public TransformMatrix GetTransformMatrix()
{
if (IsValid)
{
return(_surfaceQuad.TransformMatrix);
}
return(TransformMatrix.GetIdentity());
}
public static Quaternion CalculateRotationQuaternionForAxisAlignment(Quaternion currentRotation, CoordinateSystemAxis alignmentAxis, Vector3 destinationAxis)
{
TransformMatrix rotationMatrix = TransformMatrix.GetIdentity();
rotationMatrix.Rotation = currentRotation;
Vector3 axisToAlign = CoordinateSystemAxes.GetLocalVector(alignmentAxis, rotationMatrix);
bool isAlignmentAxisNegative = CoordinateSystemAxes.IsNegativeAxis(alignmentAxis);
// Already aligned?
bool pointsInSameDirection;
bool isAlignedWithDestinationAxis = destinationAxis.IsAlignedWith(axisToAlign, out pointsInSameDirection);
if (isAlignedWithDestinationAxis && pointsInSameDirection)
{
return(currentRotation);
}
if (!isAlignedWithDestinationAxis)
{
Vector3 rotationAxis = Vector3.Cross(axisToAlign, destinationAxis);
rotationAxis.Normalize();
return(Quaternion.AngleAxis(axisToAlign.AngleWith(destinationAxis), rotationAxis) * currentRotation);
}
else
{
// If this point is reached, it means the axis is aligned with the destination axis but points in the opposite
// direction. In this case we can not use the cross product, so we will have to regenerate the axes.
Vector3 newRightAxis, newUpAxis, newLookAxis;
if (alignmentAxis == CoordinateSystemAxis.PositiveRight || alignmentAxis == CoordinateSystemAxis.NegativeRight)
{
newRightAxis = destinationAxis;
if (isAlignmentAxisNegative)
{
newRightAxis *= -1.0f;
}
bool worldUpPointsSameDirAsRightAxis;
if (newRightAxis.IsAlignedWith(Vector3.up, out worldUpPointsSameDirAsRightAxis))
{
newLookAxis = worldUpPointsSameDirAsRightAxis ? Vector3.forward : Vector3.back;
}
else
{
newLookAxis = Vector3.Cross(newRightAxis, Vector3.up);
}
if (isAlignmentAxisNegative)
{
newLookAxis *= -1.0f;
}
newUpAxis = Vector3.Cross(newLookAxis, newRightAxis);
}
if (alignmentAxis == CoordinateSystemAxis.PositiveUp || alignmentAxis == CoordinateSystemAxis.NegativeUp)
{
newUpAxis = destinationAxis;
if (isAlignmentAxisNegative)
{
newUpAxis *= -1.0f;
}
bool worldUpPointsSameDirAsUpAxis;
if (newUpAxis.IsAlignedWith(Vector3.up, out worldUpPointsSameDirAsUpAxis))
{
newLookAxis = worldUpPointsSameDirAsUpAxis ? Vector3.forward : Vector3.back;
}
else
{
newLookAxis = Vector3.Cross(newUpAxis, Vector3.up);
}
if (isAlignmentAxisNegative)
{
newLookAxis *= -1.0f;
}
}
else
{
newLookAxis = destinationAxis;
if (isAlignmentAxisNegative)
{
newLookAxis *= -1.0f;
}
bool worldUpPointsSameDirAsLookAxis;
if (newLookAxis.IsAlignedWith(Vector3.up, out worldUpPointsSameDirAsLookAxis))
{
newUpAxis = worldUpPointsSameDirAsLookAxis ? Vector3.forward : Vector3.back;
}
else
{
newUpAxis = Vector3.Cross(newLookAxis, Vector3.up);
}
if (isAlignmentAxisNegative)
{
newUpAxis *= -1.0f;
}
}
// Normalize the axes which were calculated
newUpAxis.Normalize();
newLookAxis.Normalize();
// Now use the axes to calculate the rotation quaternion
return(Quaternion.LookRotation(newLookAxis, newUpAxis));
}
}
/// <summary>
/// This method can be called to render any necessary gizmos for debugging purposes.
/// </summary>
public void RenderGizmosDebug()
{
_sphereTree.RenderGizmosDebug(TransformMatrix.GetIdentity());
}