public Vector4 Rotate4D(Vector4 v, Rotation4D r)
{
Matrix4x4 rotMat = Matrix4x4.identity;
{ // xy
float sin = Mathf.Sin(rotation.xy * Mathf.Deg2Rad);
float cos = Mathf.Cos(rotation.xy * Mathf.Deg2Rad);
Matrix4x4 m = new Matrix4x4(new Vector4(cos, sin, 0, 0), new Vector4(-sin, cos, 0, 0), new Vector4(0, 0, 1, 0), new Vector4(0, 0, 0, 1));
rotMat = m * rotMat;
}
{ // yz
float sin = Mathf.Sin(rotation.yz * Mathf.Deg2Rad);
float cos = Mathf.Cos(rotation.yz * Mathf.Deg2Rad);
Matrix4x4 m = new Matrix4x4(new Vector4(1, 0, 0, 0), new Vector4(0, cos, sin, 0), new Vector4(0, sin, -cos, 0), new Vector4(0, 0, 0, 1));
rotMat = m * rotMat;
}
{ // xz
float sin = Mathf.Sin(rotation.zx * Mathf.Deg2Rad);
float cos = Mathf.Cos(rotation.zx * Mathf.Deg2Rad);
Matrix4x4 m = new Matrix4x4(new Vector4(cos, 0, -sin, 0), new Vector4(0, 1, 0, 0), new Vector4(sin, 0, cos, 0), new Vector4(0, 0, 0, 1));
rotMat = m * rotMat;
}
{ // xw
float sin = Mathf.Sin(rotation.xw * Mathf.Deg2Rad);
float cos = Mathf.Cos(rotation.xw * Mathf.Deg2Rad);
Matrix4x4 m = new Matrix4x4(new Vector4(cos, 0, 0, -sin), new Vector4(0, 1, 0, 0), new Vector4(0, 0, 1, 0), new Vector4(sin, 0, 0, cos));
rotMat = m * rotMat;
}
{ // yw
float sin = Mathf.Sin(rotation.yw * Mathf.Deg2Rad);
float cos = Mathf.Cos(rotation.yw * Mathf.Deg2Rad);
Matrix4x4 m = new Matrix4x4(new Vector4(1, 0, 0, 0), new Vector4(0, cos, 0, -sin), new Vector4(0, 0, 1, 0), new Vector4(0, sin, 0, cos));
rotMat = m * rotMat;
}
{ // zw
float sin = Mathf.Sin(rotation.zw * Mathf.Deg2Rad);
float cos = Mathf.Cos(rotation.zw * Mathf.Deg2Rad);
Matrix4x4 m = new Matrix4x4(new Vector4(1, 0, 0, 0), new Vector4(0, 1, 0, 0), new Vector4(0, 0, cos, -sin), new Vector4(0, 0, sin, cos));
rotMat = m * rotMat;
}
return(rotMat * v);
}
// Start is called before the first frame update
void Start()
{
visualVerteces = new Vector4[shapeVerteces.Length];
shapeVerteces.CopyTo(visualVerteces, 0);
rotation = new Rotation4D();
}
} // TODO change back to local
private void _SetLocalRotation(Rotation4D r)
{
transform.eulerAngles = r.ToEuler3D(); rot_w = r.ToEulerW();
} // the same
