaternion(UnityEngine.Quaternion quat)
{
vector_ = new Mathd.Vector3();
scalar_ = quat.w;
vector_.x = quat.x;
vector_.y = quat.y;
vector_.z = quat.z;
}
// CONSRUCTORS //
public Quaternion(float w, float x, float y, float z)
{
vector_ = new Mathd.Vector3();
scalar_ = w;
vector_.x = x;
vector_.y = y;
vector_.z = z;
}
// This is the one to use for building a transform
// Based on example from: http://wscg.zcu.cz/wscg2012/short/A29-full.pdf
public DualQuaternion(Mathd.Vector3 position, Mathd.Quaternion rotation)
{
real = rotation.normalised;
dual = 0.5f * (new Mathd.Quaternion(0, position) * real);
}
public Quaternion(float w, Mathd.Vector3 xyz)
{
scalar_ = w;
vector_ = xyz;
}
// Distance between two points
static public float Distance(Mathd.Vector3 start, Mathd.Vector3 end)
{
return(new Mathd.Vector3(end - start).magnitude);
}
// Cross Product (Left handed)
// Normal to the plane defined by the two vectors
// Has length = to the area of the parallelogram formed by the two vectors
static public Mathd.Vector3 CrossProduct(Mathd.Vector3 lhs, Mathd.Vector3 rhs)
{
return(new Mathd.Vector3((lhs.y * rhs.z) - (lhs.z * rhs.y),
(lhs.z * rhs.x) - (lhs.x * rhs.z),
(lhs.x * rhs.y) - (lhs.y * rhs.x)));
}
// Dot Product
// The angle between two vectors
// If the same vector is used both sides = magnitude of the vector, squared
static public float DotProduct(Mathd.Vector3 lhs, Mathd.Vector3 rhs)
{
return((lhs.x * rhs.x) + (lhs.y * rhs.y) + (lhs.z * rhs.z));
}
public Vector3(Mathd.Vector3 vec3)
{
x_ = vec3.x;
y_ = vec3.y;
z_ = vec3.z;
}
