/// <summary>
/// Creates a 3x3 matrix representing the orientation stored in the quaternion.
/// </summary>
/// <param name="quaternion">FixQuaternion to use to create a matrix.</param>
/// <returns>FixMatrix representing the quaternion's orientation.</returns>
public static fix3x3 CreateFromQuaternion(fixQuaternion quaternion)
{
fix3x3 result;
CreateFromQuaternion(quaternion, out result);
return(result);
}
/// <summary>
/// Creates a 3x3 matrix representing the orientation stored in the quaternion.
/// </summary>
/// <param name="quaternion">FixQuaternion to use to create a matrix.</param>
/// <param name="result">FixMatrix representing the quaternion's orientation.</param>
public static void CreateFromQuaternion(fixQuaternion quaternion, out fix3x3 result)
{
fix qX2 = quaternion.x + quaternion.x;
fix qY2 = quaternion.y + quaternion.y;
fix qZ2 = quaternion.z + quaternion.z;
fix XX = qX2 * quaternion.x;
fix YY = qY2 * quaternion.y;
fix ZZ = qZ2 * quaternion.z;
fix XY = qX2 * quaternion.y;
fix XZ = qX2 * quaternion.z;
fix XW = qX2 * quaternion.w;
fix YZ = qY2 * quaternion.z;
fix YW = qY2 * quaternion.w;
fix ZW = qZ2 * quaternion.w;
result.M11 = F64.C1 - YY - ZZ;
result.M21 = XY - ZW;
result.M31 = XZ + YW;
result.M12 = XY + ZW;
result.M22 = F64.C1 - XX - ZZ;
result.M32 = YZ - XW;
result.M13 = XZ - YW;
result.M23 = YZ + XW;
result.M33 = F64.C1 - XX - YY;
}
/// <summary>
/// Creates a rotation matrix from a quaternion.
/// </summary>
/// <param name="quaternion">FixQuaternion to convert.</param>
/// <returns>Rotation matrix created from the quaternion.</returns>
public static fix4x4 CreateFromQuaternion(fixQuaternion quaternion)
{
fix4x4 toReturn;
CreateFromQuaternion(quaternion, out toReturn);
return(toReturn);
}
/// <summary>
/// Creates a transform matrix with the given positon, rotation and scale
/// </summary>
public static fix4x4 CreateTRS(fix3 position, fixQuaternion rotation, fix3 scale)
{
fix4x4 result;
CreateTRS(position, rotation, scale, out result);
return(result);
}
/// <summary>
/// Creates a transform matrix with the given positon, rotation and scale
/// </summary>
public static void CreateTRS(fix3 position, fixQuaternion rotation, fix3 scale, out fix4x4 worldMatrix)
{
fix4x4 mat;
// Scale
CreateScale(scale, out worldMatrix);
// Rotation
CreateFromQuaternion(rotation, out mat);
worldMatrix *= mat;
// Translation
CreateTranslation(position, out mat);
worldMatrix *= mat;
}
public override void OnGUI(Rect position, SerializedProperty property, GUIContent label)
{
SerializedProperty xProp = property.FindPropertyRelative(nameof(Quaternion.x)).FindPropertyRelative(nameof(fix.RawValue));
SerializedProperty yProp = property.FindPropertyRelative(nameof(Quaternion.y)).FindPropertyRelative(nameof(fix.RawValue));
SerializedProperty zProp = property.FindPropertyRelative(nameof(Quaternion.z)).FindPropertyRelative(nameof(fix.RawValue));
SerializedProperty wProp = property.FindPropertyRelative(nameof(Quaternion.w)).FindPropertyRelative(nameof(fix.RawValue));
fix xVal;
fix yVal;
fix zVal;
fix wVal;
xVal.RawValue = xProp.longValue;
yVal.RawValue = yProp.longValue;
zVal.RawValue = zProp.longValue;
wVal.RawValue = wProp.longValue;
fixQuaternion oldQuat = new fixQuaternion(xVal, yVal, zVal, wVal);
// Using BeginProperty / EndProperty on the parent property means that
// prefab override logic works on the entire property.
EditorGUI.BeginProperty(position, label, property);
// Editor Field
Vector3 oldEuler = oldQuat.ToUnityQuat().eulerAngles;
Vector3 newEuler = EditorGUI.Vector3Field(position, label, oldEuler);
// Change ?
if (oldEuler != newEuler)
{
fixQuaternion newQuat = Quaternion.Euler(newEuler.x, newEuler.y, newEuler.z).ToFixQuat();
xProp.longValue = newQuat.x.RawValue;
yProp.longValue = newQuat.y.RawValue;
zProp.longValue = newQuat.z.RawValue;
wProp.longValue = newQuat.w.RawValue;
}
EditorGUI.EndProperty();
}
public static fix angle2d(fixQuaternion v)
{
return(fixQuaternion.EulerZ(v));
}
public static Quaternion ToUnityQuat(this fixQuaternion fixQuat)
{
return(new Quaternion((float)fixQuat.x, (float)fixQuat.y, (float)fixQuat.z, (float)fixQuat.w));
}
