/// <summary>
/// Makes a copy of the source quaternion
/// </summary>
public Quaternion( Quaternion src )
{
m_X = src.m_X;
m_Y = src.m_Y;
m_Z = src.m_Z;
m_W = src.m_W;
}
/// <summary>
/// Sets the camera view frame from a quaternion
/// </summary>
protected void SetViewFrame( Quaternion orientation )
{
Matrix44.MakeQuaternionMatrix( m_InvLocalView, orientation );
m_LocalView.Copy( m_InvLocalView );
m_LocalView.Transpose( );
}
/// <summary>
/// Makes a matrix from a quaternion
/// </summary>
public static void MakeQuaternionMatrix( Matrix44 matrix, Quaternion quaternion )
{
MakeQuaternionMatrix( ( InvariantMatrix44 )matrix, quaternion );
}
/// <summary>
/// Makes a matrix from a quaternion
/// </summary>
public static new Matrix44 MakeQuaternionMatrix( Quaternion quaternion )
{
Matrix44 result = new Matrix44( );
MakeQuaternionMatrix( ( InvariantMatrix44 )result, quaternion );
return result;
}
/// <summary>
/// Sets the camera view frame from a quaternion
/// </summary>
protected void SetViewFrame( Quaternion orientation )
{
// Matrix44.MakeQuaternionMatrix( m_InvLocalView, orientation );
// m_LocalView = m_InvLocalView.Transpose( );
Matrix44.MakeQuaternionMatrix( m_LocalView, orientation );
m_InvLocalView.StoreInverse( m_LocalView );
}
/// <summary>
/// Changes the camera yaw
/// </summary>
public void ChangeYaw( float radians )
{
m_Orientation = m_Orientation * Quaternion.FromAxisAngle( Vector3.YAxis, radians );
}
/// <summary>
/// Changes the camera roll
/// </summary>
public void ChangeRoll( float radians )
{
m_Orientation = Quaternion.FromAxisAngle( Vector3.ZAxis, radians ) * m_Orientation;
}
/// <summary>
/// Stores a quaternion in the specified matrix
/// </summary>
protected static void MakeQuaternionMatrix( InvariantMatrix44 matrix, Quaternion quaternion )
{
float fTx = 2.0f * quaternion.X;
float fTy = 2.0f * quaternion.Y;
float fTz = 2.0f * quaternion.Z;
float fTwx = fTx * quaternion.W;
float fTwy = fTy * quaternion.W;
float fTwz = fTz * quaternion.W;
float fTxx = fTx * quaternion.X;
float fTxy = fTy * quaternion.X;
float fTxz = fTz * quaternion.X;
float fTyy = fTy * quaternion.Y;
float fTyz = fTz * quaternion.Y;
float fTzz = fTz * quaternion.Z;
float[] elements = matrix.m_Elements;
elements[ 0 ] = 1.0f - ( fTyy + fTzz );
elements[ 1 ] = fTxy - fTwz;
elements[ 2 ] = fTxz + fTwy;
elements[ 4 ] = fTxy + fTwz;
elements[ 5 ] = 1.0f - ( fTxx + fTzz );
elements[ 6 ] = fTyz - fTwx;
elements[ 8 ] = fTxz - fTwy;
elements[ 9 ] = fTyz + fTwx;
elements[ 10 ] = 1.0f - ( fTxx + fTyy );
}
/// <summary>
/// Makes a matrix from a quaternion
/// </summary>
public static InvariantMatrix44 MakeQuaternionMatrix( Quaternion quaternion )
{
InvariantMatrix44 result = new InvariantMatrix44( );
MakeQuaternionMatrix( result, quaternion );
return result;
}
