/// <summary>
/// Reads a BXDQuaternion with the given XmlReader and returns the reading.
/// </summary>
/// <param name="reader"></param>
/// <returns></returns>
private static BXDQuaternion ReadBXDQuaternion_2_2(XmlReader reader)
{
BXDQuaternion quat = new BXDQuaternion();
foreach (string name in IOUtilities.AllElements(reader))
{
switch (name)
{
case "X":
// Assign the X value.
quat.X = float.Parse(reader.ReadElementContentAsString());
break;
case "Y":
// Assign the Y value.
quat.Y = float.Parse(reader.ReadElementContentAsString());
break;
case "Z":
// Assign the Z value.
quat.Z = float.Parse(reader.ReadElementContentAsString());
break;
case "W":
// Assign the W value.
quat.W = float.Parse(reader.ReadElementContentAsString());
break;
}
}
return(quat);
}
/// <summary>
/// Constructs a new instance of the FieldNode class.
/// </summary>
/// <param name="nodeID"></param>
/// <param name="physicsGroupID"></param>
public FieldNode(string nodeID, string physicsGroupID = BXDFProperties.BXDF_DEFAULT_NAME)
{
NodeID = nodeID;
Position = new BXDVector3();
Rotation = new BXDQuaternion();
SubMeshID = -1;
CollisionMeshID = -1;
PropertySetID = physicsGroupID;
}
/// <summary>
/// Writes the BXDQuaternion to an XML file with the given XmlWriter.
/// </summary>
/// <param name="writer"></param>
/// <param name="quat"></param>
/// <param name="id"></param>
private static void WriteBXDQuaternion(XmlWriter writer, BXDQuaternion quat, string id)
{
writer.WriteStartElement("BXDQuaternion");
writer.WriteAttributeString("ID", id);
writer.WriteElementString("X", quat.X.ToString("F4"));
writer.WriteElementString("Y", quat.Y.ToString("F4"));
writer.WriteElementString("Z", quat.Z.ToString("F4"));
writer.WriteElementString("W", quat.W.ToString("F4"));
writer.WriteEndElement();
}
/// <summary>
/// Get a BXDQuaternion from the given Inventor.Matrix.
/// </summary>
/// <param name="m"></param>
/// <returns></returns>
public static BXDQuaternion QuaternionFromMatrix(Matrix m)
{
BXDQuaternion q = new BXDQuaternion();
double tr = m.Cell[1, 1] + m.Cell[2, 2] + m.Cell[3, 3];
double s;
if (tr > 0)
{
s = Math.Sqrt(tr + 1.0) * 2;
q.W = (float)(0.25 * s);
q.X = (float)((m.Cell[3, 2] - m.Cell[2, 3]) / s);
q.Y = (float)((m.Cell[1, 3] - m.Cell[3, 1]) / s);
q.Z = (float)((m.Cell[2, 1] - m.Cell[1, 2]) / s);
}
else if ((m.Cell[1, 1] > m.Cell[2, 2]) && (m.Cell[1, 1] > m.Cell[3, 3]))
{
s = Math.Sqrt(1.0 + m.Cell[1, 1] - m.Cell[2, 2] - m.Cell[3, 3]) * 2;
q.W = (float)((m.Cell[3, 2] - m.Cell[2, 3]) / s);
q.X = (float)(0.25 * s);
q.Y = (float)((m.Cell[1, 2] + m.Cell[2, 1]) / s);
q.Z = (float)((m.Cell[1, 3] + m.Cell[3, 1]) / s);
}
else if (m.Cell[2, 2] > m.Cell[3, 3])
{
s = Math.Sqrt(1.0 + m.Cell[2, 2] - m.Cell[1, 1] - m.Cell[3, 3]) * 2;
q.W = (float)((m.Cell[1, 3] - m.Cell[3, 1]) / s);
q.X = (float)((m.Cell[1, 2] + m.Cell[2, 1]) / s);
q.Y = (float)(0.25 * s);
q.Z = (float)((m.Cell[2, 3] + m.Cell[3, 2]) / s);
}
else
{
s = Math.Sqrt(1.0 + m.Cell[3, 3] - m.Cell[1, 1] - m.Cell[2, 2]) * 2;
q.W = (float)((m.Cell[2, 1] - m.Cell[1, 2]) / s);
q.X = (float)((m.Cell[1, 3] + m.Cell[3, 1]) / s);
q.Y = (float)((m.Cell[2, 3] + m.Cell[3, 2]) / s);
q.Z = (float)(0.25 * s);
}
return(q);
}
/// <summary>
/// BXD Quaternion -> OpenGL Quaternion
/// </summary>
/// <param name="val"></param>
/// <returns></returns>
public static Quaternion Convert(this BXDQuaternion val)
{
return(new Quaternion(val.X, val.Y, val.Z, val.W));
}
