public void Normalize()
{
double norm = Norm();
Debug.Assert(!MU.floatEqualityTest(0.0f, (float)norm)); // norm should never be close to 0
x = (float)(x / norm);
y = (float)(y / norm);
z = (float)(z / norm);
w = (float)(w / norm);
Debug.Assert(MU.floatEqualityTest(1.0f, (float)Norm())); // must be normalized, safe
MU.limitRange(-1.0f, ref w, 1.0f);
MU.limitRange(-1.0f, ref x, 1.0f);
MU.limitRange(-1.0f, ref y, 1.0f);
MU.limitRange(-1.0f, ref z, 1.0f);
}
public void Normalize()
{
double len = Length();
if (MU.floatEqualityTest(0.0f, (float)len)) // if length is zero
{
x = 0.0f;
y = 0.0f;
z = 0.0f;
}
else // normalize
{
x = (float)(x / len);
y = (float)(y / len);
z = (float)(z / len);
zeroClamp();
}
}
public void GetAxisAngle(ref Vector v, ref float angle)
{
double tempAngle; // temp angle
double scale; // temp vars
tempAngle = Math.Acos(w);
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// Another version where scale is sqrt (x2 + y2 + z2)
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
scale = (float)Math.Sqrt(x * x + y * y + z * z);
// scale = (float)sin(temp_angle);
Debug.Assert(0 <= tempAngle); // make sure angle is 0 - PI
Debug.Assert(Math.PI >= tempAngle);
if (MU.floatEqualityTest(0.0f, (float)scale))
{ // angle is 0 or 360 so just simply set axis to 0,0,1 with angle 0
angle = 0.0f;
v.x = 0.0f;
v.y = 0.0f;
v.z = 1.0f; // any axis will do
}
else
{
angle = (float)(tempAngle * 2.0); // angle in radians
v.x = (float)(x / scale);
v.y = (float)(y / scale);
v.z = (float)(z / scale);
v.Normalize();
Debug.Assert(0.0f <= angle); // make sure rotation around axis is 0 - 360
Debug.Assert(2 * Math.PI >= angle);
Debug.Assert(v.IsUnit()); // make sure a unit axis comes up
}
}
public bool IsUnit()
{
return(MU.floatEqualityTest(1.0f, (float)Length()));
}
public bool IsZero()
{
return(MU.floatEqualityTest(0.0f, (float)Length()));
}
