示例#1
0
        public void QuaternionToMatrix(MmdVector4 pvec4Quat)
        {
            double x2 = pvec4Quat.x * pvec4Quat.x * 2.0f;
            double y2 = pvec4Quat.y * pvec4Quat.y * 2.0f;
            double z2 = pvec4Quat.z * pvec4Quat.z * 2.0f;
            double xy = pvec4Quat.x * pvec4Quat.y * 2.0f;
            double yz = pvec4Quat.y * pvec4Quat.z * 2.0f;
            double zx = pvec4Quat.z * pvec4Quat.x * 2.0f;
            double xw = pvec4Quat.x * pvec4Quat.w * 2.0f;
            double yw = pvec4Quat.y * pvec4Quat.w * 2.0f;
            double zw = pvec4Quat.z * pvec4Quat.w * 2.0f;

            double[,] mt = this.m;
            mt[0, 0]     = 1.0f - y2 - z2;
            mt[0, 1]     = xy + zw;
            mt[0, 2]     = zx - yw;
            mt[1, 0]     = xy - zw;
            mt[1, 1]     = 1.0f - z2 - x2;
            mt[1, 2]     = yz + xw;
            mt[2, 0]     = zx + yw;
            mt[2, 1]     = yz - xw;
            mt[2, 2]     = 1.0f - x2 - y2;

            mt[0, 3] = mt[1, 3] = mt[2, 3] = mt[3, 0] = mt[3, 1] = mt[3, 2] = 0.0f;
            mt[3, 3] = 1.0f;
            return;
        }
示例#2
0
 public void setValue(MmdVector4 v)
 {
     this.x = v.x;
     this.y = v.y;
     this.z = v.z;
     this.w = v.w;
     return;
 }
示例#3
0
        public void QuaternionNormalize(MmdVector4 pvec4Src)
        {
            double fSqr = 1.0 / Math.Sqrt((pvec4Src.x * pvec4Src.x + pvec4Src.y * pvec4Src.y + pvec4Src.z * pvec4Src.z + pvec4Src.w * pvec4Src.w));

            this.x = (pvec4Src.x * fSqr);
            this.y = (pvec4Src.y * fSqr);
            this.z = (pvec4Src.z * fSqr);
            this.w = (pvec4Src.w * fSqr);
        }
示例#4
0
        public void QuaternionToEuler(MmdVector4 pvec4Quat)
        {
            // XYZ軸回転の取得
            // Y回転を求める
            double x2   = pvec4Quat.x + pvec4Quat.x;
            double y2   = pvec4Quat.y + pvec4Quat.y;
            double z2   = pvec4Quat.z + pvec4Quat.z;
            double xz2  = pvec4Quat.x * z2;
            double wy2  = pvec4Quat.w * y2;
            double temp = -(xz2 - wy2);

            // 誤差対策
            if (temp >= 1.0)
            {
                temp = 1.0;
            }
            else if (temp <= -1.0)
            {
                temp = -1.0;
            }

            double yRadian = Math.Sin(temp);

            // 他の回転を求める
            double xx2 = pvec4Quat.x * x2;
            double xy2 = pvec4Quat.x * y2;
            double zz2 = pvec4Quat.z * z2;
            double wz2 = pvec4Quat.w * z2;

            if (yRadian < 3.1415926f * 0.5f)
            {
                if (yRadian > -3.1415926f * 0.5f)
                {
                    double yz2 = pvec4Quat.y * z2;
                    double wx2 = pvec4Quat.w * x2;
                    double yy2 = pvec4Quat.y * y2;
                    this.x = (float)Math.Atan2(yz2 + wx2, (1.0f - (xx2 + yy2)));
                    this.y = (float)yRadian;
                    this.z = (float)Math.Atan2((xy2 + wz2), (1.0f - (yy2 + zz2)));
                }
                else
                {
                    this.x = (float)-Math.Atan2((xy2 - wz2), (1.0f - (xx2 + zz2)));
                    this.y = (float)yRadian;
                    this.z = 0.0f;
                }
            }
            else
            {
                this.x = (float)Math.Atan2((xy2 - wz2), (1.0f - (xx2 + zz2)));
                this.y = (float)yRadian;
                this.z = 0.0f;
            }
        }
示例#5
0
        public void QuaternionMultiply(MmdVector4 pvec4Src1, MmdVector4 pvec4Src2)
        {
            double px, py, pz, pw;
            double qx, qy, qz, qw;

            px = pvec4Src1.x; py = pvec4Src1.y; pz = pvec4Src1.z; pw = pvec4Src1.w;
            qx = pvec4Src2.x; qy = pvec4Src2.y; qz = pvec4Src2.z; qw = pvec4Src2.w;

            this.x = pw * qx + px * qw + py * qz - pz * qy;
            this.y = pw * qy - px * qz + py * qw + pz * qx;
            this.z = pw * qz + px * qy - py * qx + pz * qw;
            this.w = pw * qw - px * qx - py * qy - pz * qz;
        }
示例#6
0
        public void QuaternionSlerp(MmdVector4 pvec4Src1, MmdVector4 pvec4Src2, double fLerpValue)
        {
            // Qlerp
            double qr = pvec4Src1.x * pvec4Src2.x + pvec4Src1.y * pvec4Src2.y + pvec4Src1.z * pvec4Src2.z + pvec4Src1.w * pvec4Src2.w;
            double t0 = 1.0f - fLerpValue;

            if (qr < 0)
            {
                this.x = pvec4Src1.x * t0 - pvec4Src2.x * fLerpValue;
                this.y = pvec4Src1.y * t0 - pvec4Src2.y * fLerpValue;
                this.z = pvec4Src1.z * t0 - pvec4Src2.z * fLerpValue;
                this.w = pvec4Src1.w * t0 - pvec4Src2.w * fLerpValue;
            }
            else
            {
                this.x = pvec4Src1.x * t0 + pvec4Src2.x * fLerpValue;
                this.y = pvec4Src1.y * t0 + pvec4Src2.y * fLerpValue;
                this.z = pvec4Src1.z * t0 + pvec4Src2.z * fLerpValue;
                this.w = pvec4Src1.w * t0 + pvec4Src2.w * fLerpValue;
            }
            QuaternionNormalize(this);
            return;
        }