public Float4 quatToEuler(Float4 q)
{
Float4 euler;
euler.y = Convert.ToSingle(Math.Asin(2.0 * ((q.x * q.z) - (q.w * q.y))));
if (euler.y == 90.0)
{
euler.x = Convert.ToSingle(2.0 * Math.Atan2(q.x, q.w));
euler.z = 0;
}
else if (euler.y == -90.0)
{
euler.x = Convert.ToSingle(-2.0 * Math.Atan2(q.x, q.w));
euler.z = 0;
}
else
{
euler.x = Convert.ToSingle(Math.Atan2(2.0 * ((q.x * q.y) + (q.z * q.w)), 1.0 - (2.0 * ((q.y * q.y) + (q.z * q.z)))));
euler.z = Convert.ToSingle(Math.Atan2(2.0 * ((q.x * q.w) + (q.y * q.z)), 1.0 - (2.0 * ((q.z * q.z) + (q.w * q.w)))));
}
euler.w = 0;
return euler;
}
public static Vector3 Float4ToVector3(Float4 vec) {
return new Vector3(vec.x, vec.y, vec.z);
}
public static Quaternion Float4ToQuaternion(Float4 vec) {
return new Quaternion(vec.x, vec.y, vec.z, vec.w);
}
public static Vector3 Float4ToVector3(Float4 vec)
{
return(new Vector3(vec.x, vec.y, vec.z));
}
public static Quaternion Float4ToQuaternion(Float4 vec)
{
return(new Quaternion(vec.x, vec.y, vec.z, vec.w));
}
public void FillFromNetworkBuffer(ref Byte[] buffer, int i)
{
int offset = 104 + i * 176;
pos = NetworkReaderHelper.ReadFloat4(ref buffer, offset);
vel = NetworkReaderHelper.ReadFloat4(ref buffer, offset + 16);
accel = NetworkReaderHelper.ReadFloat4(ref buffer, offset + 32);
quat = NetworkReaderHelper.ReadFloat4(ref buffer, offset + 48);
angvel = NetworkReaderHelper.ReadFloat4(ref buffer, offset + 64);
angaccel = NetworkReaderHelper.ReadFloat4(ref buffer, offset + 80);
handle_pos = NetworkReaderHelper.ReadFloat4(ref buffer, offset + 96);
handle_vel = NetworkReaderHelper.ReadFloat4(ref buffer, offset + 112);
handle_accel = NetworkReaderHelper.ReadFloat4(ref buffer, offset + 128);
pad.FillFromNetworkBuffer(ref buffer, i);
timestamp = NetworkReaderHelper.ReadInt64(ref buffer, offset + 152);
temperature = NetworkReaderHelper.ReadFloat(ref buffer, offset + 160);
camera_pitch_angle = NetworkReaderHelper.ReadFloat(ref buffer, offset + 164);
tracking_flags = NetworkReaderHelper.ReadUint32(ref buffer, offset + 168);
}