Пример #1
0
 public F64Quat(F64Vec3 v, F64 w)
 {
     RawX = v.RawX;
     RawY = v.RawY;
     RawZ = v.RawZ;
     RawW = w.Raw;
 }
Пример #2
0
        // Creates a unit quaternion that represents the rotation from a to b. a and b do not need to be normalized.
        public static F64Quat FromTwoVectors(F64Vec3 a, F64Vec3 b)
        { // From: http://lolengine.net/blog/2014/02/24/quaternion-from-two-vectors-final
            F64 epsilon = F64.Ratio(1, 1000000);

            F64 norm_a_norm_b = F64.SqrtFastest(F64Vec3.LengthSqr(a) * F64Vec3.LengthSqr(b));
            F64 real_part     = norm_a_norm_b + F64Vec3.Dot(a, b);

            F64Vec3 v;

            if (real_part < (epsilon * norm_a_norm_b))
            {
                /* If u and v are exactly opposite, rotate 180 degrees
                 * around an arbitrary orthogonal axis. Axis normalization
                 * can happen later, when we normalize the quaternion. */
                real_part = F64.Zero;
                bool cond = F64.Abs(a.X) > F64.Abs(a.Z);
                v = cond ? new F64Vec3(-a.Y, a.X, F64.Zero)
                         : new F64Vec3(F64.Zero, -a.Z, a.Y);
            }
            else
            {
                /* Otherwise, build quaternion the standard way. */
                v = F64Vec3.Cross(a, b);
            }

            return(NormalizeFastest(new F64Quat(v, real_part)));
        }
Пример #3
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        // Rotates a vector by the unit quaternion.
        public static F64Vec3 RotateVector(F64Quat rot, F64Vec3 v)
        { // From https://gamedev.stackexchange.com/questions/28395/rotating-vector3-by-a-quaternion
            F64Vec3 u = new F64Vec3(rot.X, rot.Y, rot.Z);
            F64     s = rot.W;

            return
                ((F64.Two * F64Vec3.Dot(u, v)) * u +
                 (s * s - F64Vec3.Dot(u, u)) * v +
                 (F64.Two * s) * F64Vec3.Cross(u, v));
        }
Пример #4
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        public static F64Quat LookRotation(F64Vec3 dir, F64Vec3 up)
        { // From: https://answers.unity.com/questions/819699/calculate-quaternionlookrotation-manually.html
            if (dir == F64Vec3.Zero)
            {
                return(Identity);
            }

            if (up != dir)
            {
                up = F64Vec3.NormalizeFastest(up);
                F64Vec3 v = dir + up * -F64Vec3.Dot(up, dir);
                F64Quat q = FromTwoVectors(F64Vec3.AxisZ, v);
                return(FromTwoVectors(v, dir) * q);
            }
            else
            {
                return(FromTwoVectors(F64Vec3.AxisZ, dir));
            }
        }
Пример #5
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        public static F64Quat FromAxisAngle(F64Vec3 axis, F64 angle)
        {
            F64 half_angle = F64.Div2(angle);

            return(new F64Quat(axis * F64.SinFastest(half_angle), F64.CosFastest(half_angle)));
        }
Пример #6
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        public static F64Quat LookAtRotation(F64Vec3 from, F64Vec3 to, F64Vec3 up)
        {
            F64Vec3 dir = F64Vec3.NormalizeFastest(to - from);

            return(LookRotation(dir, up));
        }