public static Quaternion Decompress(CompressedQuaternion data)
{
byte m = data.m;
if (m >= 4 && m <= 7)
{
float x = (m == 4) ? 1f : 0f;
float y = (m == 5) ? 1f : 0f;
float z = (m == 6) ? 1f : 0f;
float w = (m == 7) ? 1f : 0f;
return(new Quaternion(x, y, z, w));
}
float a = (float)data.a / floatPrecision;
float b = (float)data.b / floatPrecision;
float c = (float)data.c / floatPrecision;
float d = (float)Math.Sqrt(1f - ((a * a) + (b * b) + (c * c)));
if (m == 0)
{
return(new Quaternion(d, a, b, c));
}
else if (m == 1)
{
return(new Quaternion(a, d, b, c));
}
else if (m == 2)
{
return(new Quaternion(a, b, d, c));
}
return(new Quaternion(a, b, c, d));
}
public static CompressedQuaternion Compress(Quaternion quaternion)
{
CompressedQuaternion data = default(CompressedQuaternion);
byte m = 0;
float maxValue = float.MinValue;
float sign = 1f;
for (int i = 0; i <= 3; i++)
{
float element = 0f;
float abs = 0f;
switch (i)
{
#if UNITY
case 0:
element = quaternion.x;
break;
case 1:
element = quaternion.y;
break;
case 2:
element = quaternion.z;
break;
case 3:
element = quaternion.w;
break;
#else
case 0:
element = quaternion.X;
break;
case 1:
element = quaternion.Y;
break;
case 2:
element = quaternion.Z;
break;
case 3:
element = quaternion.W;
break;
#endif
}
abs = Math.Abs(element);
if (abs > maxValue)
{
sign = (element < 0) ? -1 : 1;
m = (byte)i;
maxValue = abs;
}
}
if (Math.Abs(1f - maxValue) < Math.Max(0.000001f * Math.Max(Math.Abs(maxValue), Math.Abs(1f)), Single.Epsilon * 8))
{
data.m = (byte)(m + 4);
return(data);
}
short a = 0;
short b = 0;
short c = 0;
#if UNITY
if (m == 0)
{
a = (short)(quaternion.y * sign * floatPrecision);
b = (short)(quaternion.z * sign * floatPrecision);
c = (short)(quaternion.w * sign * floatPrecision);
}
else if (m == 1)
{
a = (short)(quaternion.x * sign * floatPrecision);
b = (short)(quaternion.z * sign * floatPrecision);
c = (short)(quaternion.w * sign * floatPrecision);
}
else if (m == 2)
{
a = (short)(quaternion.x * sign * floatPrecision);
b = (short)(quaternion.y * sign * floatPrecision);
c = (short)(quaternion.w * sign * floatPrecision);
}
else
{
a = (short)(quaternion.x * sign * floatPrecision);
b = (short)(quaternion.y * sign * floatPrecision);
c = (short)(quaternion.z * sign * floatPrecision);
}
#else
if (m == 0)
{
a = (short)(quaternion.Y * sign * floatPrecision);
b = (short)(quaternion.Z * sign * floatPrecision);
c = (short)(quaternion.W * sign * floatPrecision);
}
else if (m == 1)
{
a = (short)(quaternion.X * sign * floatPrecision);
b = (short)(quaternion.Z * sign * floatPrecision);
c = (short)(quaternion.W * sign * floatPrecision);
}
else if (m == 2)
{
a = (short)(quaternion.X * sign * floatPrecision);
b = (short)(quaternion.Y * sign * floatPrecision);
c = (short)(quaternion.W * sign * floatPrecision);
}
else
{
a = (short)(quaternion.X * sign * floatPrecision);
b = (short)(quaternion.Y * sign * floatPrecision);
c = (short)(quaternion.Z * sign * floatPrecision);
}
#endif
data.m = m;
data.a = a;
data.b = b;
data.c = c;
return(data);
}