public FQuat Quaternion()
{
//PLATFORM_ENABLE_VECTORINTRINSICS
const float DEG_TO_RAD = (float)(System.Math.PI / 180.0f);
const float DIVIDE_BY_2 = DEG_TO_RAD / 2.0f;
float sp, sy, sr;
float cp, cy, cr;
sp = (float)System.Math.Sin(Pitch * DIVIDE_BY_2);
cp = (float)System.Math.Cos(Pitch * DIVIDE_BY_2);
sy = (float)System.Math.Sin(Yaw * DIVIDE_BY_2);
cy = (float)System.Math.Cos(Yaw * DIVIDE_BY_2);
sr = (float)System.Math.Sin(Roll * DIVIDE_BY_2);
cr = (float)System.Math.Cos(Roll * DIVIDE_BY_2);
var rotationQuat = new FQuat
{
X = cr * sp * sy - sr * cp * cy,
Y = -cr * sp * cy - sr * cp * sy,
Z = cr * cp * sy - sr * sp * cy,
W = cr * cp * cy + sr * sp * sy
};
return(rotationQuat);
}
public static void ConstructTransformFromMatrixWithDesiredScale(FMatrix aMatrix, FMatrix bMatrix, FVector desiredScale, ref FTransform outTransform)
{
// the goal of using M is to get the correct orientation
// but for translation, we still need scale
var m = aMatrix * bMatrix;
m.RemoveScaling();
// apply negative scale back to axes
var signedScale = desiredScale.GetSignVector();
m.SetAxis(0, signedScale.X * m.GetScaledAxis(EAxis.X));
m.SetAxis(1, signedScale.Y * m.GetScaledAxis(EAxis.Y));
m.SetAxis(2, signedScale.Z * m.GetScaledAxis(EAxis.Z));
// @note: if you have negative with 0 scale, this will return rotation that is identity
// since matrix loses that axes
var rotation = new FQuat(m);
rotation.Normalize();
// set values back to output
outTransform.Scale3D = desiredScale;
outTransform.Rotation = rotation;
// technically I could calculate this using FTransform but then it does more quat multiplication
// instead of using Scale in matrix multiplication
// it's a question of between RemoveScaling vs using FTransform to move translation
outTransform.Translation = m.GetOrigin();
}
public FTransform(FStructFallback data)
{
Rotation = data.GetOrDefault <FQuat>(nameof(Rotation));
Translation = data.GetOrDefault <FVector>(nameof(Translation));
Scale3D = data.GetOrDefault <FVector>(nameof(Scale3D));
}
public FTransform(FRotator rotation, FVector translation, FVector scale3D)
{
Rotation = new FQuat(rotation);
Translation = translation;
Scale3D = scale3D;
}
public FTransform(FQuat rotation, FVector translation, FVector scale3D)
{
Rotation = rotation;
Translation = translation;
Scale3D = scale3D;
}
public FTransform(FRotator rotation)
{
Rotation = new FQuat(rotation);
Translation = FVector.ZeroVector;
Scale3D = FVector.OneVector;
}
public FQuat InverseTransformRotation(FQuat q) => Rotation.Inverse() * q;
public FQuat TransformRotation(FQuat q) => Rotation * q;
public FTransform(FQuat rotation)
{
Rotation = rotation;
Translation = FVector.ZeroVector;
Scale3D = FVector.OneVector;
}
public FTransform(FVector translation)
{
Rotation = FQuat.Identity;
Translation = translation;
Scale3D = FVector.OneVector;
}
public FTransform(EForceInit init = EForceInit.ForceInit)
{
Rotation = new FQuat(0f, 0f, 0f, 1f);
Translation = new FVector(0f);
Scale3D = FVector.OneVector;
}
public void CopyRotation(ref FTransform other)
{
Rotation = other.Rotation;
}