/// <summary> Sets the value of this axis-angle to the rotational equivalent
/// of the passed quaternion.
/// If the specified quaternion has no rotational component, the value
/// of this AxisAngle4f is set to an angle of 0 about an axis of (0,1,0).
/// </summary>
/// <param name="q1"> the Quat4f
/// </param>
public void set_Renamed(Quat4f q1)
{
double mag = q1.x * q1.x + q1.y * q1.y + q1.z * q1.z;
if (mag > EPS)
{
mag = System.Math.Sqrt(mag);
double invMag = 1.0 / mag;
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
x = (float)(q1.x * invMag);
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
y = (float)(q1.y * invMag);
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
z = (float)(q1.z * invMag);
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
angle = (float)(2.0 * System.Math.Atan2(mag, q1.w));
}
else
{
x = 0.0f;
y = 1.0f;
z = 0.0f;
angle = 0.0f;
}
}
/// <summary> Sets the value of this quaternion to the conjugate of quaternion q1.</summary>
/// <param name="q1">the source vector
/// </param>
public void conjugate(Quat4f q1)
{
this.x = -q1.x;
this.y = -q1.y;
this.z = -q1.z;
this.w = q1.w;
}
/// <summary> Multiplies quaternion q1 by the inverse of quaternion q2 and places
/// the value into this quaternion. The value of both argument quaternions
/// is preservered (this = q1 * q2^-1).
/// </summary>
/// <param name="q1">the first quaternion
/// </param>
/// <param name="q2">the second quaternion
/// </param>
public void mulInverse(Quat4f q1, Quat4f q2)
{
Quat4f tempQuat = new Quat4f(q2);
tempQuat.inverse();
this.mul(q1, tempQuat);
}
/// <summary> Multiplies this quaternion by the inverse of quaternion q1 and places
/// the value into this quaternion. The value of the argument quaternion
/// is preserved (this = this * q^-1).
/// </summary>
/// <param name="q1">the other quaternion
/// </param>
public void mulInverse(Quat4f q1)
{
Quat4f tempQuat = new Quat4f(q1);
tempQuat.inverse();
this.mul(tempQuat);
}
/// <summary> Sets the value of this quaternion to quaternion inverse of quaternion q1.</summary>
/// <param name="q1">the quaternion to be inverted
/// </param>
public void inverse(Quat4f q1)
{
float norm;
norm = 1.0f / (q1.w * q1.w + q1.x * q1.x + q1.y * q1.y + q1.z * q1.z);
this.w = norm * q1.w;
this.x = (-norm) * q1.x;
this.y = (-norm) * q1.y;
this.z = (-norm) * q1.z;
}
/// <summary> Sets the value of this quaternion to the quaternion product of
/// itself and q1 (this = this * q1).
/// </summary>
/// <param name="q1">the other quaternion
/// </param>
public void mul(Quat4f q1)
{
float x, y, w;
w = this.w * q1.w - this.x * q1.x - this.y * q1.y - this.z * q1.z;
x = this.w * q1.x + q1.w * this.x + this.y * q1.z - this.z * q1.y;
y = this.w * q1.y + q1.w * this.y - this.x * q1.z + this.z * q1.x;
this.z = this.w * q1.z + q1.w * this.z + this.x * q1.y - this.y * q1.x;
this.w = w;
this.x = x;
this.y = y;
}
/// <summary> Performs a great circle interpolation between this quaternion
/// and the quaternion parameter and places the result into this
/// quaternion.
/// </summary>
/// <param name="q1"> the other quaternion
/// </param>
/// <param name="alpha"> the alpha interpolation parameter
/// </param>
public void interpolate(Quat4f q1, float alpha)
{
// From "Advanced Animation and Rendering Techniques"
// by Watt and Watt pg. 364, function as implemented appeared to be
// incorrect. Fails to choose the same quaternion for the double
// covering. Resulting in change of direction for rotations.
// Fixed function to negate the first quaternion in the case that the
// dot product of q1 and this is negative. Second case was not needed.
double dot, s1, s2, om, sinom;
dot = x * q1.x + y * q1.y + z * q1.z + w * q1.w;
if (dot < 0)
{
// negate quaternion
q1.x = -q1.x; q1.y = -q1.y; q1.z = -q1.z; q1.w = -q1.w;
dot = -dot;
}
if ((1.0 - dot) > EPS)
{
om = System.Math.Acos(dot);
sinom = System.Math.Sin(om);
s1 = System.Math.Sin((1.0 - alpha) * om) / sinom;
s2 = System.Math.Sin(alpha * om) / sinom;
}
else
{
s1 = 1.0 - alpha;
s2 = alpha;
}
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
w = (float)(s1 * w + s2 * q1.w);
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
x = (float)(s1 * x + s2 * q1.x);
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
y = (float)(s1 * y + s2 * q1.y);
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
z = (float)(s1 * z + s2 * q1.z);
}
/// <summary> Sets the value of this quaternion to the quaternion product of
/// quaternions q1 and q2 (this = q1 * q2).
/// Note that this is safe for aliasing (e.g. this can be q1 or q2).
/// </summary>
/// <param name="q1">the first quaternion
/// </param>
/// <param name="q2">the second quaternion
/// </param>
public void mul(Quat4f q1, Quat4f q2)
{
if (this != q1 && this != q2)
{
this.w = q1.w * q2.w - q1.x * q2.x - q1.y * q2.y - q1.z * q2.z;
this.x = q1.w * q2.x + q2.w * q1.x + q1.y * q2.z - q1.z * q2.y;
this.y = q1.w * q2.y + q2.w * q1.y - q1.x * q2.z + q1.z * q2.x;
this.z = q1.w * q2.z + q2.w * q1.z + q1.x * q2.y - q1.y * q2.x;
}
else
{
float x, y, w;
w = q1.w * q2.w - q1.x * q2.x - q1.y * q2.y - q1.z * q2.z;
x = q1.w * q2.x + q2.w * q1.x + q1.y * q2.z - q1.z * q2.y;
y = q1.w * q2.y + q2.w * q1.y - q1.x * q2.z + q1.z * q2.x;
this.z = q1.w * q2.z + q2.w * q1.z + q1.x * q2.y - q1.y * q2.x;
this.w = w;
this.x = x;
this.y = y;
}
}
/// <summary> Sets the value of this axis-angle to the rotational equivalent
/// of the passed quaternion.
/// If the specified quaternion has no rotational component, the value
/// of this AxisAngle4d is set to an angle of 0 about an axis of (0,1,0).
/// </summary>
/// <param name="q1"> the Quat4f
/// </param>
public void set_Renamed(Quat4f q1)
{
double mag = q1.x * q1.x + q1.y * q1.y + q1.z * q1.z;
if (mag > EPS)
{
mag = System.Math.Sqrt(mag);
double invMag = 1.0 / mag;
x = q1.x * invMag;
y = q1.y * invMag;
z = q1.z * invMag;
angle = 2.0 * System.Math.Atan2(mag, q1.w);
}
else
{
x = 0.0f;
y = 1.0f;
z = 0.0f;
angle = 0.0f;
}
}
/// <summary> Sets the value of this quaternion to the normalized value
/// of quaternion q1.
/// </summary>
/// <param name="q1">the quaternion to be normalized.
/// </param>
public void normalize(Quat4f q1)
{
float norm;
norm = (q1.x * q1.x + q1.y * q1.y + q1.z * q1.z + q1.w * q1.w);
if (norm > 0.0f)
{
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
norm = 1.0f / (float)System.Math.Sqrt(norm);
this.x = norm * q1.x;
this.y = norm * q1.y;
this.z = norm * q1.z;
this.w = norm * q1.w;
}
else
{
this.x = (float)0.0;
this.y = (float)0.0;
this.z = (float)0.0;
this.w = (float)0.0;
}
}
/// <summary> Sets the rotational component (upper 3x3) of this matrix to the matrix
/// equivalent values of the quaternion argument; the other elements of this
/// matrix are unchanged; a singular value decomposition is performed on
/// this object's upper 3x3 matrix to factor out the scale, then this
/// object's upper 3x3 matrix components are replaced by the matrix
/// equivalent of the quaternion, and then the scale is reapplied to the
/// rotational components.
/// </summary>
/// <param name="q1">the quaternion that specifies the rotation
/// </param>
public void setRotation(Quat4f q1)
{
float scale = SVD(null, null);
// save other values
float tx = m03;
float ty = m13;
float tz = m23;
float w0 = m30;
float w1 = m31;
float w2 = m32;
float w3 = m33;
set_Renamed(q1);
mulRotationScale(scale);
// set back
m03 = tx;
m13 = ty;
m23 = tz;
m30 = w0;
m31 = w1;
m32 = w2;
m33 = w3;
}
/// <summary> Sets the value of this matrix from the rotation expressed by the
/// quaternion q1, the translation t1, and the scale s.
/// </summary>
/// <param name="q1"> the rotation expressed as a quaternion
/// </param>
/// <param name="t1"> the translation
/// </param>
/// <param name="s"> the scale value
/// </param>
public void set_Renamed(Quat4f q1, Vector3f t1, float s)
{
set_Renamed(q1);
mulRotationScale(s);
m03 = t1.x;
m13 = t1.y;
m23 = t1.z;
}
/// <summary> Sets the value of this matrix to the matrix conversion of the
/// single precision quaternion argument.
/// </summary>
/// <param name="q1">the quaternion to be converted
/// </param>
public void set_Renamed(Quat4f q1)
{
setFromQuat(q1.x, q1.y, q1.z, q1.w);
}
/// <summary> Sets the value of this axis-angle to the rotational equivalent
/// of the passed quaternion.
/// If the specified quaternion has no rotational component, the value
/// of this AxisAngle4d is set to an angle of 0 about an axis of (0,1,0).
/// </summary>
/// <param name="q1"> the Quat4f
/// </param>
public void set_Renamed(Quat4f q1)
{
double mag = q1.x * q1.x + q1.y * q1.y + q1.z * q1.z;
if (mag > EPS)
{
mag = System.Math.Sqrt(mag);
double invMag = 1.0 / mag;
x = q1.x * invMag;
y = q1.y * invMag;
z = q1.z * invMag;
angle = 2.0 * System.Math.Atan2(mag, q1.w);
}
else
{
x = 0.0f;
y = 1.0f;
z = 0.0f;
angle = 0.0f;
}
}
/// <summary> Constructs and initializes a Quat4d from the specified Quat4f.</summary>
/// <param name="q1">the Quat4f containing the initialization x y z w data
/// </param>
public Quat4d(Quat4f q1):base(q1)
{
}
/// <summary> Sets the value of this quaternion to the quaternion product of
/// quaternions q1 and q2 (this = q1 * q2).
/// Note that this is safe for aliasing (e.g. this can be q1 or q2).
/// </summary>
/// <param name="q1">the first quaternion
/// </param>
/// <param name="q2">the second quaternion
/// </param>
public void mul(Quat4f q1, Quat4f q2)
{
if (this != q1 && this != q2)
{
this.w = q1.w * q2.w - q1.x * q2.x - q1.y * q2.y - q1.z * q2.z;
this.x = q1.w * q2.x + q2.w * q1.x + q1.y * q2.z - q1.z * q2.y;
this.y = q1.w * q2.y + q2.w * q1.y - q1.x * q2.z + q1.z * q2.x;
this.z = q1.w * q2.z + q2.w * q1.z + q1.x * q2.y - q1.y * q2.x;
}
else
{
float x, y, w;
w = q1.w * q2.w - q1.x * q2.x - q1.y * q2.y - q1.z * q2.z;
x = q1.w * q2.x + q2.w * q1.x + q1.y * q2.z - q1.z * q2.y;
y = q1.w * q2.y + q2.w * q1.y - q1.x * q2.z + q1.z * q2.x;
this.z = q1.w * q2.z + q2.w * q1.z + q1.x * q2.y - q1.y * q2.x;
this.w = w;
this.x = x;
this.y = y;
}
}
/// <summary> Sets the value of this matrix to the matrix conversion of the
/// single precision quaternion argument.
/// </summary>
/// <param name="q1">the quaternion to be converted
/// </param>
public void set_Renamed(Quat4f q1)
{
this.m00 = (1.0 - 2.0 * q1.y * q1.y - 2.0 * q1.z * q1.z);
this.m10 = (2.0 * (q1.x * q1.y + q1.w * q1.z));
this.m20 = (2.0 * (q1.x * q1.z - q1.w * q1.y));
this.m01 = (2.0 * (q1.x * q1.y - q1.w * q1.z));
this.m11 = (1.0 - 2.0 * q1.x * q1.x - 2.0 * q1.z * q1.z);
this.m21 = (2.0 * (q1.y * q1.z + q1.w * q1.x));
this.m02 = (2.0 * (q1.x * q1.z + q1.w * q1.y));
this.m12 = (2.0 * (q1.y * q1.z - q1.w * q1.x));
this.m22 = (1.0 - 2.0 * q1.x * q1.x - 2.0 * q1.y * q1.y);
}
/// <summary> Sets the value of this quaternion to quaternion inverse of quaternion q1.</summary>
/// <param name="q1">the quaternion to be inverted
/// </param>
public void inverse(Quat4f q1)
{
float norm;
norm = 1.0f / (q1.w * q1.w + q1.x * q1.x + q1.y * q1.y + q1.z * q1.z);
this.w = norm * q1.w;
this.x = (- norm) * q1.x;
this.y = (- norm) * q1.y;
this.z = (- norm) * q1.z;
}
/// <summary> Sets the value of this quaternion to the normalized value
/// of quaternion q1.
/// </summary>
/// <param name="q1">the quaternion to be normalized.
/// </param>
public void normalize(Quat4f q1)
{
float norm;
norm = (q1.x * q1.x + q1.y * q1.y + q1.z * q1.z + q1.w * q1.w);
if (norm > 0.0f)
{
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
norm = 1.0f / (float) System.Math.Sqrt(norm);
this.x = norm * q1.x;
this.y = norm * q1.y;
this.z = norm * q1.z;
this.w = norm * q1.w;
}
else
{
this.x = (float) 0.0;
this.y = (float) 0.0;
this.z = (float) 0.0;
this.w = (float) 0.0;
}
}
/// <summary> Multiplies this quaternion by the inverse of quaternion q1 and places
/// the value into this quaternion. The value of the argument quaternion
/// is preserved (this = this * q^-1).
/// </summary>
/// <param name="q1">the other quaternion
/// </param>
public void mulInverse(Quat4f q1)
{
Quat4f tempQuat = new Quat4f(q1);
tempQuat.inverse();
this.mul(tempQuat);
}
/// <summary> Multiplies quaternion q1 by the inverse of quaternion q2 and places
/// the value into this quaternion. The value of both argument quaternions
/// is preservered (this = q1 * q2^-1).
/// </summary>
/// <param name="q1">the first quaternion
/// </param>
/// <param name="q2">the second quaternion
/// </param>
public void mulInverse(Quat4f q1, Quat4f q2)
{
Quat4f tempQuat = new Quat4f(q2);
tempQuat.inverse();
this.mul(q1, tempQuat);
}
/// <summary> Sets the value of this quaternion to the quaternion product of
/// itself and q1 (this = this * q1).
/// </summary>
/// <param name="q1">the other quaternion
/// </param>
public void mul(Quat4f q1)
{
float x, y, w;
w = this.w * q1.w - this.x * q1.x - this.y * q1.y - this.z * q1.z;
x = this.w * q1.x + q1.w * this.x + this.y * q1.z - this.z * q1.y;
y = this.w * q1.y + q1.w * this.y - this.x * q1.z + this.z * q1.x;
this.z = this.w * q1.z + q1.w * this.z + this.x * q1.y - this.y * q1.x;
this.w = w;
this.x = x;
this.y = y;
}
/// <summary> Constructs and initializes a Matrix4f from the quaternion,
/// translation, and scale values; the scale is applied only to the
/// rotational components of the matrix (upper 3x3) and not to the
/// translational components.
/// </summary>
/// <param name="q1"> The quaternion value representing the rotational component
/// </param>
/// <param name="t1"> The translational component of the matrix
/// </param>
/// <param name="s"> The scale value applied to the rotational components
/// </param>
public Matrix4f(Quat4f q1, Vector3f t1, float s)
{
set_Renamed(q1, t1, s);
}
/// <summary> Sets the rotational component (upper 3x3) of this matrix to the matrix
/// equivalent values of the quaternion argument; the other elements of this
/// matrix are unchanged; a singular value decomposition is performed on
/// this object's upper 3x3 matrix to factor out the scale, then this
/// object's upper 3x3 matrix components are replaced by the matrix
/// equivalent of the quaternion, and then the scale is reapplied to the
/// rotational components.
/// </summary>
/// <param name="q1">the quaternion that specifies the rotation
/// </param>
public void setRotation(Quat4f q1)
{
double scale = SVD(null, null);
// save other values
double tx = m03;
double ty = m13;
double tz = m23;
double w0 = m30;
double w1 = m31;
double w2 = m32;
double w3 = m33;
set_Renamed(q1);
mulRotationScale(scale);
// set back
m03 = tx;
m13 = ty;
m23 = tz;
m30 = w0;
m31 = w1;
m32 = w2;
m33 = w3;
}
/// <summary> Performs an SVD normalization of this matrix in order to acquire the
/// normalized rotational component; the values are placed into
/// the Quat4f parameter.
/// </summary>
/// <param name="q1">quaternion into which the rotation component is placed
/// </param>
public void get_Renamed(Quat4f q1)
{
q1.set_Renamed(this);
q1.normalize();
}
/// <summary> Constructs and initializes a Matrix4d from the quaternion,
/// translation, and scale values; the scale is applied only to the
/// rotational components of the matrix (upper 3x3) and not to the
/// translational components.
/// </summary>
/// <param name="q1"> The quaternion value representing the rotational component
/// </param>
/// <param name="t1"> The translational component of the matrix
/// </param>
/// <param name="s"> The scale value applied to the rotational components
/// </param>
public Matrix4d(Quat4f q1, Vector3d t1, double s)
{
set_Renamed(q1, t1, s);
}
/// <summary> Sets the value of this axis-angle to the rotational equivalent
/// of the passed quaternion.
/// If the specified quaternion has no rotational component, the value
/// of this AxisAngle4f is set to an angle of 0 about an axis of (0,1,0).
/// </summary>
/// <param name="q1"> the Quat4f
/// </param>
public void set_Renamed(Quat4f q1)
{
double mag = q1.x * q1.x + q1.y * q1.y + q1.z * q1.z;
if (mag > EPS)
{
mag = System.Math.Sqrt(mag);
double invMag = 1.0 / mag;
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
x = (float) (q1.x * invMag);
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
y = (float) (q1.y * invMag);
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
z = (float) (q1.z * invMag);
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
angle = (float) (2.0 * System.Math.Atan2(mag, q1.w));
}
else
{
x = 0.0f;
y = 1.0f;
z = 0.0f;
angle = 0.0f;
}
}
/// <summary> Sets the value of this quaternion to the conjugate of quaternion q1.</summary>
/// <param name="q1">the source vector
/// </param>
public void conjugate(Quat4f q1)
{
this.x = - q1.x;
this.y = - q1.y;
this.z = - q1.z;
this.w = q1.w;
}
/// <summary> Performs a great circle interpolation between quaternion q1
/// and quaternion q2 and places the result into this quaternion.
/// </summary>
/// <param name="q1"> the first quaternion
/// </param>
/// <param name="q2"> the second quaternion
/// </param>
/// <param name="alpha"> the alpha interpolation parameter
/// </param>
public void interpolate(Quat4f q1, Quat4f q2, float alpha)
{
// From "Advanced Animation and Rendering Techniques"
// by Watt and Watt pg. 364, function as implemented appeared to be
// incorrect. Fails to choose the same quaternion for the double
// covering. Resulting in change of direction for rotations.
// Fixed function to negate the first quaternion in the case that the
// dot product of q1 and this is negative. Second case was not needed.
double dot, s1, s2, om, sinom;
dot = q2.x * q1.x + q2.y * q1.y + q2.z * q1.z + q2.w * q1.w;
if (dot < 0)
{
// negate quaternion
q1.x = - q1.x; q1.y = - q1.y; q1.z = - q1.z; q1.w = - q1.w;
dot = - dot;
}
if ((1.0 - dot) > EPS)
{
om = System.Math.Acos(dot);
sinom = System.Math.Sin(om);
s1 = System.Math.Sin((1.0 - alpha) * om) / sinom;
s2 = System.Math.Sin(alpha * om) / sinom;
}
else
{
s1 = 1.0 - alpha;
s2 = alpha;
}
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
w = (float) (s1 * q1.w + s2 * q2.w);
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
x = (float) (s1 * q1.x + s2 * q2.x);
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
y = (float) (s1 * q1.y + s2 * q2.y);
//UPGRADE_WARNING: Data types in Visual C# might be different. Verify the accuracy of narrowing conversions. "ms-help://MS.VSCC.v80/dv_commoner/local/redirect.htm?index='!DefaultContextWindowIndex'&keyword='jlca1042'"
z = (float) (s1 * q1.z + s2 * q2.z);
}
/// <summary> Constructs and initializes a Quat4d from the specified Quat4f.</summary>
/// <param name="q1">the Quat4f containing the initialization x y z w data
/// </param>
public Quat4d(Quat4f q1) : base(q1)
{
}