/// <summary> /// Scale a quaternion /// </summary> /// <param name="quaternion1">The quaternion to scale.</param> /// <param name="scaleFactor">Scale factor.</param> /// <returns>The scaled quaternion.</returns> #region public static JQuaternion Multiply(JQuaternion quaternion1, FP scaleFactor) public static TSQuaternion Multiply(TSQuaternion quaternion1, FP scaleFactor) { TSQuaternion result; TSQuaternion.Multiply(ref quaternion1, scaleFactor, out result); return(result); }
/// <summary> /// Multiply two quaternions. /// </summary> /// <param name="value1">The first quaternion.</param> /// <param name="value2">The second quaternion.</param> /// <returns>The product of both quaternions.</returns> #region public static FP operator *(JQuaternion value1, JQuaternion value2) public static TSQuaternion operator *(TSQuaternion value1, TSQuaternion value2) { TSQuaternion result; TSQuaternion.Multiply(ref value1, ref value2, out result); return(result); }
/// <summary> /// Multiply two quaternions. /// </summary> /// <param name="quaternion1">The first quaternion.</param> /// <param name="quaternion2">The second quaternion.</param> /// <returns>The product of both quaternions.</returns> #region public static JQuaternion Multiply(JQuaternion quaternion1, JQuaternion quaternion2) public static TSQuaternion Multiply(TSQuaternion quaternion1, TSQuaternion quaternion2) { TSQuaternion result; TSQuaternion.Multiply(ref quaternion1, ref quaternion2, out result); return(result); }
public static TSQuaternion LerpUnclamped(TSQuaternion a, TSQuaternion b, FP t) { TSQuaternion result = TSQuaternion.Multiply(a, 1 - t) + TSQuaternion.Multiply(b, t); result.Normalize(); return(result); }
private void IntegrateCallback(object obj) { RigidBody rigidBody = obj as RigidBody; TSVector tSVector; TSVector.Multiply(ref rigidBody.linearVelocity, this.timestep, out tSVector); TSVector.Add(ref tSVector, ref rigidBody.position, out rigidBody.position); bool flag = !rigidBody.isParticle; if (flag) { FP magnitude = rigidBody.angularVelocity.magnitude; bool flag2 = magnitude < FP.EN3; TSVector tSVector2; if (flag2) { TSVector.Multiply(ref rigidBody.angularVelocity, FP.Half * this.timestep - this.timestep * this.timestep * this.timestep * (2082 * FP.EN6) * magnitude * magnitude, out tSVector2); } else { TSVector.Multiply(ref rigidBody.angularVelocity, FP.Sin(FP.Half * magnitude * this.timestep) / magnitude, out tSVector2); } TSQuaternion tSQuaternion = new TSQuaternion(tSVector2.x, tSVector2.y, tSVector2.z, FP.Cos(magnitude * this.timestep * FP.Half)); TSQuaternion tSQuaternion2; TSQuaternion.CreateFromMatrix(ref rigidBody.orientation, out tSQuaternion2); TSQuaternion.Multiply(ref tSQuaternion, ref tSQuaternion2, out tSQuaternion); tSQuaternion.Normalize(); TSMatrix.CreateFromQuaternion(ref tSQuaternion, out rigidBody.orientation); } bool flag3 = (rigidBody.Damping & RigidBody.DampingType.Linear) > RigidBody.DampingType.None; if (flag3) { TSVector.Multiply(ref rigidBody.linearVelocity, this.currentLinearDampFactor, out rigidBody.linearVelocity); } bool flag4 = (rigidBody.Damping & RigidBody.DampingType.Angular) > RigidBody.DampingType.None; if (flag4) { TSVector.Multiply(ref rigidBody.angularVelocity, this.currentAngularDampFactor, out rigidBody.angularVelocity); } rigidBody.Update(); bool flag5 = this.CollisionSystem.EnableSpeculativeContacts || rigidBody.EnableSpeculativeContacts; if (flag5) { rigidBody.SweptExpandBoundingBox(this.timestep); } }
public static TSQuaternion Inverse(TSQuaternion rotation) { FP invNorm = FP.One / ((rotation.x * rotation.x) + (rotation.y * rotation.y) + (rotation.z * rotation.z) + (rotation.w * rotation.w)); return(TSQuaternion.Multiply(TSQuaternion.Conjugate(rotation), invNorm)); }
public static TSQuaternion Inverse(TSQuaternion rotation) { FP scaleFactor = FP.One / (rotation.x * rotation.x + rotation.y * rotation.y + rotation.z * rotation.z + rotation.w * rotation.w); return(TSQuaternion.Multiply(TSQuaternion.Conjugate(rotation), scaleFactor)); }