void orbit()
{
angle += Time.deltaTime * orbitSpeed * speedScalar;
Quat q = new Quat(angle, new Vector3(0, 1, 0));
//positionVector is used to set how far from the sun the object orbits
Vector3 p = positionVector;
Quat k = new Quat(1.0f, p);
Quat newk = q * k * q.Inverse();
Vector3 newp = newk.GetAxis();
transform.position = newp;
}
//function for applying the transformations to the object model
public void transformModel()
{
applyMouseInputs();
Vector3[] TransformedVertices = new Vector3[ModelSpaceVertices.Length];
//set quaternions to rotate by
Quat q1 = new Quat(pitchAng - lastpitchAng, new Vector3(1, 0, 0));
Quat q2 = new Quat(yawAng - lastyawAng, new Vector3(0, 1, 0));
Quat q3 = new Quat(rollAng - lastrollAng, new Vector3(0, 0, 1));
//rotate orientation quaternion by pitch yaw and roll quaternion representations;
q = ((q * q2) * q1) * q3;
for (int i = 0; i < TransformedVertices.Length; i++)
{
//rotate each vertex by the orientation from model space;
Quat K = new Quat(ModelSpaceVertices[i]);
Quat newK = q * K * q.Inverse();
Vector3 newP = newK.GetAxis();
Vector3 quatVert = newP;
//scale each vertex by the scale multiplier;
Matrix4by4 sMatrix = scale(scaleMul);
Vector3 scaVert = sMatrix * quatVert;
//translate the object so it will be a set distance ahead of the player;
Matrix4by4 tMat = translate(new Vector3(0, 0, distanceAhead));
Vector4 ratVert = new Vector4(scaVert.x, scaVert.y, scaVert.z, 1);
Vector4 scatVert = tMat * ratVert;
//rotate the object around the origin(camera), so it is always in front of the camera;
Matrix4by4 yawMatrix = yawRot(g);
Matrix4by4 pitchMatrix = pitchRot(y);
Matrix4by4 pyMatrix = yawMatrix * pitchMatrix;
Vector3 scarotVert = pyMatrix * scatVert;
//translate the object so it is correctly positioned in the world;
Matrix4by4 tMatrix = translate(new Vector3(pos.x, 0, pos.z));
Vector4 tVert = new Vector4(scarotVert.x, scarotVert.y, scarotVert.z, 1);
Vector4 finalVert = tMatrix * tVert;
TransformedVertices[i] = finalVert;
}
//set mesh to the transformed vertices
MeshFilter MF = GetComponent <MeshFilter>();
MF.mesh.vertices = TransformedVertices;
MF.mesh.RecalculateBounds();
MF.mesh.RecalculateNormals();
//sets angles so it doesn't accumulate and increase speed over time;
lastpitchAng = pitchAng;
lastyawAng = yawAng;
lastrollAng = rollAng;
}
private static void Apply(Chain chain, DetectionInfo detection)
{
int index = detection.index;
// Undo relative rotation
chain.GetBone(index).Rotate(detection.relative);
// Rotate back but only by detection.angle degrees
Vector3 axis = Quat.GetAxis(detection.relative);
chain.GetBone(index).Rotate(Quaternion.AngleAxis(detection.angle, axis));
// Keep the chain linked
for (int i = index + 1; i < chain.BoneCount; i++)
{
chain.GetBone(i).MoveTo(chain.GetBone(i - 1).Tip.Position);
}
}
// Update is called once per frame
void Update()
{
t += Time.deltaTime * 0.5f;
//defining two rotations
Quat q = new Quat(Mathf.PI * 1.0f, new Vector3(0, 1, 0));
Quat r = new Quat(Mathf.PI * 0.5f, new Vector3(1, 0, 0));
//slerped value
Quat slerped = Quat.SLERP(q, r, t);
//define vector that will be rotated
Vector3 p = new Vector3(0, 8, 0);
//store that vector in a quaternion
Quat K = new Quat(p);
//newk will have new position inside
Quat newK = slerped * K * slerped.Inverse();
//get this position as avector
Vector3 newP = newK.GetAxis();
transform.position = newP;
}
//function for applying transformation to the demo object, rotating around to always face the player to make it easier to work out the correct orientation. functions the same as transformModel();
public void transformDemo()
{
Vector3[] TransformedVertices = new Vector3[ModelSpaceVertices.Length];
Quat q1 = new Quat(pitchAng - lastpitchAng, new Vector3(1, 0, 0));
Quat q2 = new Quat(yawAng - lastyawAng, new Vector3(0, 1, 0));
Quat q3 = new Quat(rollAng - lastrollAng, new Vector3(0, 0, 1));
q = ((q * q2) * q1) * q3;
for (int i = 0; i < TransformedVertices.Length; i++)
{
Quat K = new Quat(ModelSpaceVertices[i]);
Quat newK = q * K * q.Inverse();
Vector3 newP = newK.GetAxis();
Vector3 quatVert = newP;
Matrix4by4 sMatrix = scale(scaleMul);
Vector3 scaVert = sMatrix * quatVert;
Matrix4by4 yawMatrix = new Matrix4by4(new Vector3(Mathf.Cos(g), 0, -Mathf.Sin(g)),
new Vector3(0, 1, 0),
new Vector3(Mathf.Sin(g), 0, Mathf.Cos(g)),
Vector3.zero);
Vector3 scarotVert = yawMatrix * scaVert;
Matrix4by4 tMatrix = translate(new Vector3(pos.x, 0, pos.z));
Vector4 tVert = new Vector4(scarotVert.x, scarotVert.y, scarotVert.z, 1);
Vector4 finalVert = tMatrix * tVert;
TransformedVertices[i] = finalVert;
}
MeshFilter MF = GetComponent <MeshFilter>();
MF.mesh.vertices = TransformedVertices;
MF.mesh.RecalculateBounds();
MF.mesh.RecalculateNormals();
lastpitchAng = pitchAng;
lastyawAng = yawAng;
lastrollAng = rollAng;
}