public static FPQuaternion Slerp(FPQuaternion from, FPQuaternion to, FP t)
{
t = FPMath.Clamp(t, 0, 1);
FP dot = Dot(from, to);
if (dot < 0.0f)
{
to = Multiply(to, -1);
dot = -dot;
}
FP halfTheta = FP.Acos(dot);
return(Multiply(Multiply(from, FP.Sin((1 - t) * halfTheta)) + Multiply(to, FP.Sin(t * halfTheta)), 1 / FP.Sin(halfTheta)));
}
public static FPQuaternion Lerp(FPQuaternion a, FPQuaternion b, FP t)
{
t = FPMath.Clamp(t, FP.Zero, FP.One);
return(LerpUnclamped(a, b, t));
}
public bool InvertMatrix4x4_Full(ref FPMatrix4x4 m, out FPMatrix4x4 output)
{
output = new FPMatrix4x4();
output.Clear();
FP[,] wtmp = new FP[4, 8];
FP m0, m1, m2, m3, s;
FP[] r0 = new FP[8];
FP[] r1 = new FP[8];
FP[] r2 = new FP[8];
FP[] r3 = new FP[8];
r0[0] = m.m00; r0[1] = m.m01;
r0[2] = m.m02; r0[3] = m.m03;
r0[4] = 1.0; r0[5] = r0[6] = r0[7] = 0.0;
r1[0] = m.m00; r1[1] = m.m01;
r1[2] = m.m02; r1[3] = m.m03;
r1[5] = 1.0; r1[4] = r1[6] = r1[7] = 0.0;
r2[0] = m.m00; r2[1] = m.m01;
r2[2] = m.m02; r2[3] = m.m03;
r2[6] = 1.0; r2[4] = r2[5] = r2[7] = 0.0;
r3[0] = m.m00; r3[1] = m.m01;
r3[2] = m.m02; r3[3] = m.m03;
r3[7] = 1.0; r3[4] = r3[5] = r3[6] = 0.0;
/* choose pivot - or die */
if (FPMath.Abs(r3[0]) > FPMath.Abs(r2[0]))
{
swap_rows(ref r3, ref r2);
}
if (FPMath.Abs(r2[0]) > FPMath.Abs(r1[0]))
{
swap_rows(ref r2, ref r1);
}
if (FPMath.Abs(r1[0]) > FPMath.Abs(r0[0]))
{
swap_rows(ref r1, ref r0);
}
if (0.0F == r0[0])
{
return(false);
}
/* eliminate first variable */
m1 = r1[0] / r0[0]; m2 = r2[0] / r0[0]; m3 = r3[0] / r0[0];
s = r0[1]; r1[1] -= m1 * s; r2[1] -= m2 * s; r3[1] -= m3 * s;
s = r0[2]; r1[2] -= m1 * s; r2[2] -= m2 * s; r3[2] -= m3 * s;
s = r0[3]; r1[3] -= m1 * s; r2[3] -= m2 * s; r3[3] -= m3 * s;
s = r0[4];
if (s != 0)
{
r1[4] -= m1 * s; r2[4] -= m2 * s; r3[4] -= m3 * s;
}
s = r0[5];
if (s != 0)
{
r1[5] -= m1 * s; r2[5] -= m2 * s; r3[5] -= m3 * s;
}
s = r0[6];
if (s != 0)
{
r1[6] -= m1 * s; r2[6] -= m2 * s; r3[6] -= m3 * s;
}
s = r0[7];
if (s != 0)
{
r1[7] -= m1 * s; r2[7] -= m2 * s; r3[7] -= m3 * s;
}
/* choose pivot - or die */
if (FPMath.Abs(r3[1]) > FPMath.Abs(r2[1]))
{
swap_rows(ref r3, ref r2);
}
if (FPMath.Abs(r2[1]) > FPMath.Abs(r1[1]))
{
swap_rows(ref r2, ref r1);
}
if (0 == r1[1])
{
return(false);
}
/* eliminate second variable */
m2 = r2[1] / r1[1]; m3 = r3[1] / r1[1];
r2[2] -= m2 * r1[2]; r3[2] -= m3 * r1[2];
r2[3] -= m2 * r1[3]; r3[3] -= m3 * r1[3];
s = r1[4]; if (0.0F != s)
{
r2[4] -= m2 * s; r3[4] -= m3 * s;
}
s = r1[5]; if (0.0F != s)
{
r2[5] -= m2 * s; r3[5] -= m3 * s;
}
s = r1[6]; if (0.0F != s)
{
r2[6] -= m2 * s; r3[6] -= m3 * s;
}
s = r1[7]; if (0.0F != s)
{
r2[7] -= m2 * s; r3[7] -= m3 * s;
}
/* choose pivot - or die */
if (FPMath.Abs(r3[2]) > FPMath.Abs(r2[2]))
{
swap_rows(ref r3, ref r2);
}
if (0.0F == r2[2])
{
return(false);
}
/* eliminate third variable */
m3 = r3[2] / r2[2];
r3[3] -= m3 * r2[3]; r3[4] -= m3 * r2[4];
r3[5] -= m3 * r2[5]; r3[6] -= m3 * r2[6];
r3[7] -= m3 * r2[7];
/* last check */
if (0.0F == r3[3])
{
return(false);
}
s = 1.0F / r3[3]; /* now back substitute row 3 */
r3[4] *= s; r3[5] *= s; r3[6] *= s; r3[7] *= s;
m2 = r2[3]; /* now back substitute row 2 */
s = 1.0F / r2[2];
r2[4] = s * (r2[4] - r3[4] * m2); r2[5] = s * (r2[5] - r3[5] * m2);
r2[6] = s * (r2[6] - r3[6] * m2); r2[7] = s * (r2[7] - r3[7] * m2);
m1 = r1[3];
r1[4] -= r3[4] * m1; r1[5] -= r3[5] * m1;
r1[6] -= r3[6] * m1; r1[7] -= r3[7] * m1;
m0 = r0[3];
r0[4] -= r3[4] * m0; r0[5] -= r3[5] * m0;
r0[6] -= r3[6] * m0; r0[7] -= r3[7] * m0;
m1 = r1[2]; /* now back substitute row 1 */
s = 1.0F / r1[1];
r1[4] = s * (r1[4] - r2[4] * m1); r1[5] = s * (r1[5] - r2[5] * m1);
r1[6] = s * (r1[6] - r2[6] * m1); r1[7] = s * (r1[7] - r2[7] * m1);
m0 = r0[2];
r0[4] -= r2[4] * m0; r0[5] -= r2[5] * m0;
r0[6] -= r2[6] * m0; r0[7] -= r2[7] * m0;
m0 = r0[1]; /* now back substitute row 0 */
s = 1.0F / r0[0];
r0[4] = s * (r0[4] - r1[4] * m0); r0[5] = s * (r0[5] - r1[5] * m0);
r0[6] = s * (r0[6] - r1[6] * m0); r0[7] = s * (r0[7] - r1[7] * m0);
output.m00 = r0[4]; output.m01 = r0[5]; output.m02 = r0[6]; output.m03 = r0[7];
output.m10 = r1[4]; output.m11 = r1[5]; output.m12 = r1[6]; output.m13 = r1[7];
output.m20 = r2[4]; output.m21 = r2[5]; output.m22 = r2[6]; output.m23 = r2[7];
output.m30 = r3[4]; output.m31 = r3[5]; output.m32 = r3[6]; output.m33 = r3[7];
return(true);
}
// *undoc* --- there's a property now
public static FP Magnitude(FPVector4 a)
{
return(FPMath.Sqrt(Dot(a, a)));
}
// Returns a vector that is made from the largest components of two vectors.
public static FPVector4 Max(FPVector4 lhs, FPVector4 rhs)
{
return(new FPVector4(FPMath.Max(lhs.x, rhs.x), FPMath.Max(lhs.y, rhs.y), FPMath.Max(lhs.z, rhs.z), FPMath.Max(lhs.w, rhs.w)));
}
public static FPVector2 SmoothStep(FPVector2 value1, FPVector2 value2, FP amount)
{
return(new FPVector2(
FPMath.SmoothStep(value1.x, value2.x, amount),
FPMath.SmoothStep(value1.y, value2.y, amount)));
}
public static void SmoothStep(ref FPVector2 value1, ref FPVector2 value2, FP amount, out FPVector2 result)
{
result = new FPVector2(
FPMath.SmoothStep(value1.x, value2.x, amount),
FPMath.SmoothStep(value1.y, value2.y, amount));
}
public static FPVector2 Min(FPVector2 value1, FPVector2 value2)
{
return(new FPVector2(
FPMath.Min(value1.x, value2.x),
FPMath.Min(value1.y, value2.y)));
}
public static void Min(ref FPVector2 value1, ref FPVector2 value2, out FPVector2 result)
{
result.x = FPMath.Min(value1.x, value2.x);
result.y = FPMath.Min(value1.y, value2.y);
}
public static FPVector2 LerpUnclamped(FPVector2 value1, FPVector2 value2, FP amount)
{
return(new FPVector2(
FPMath.Lerp(value1.x, value2.x, amount),
FPMath.Lerp(value1.y, value2.y, amount)));
}
public static void LerpUnclamped(ref FPVector2 value1, ref FPVector2 value2, FP amount, out FPVector2 result)
{
result = new FPVector2(
FPMath.Lerp(value1.x, value2.x, amount),
FPMath.Lerp(value1.y, value2.y, amount));
}
public static void Hermite(ref FPVector2 value1, ref FPVector2 tangent1, ref FPVector2 value2, ref FPVector2 tangent2,
FP amount, out FPVector2 result)
{
result.x = FPMath.Hermite(value1.x, tangent1.x, value2.x, tangent2.x, amount);
result.y = FPMath.Hermite(value1.y, tangent1.y, value2.y, tangent2.y, amount);
}
public static void Clamp(ref FPVector2 value1, ref FPVector2 min, ref FPVector2 max, out FPVector2 result)
{
result = new FPVector2(
FPMath.Clamp(value1.x, min.x, max.x),
FPMath.Clamp(value1.y, min.y, max.y));
}
public static FPVector2 Clamp(FPVector2 value1, FPVector2 min, FPVector2 max)
{
return(new FPVector2(
FPMath.Clamp(value1.x, min.x, max.x),
FPMath.Clamp(value1.y, min.y, max.y)));
}
public static FPVector2 CatmullRom(FPVector2 value1, FPVector2 value2, FPVector2 value3, FPVector2 value4, FP amount)
{
return(new FPVector2(
FPMath.CatmullRom(value1.x, value2.x, value3.x, value4.x, amount),
FPMath.CatmullRom(value1.y, value2.y, value3.y, value4.y, amount)));
}
public static FPVector2 Barycentric(FPVector2 value1, FPVector2 value2, FPVector2 value3, FP amount1, FP amount2)
{
return(new FPVector2(
FPMath.Barycentric(value1.x, value2.x, value3.x, amount1, amount2),
FPMath.Barycentric(value1.y, value2.y, value3.y, amount1, amount2)));
}
