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OtterPlayGround/Otter/Utility/MonoGame/Quaternion.cs

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#region License
/*
MIT License
Copyright © 2006 The Mono.Xna Team
All rights reserved.
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
*/
#endregion License
using System;
namespace Otter {
/// <summary>
/// Struct for representing a Quaternion.
/// </summary>
public struct Quaternion : IEquatable<Quaternion> {
public float X;
public float Y;
public float Z;
public float W;
static Quaternion identity = new Quaternion(0, 0, 0, 1);
public Quaternion(float x, float y, float z, float w) {
this.X = x;
this.Y = y;
this.Z = z;
this.W = w;
}
public Quaternion(Vector3 vectorPart, float scalarPart) {
this.X = vectorPart.X;
this.Y = vectorPart.Y;
this.Z = vectorPart.Z;
this.W = scalarPart;
}
public static Quaternion Identity {
get { return identity; }
}
public static Quaternion Add(Quaternion quaternion1, Quaternion quaternion2) {
//Syderis
Quaternion quaternion;
quaternion.X = quaternion1.X + quaternion2.X;
quaternion.Y = quaternion1.Y + quaternion2.Y;
quaternion.Z = quaternion1.Z + quaternion2.Z;
quaternion.W = quaternion1.W + quaternion2.W;
return quaternion;
}
public static void Add(ref Quaternion quaternion1, ref Quaternion quaternion2, out Quaternion result) {
//Syderis
result.X = quaternion1.X + quaternion2.X;
result.Y = quaternion1.Y + quaternion2.Y;
result.Z = quaternion1.Z + quaternion2.Z;
result.W = quaternion1.W + quaternion2.W;
}
//Funcion añadida Syderis
public static Quaternion Concatenate(Quaternion value1, Quaternion value2) {
Quaternion quaternion;
float x = value2.X;
float y = value2.Y;
float z = value2.Z;
float w = value2.W;
float num4 = value1.X;
float num3 = value1.Y;
float num2 = value1.Z;
float num = value1.W;
float num12 = (y * num2) - (z * num3);
float num11 = (z * num4) - (x * num2);
float num10 = (x * num3) - (y * num4);
float num9 = ((x * num4) + (y * num3)) + (z * num2);
quaternion.X = ((x * num) + (num4 * w)) + num12;
quaternion.Y = ((y * num) + (num3 * w)) + num11;
quaternion.Z = ((z * num) + (num2 * w)) + num10;
quaternion.W = (w * num) - num9;
return quaternion;
}
//Añadida por Syderis
public static void Concatenate(ref Quaternion value1, ref Quaternion value2, out Quaternion result) {
float x = value2.X;
float y = value2.Y;
float z = value2.Z;
float w = value2.W;
float num4 = value1.X;
float num3 = value1.Y;
float num2 = value1.Z;
float num = value1.W;
float num12 = (y * num2) - (z * num3);
float num11 = (z * num4) - (x * num2);
float num10 = (x * num3) - (y * num4);
float num9 = ((x * num4) + (y * num3)) + (z * num2);
result.X = ((x * num) + (num4 * w)) + num12;
result.Y = ((y * num) + (num3 * w)) + num11;
result.Z = ((z * num) + (num2 * w)) + num10;
result.W = (w * num) - num9;
}
//Añadida por Syderis
public void Conjugate() {
this.X = -this.X;
this.Y = -this.Y;
this.Z = -this.Z;
}
//Añadida por Syderis
public static Quaternion Conjugate(Quaternion value) {
Quaternion quaternion;
quaternion.X = -value.X;
quaternion.Y = -value.Y;
quaternion.Z = -value.Z;
quaternion.W = value.W;
return quaternion;
}
//Añadida por Syderis
public static void Conjugate(ref Quaternion value, out Quaternion result) {
result.X = -value.X;
result.Y = -value.Y;
result.Z = -value.Z;
result.W = value.W;
}
public static Quaternion CreateFromAxisAngle(Vector3 axis, float angle) {
Quaternion quaternion;
float num2 = angle * 0.5f;
float num = (float)Math.Sin((double)num2);
float num3 = (float)Math.Cos((double)num2);
quaternion.X = axis.X * num;
quaternion.Y = axis.Y * num;
quaternion.Z = axis.Z * num;
quaternion.W = num3;
return quaternion;
}
public static void CreateFromAxisAngle(ref Vector3 axis, float angle, out Quaternion result) {
float num2 = angle * 0.5f;
float num = (float)Math.Sin((double)num2);
float num3 = (float)Math.Cos((double)num2);
result.X = axis.X * num;
result.Y = axis.Y * num;
result.Z = axis.Z * num;
result.W = num3;
}
public static Quaternion CreateFromRotationMatrix(Matrix matrix) {
float num8 = (matrix.M11 + matrix.M22) + matrix.M33;
Quaternion quaternion = new Quaternion();
if (num8 > 0f) {
float num = (float)Math.Sqrt((double)(num8 + 1f));
quaternion.W = num * 0.5f;
num = 0.5f / num;
quaternion.X = (matrix.M23 - matrix.M32) * num;
quaternion.Y = (matrix.M31 - matrix.M13) * num;
quaternion.Z = (matrix.M12 - matrix.M21) * num;
return quaternion;
}
if ((matrix.M11 >= matrix.M22) && (matrix.M11 >= matrix.M33)) {
float num7 = (float)Math.Sqrt((double)(((1f + matrix.M11) - matrix.M22) - matrix.M33));
float num4 = 0.5f / num7;
quaternion.X = 0.5f * num7;
quaternion.Y = (matrix.M12 + matrix.M21) * num4;
quaternion.Z = (matrix.M13 + matrix.M31) * num4;
quaternion.W = (matrix.M23 - matrix.M32) * num4;
return quaternion;
}
if (matrix.M22 > matrix.M33) {
float num6 = (float)Math.Sqrt((double)(((1f + matrix.M22) - matrix.M11) - matrix.M33));
float num3 = 0.5f / num6;
quaternion.X = (matrix.M21 + matrix.M12) * num3;
quaternion.Y = 0.5f * num6;
quaternion.Z = (matrix.M32 + matrix.M23) * num3;
quaternion.W = (matrix.M31 - matrix.M13) * num3;
return quaternion;
}
float num5 = (float)Math.Sqrt((double)(((1f + matrix.M33) - matrix.M11) - matrix.M22));
float num2 = 0.5f / num5;
quaternion.X = (matrix.M31 + matrix.M13) * num2;
quaternion.Y = (matrix.M32 + matrix.M23) * num2;
quaternion.Z = 0.5f * num5;
quaternion.W = (matrix.M12 - matrix.M21) * num2;
return quaternion;
}
public static void CreateFromRotationMatrix(ref Matrix matrix, out Quaternion result) {
float num8 = (matrix.M11 + matrix.M22) + matrix.M33;
if (num8 > 0f) {
float num = (float)Math.Sqrt((double)(num8 + 1f));
result.W = num * 0.5f;
num = 0.5f / num;
result.X = (matrix.M23 - matrix.M32) * num;
result.Y = (matrix.M31 - matrix.M13) * num;
result.Z = (matrix.M12 - matrix.M21) * num;
}
else if ((matrix.M11 >= matrix.M22) && (matrix.M11 >= matrix.M33)) {
float num7 = (float)Math.Sqrt((double)(((1f + matrix.M11) - matrix.M22) - matrix.M33));
float num4 = 0.5f / num7;
result.X = 0.5f * num7;
result.Y = (matrix.M12 + matrix.M21) * num4;
result.Z = (matrix.M13 + matrix.M31) * num4;
result.W = (matrix.M23 - matrix.M32) * num4;
}
else if (matrix.M22 > matrix.M33) {
float num6 = (float)Math.Sqrt((double)(((1f + matrix.M22) - matrix.M11) - matrix.M33));
float num3 = 0.5f / num6;
result.X = (matrix.M21 + matrix.M12) * num3;
result.Y = 0.5f * num6;
result.Z = (matrix.M32 + matrix.M23) * num3;
result.W = (matrix.M31 - matrix.M13) * num3;
}
else {
float num5 = (float)Math.Sqrt((double)(((1f + matrix.M33) - matrix.M11) - matrix.M22));
float num2 = 0.5f / num5;
result.X = (matrix.M31 + matrix.M13) * num2;
result.Y = (matrix.M32 + matrix.M23) * num2;
result.Z = 0.5f * num5;
result.W = (matrix.M12 - matrix.M21) * num2;
}
}
public static Quaternion CreateFromYawPitchRoll(float yaw, float pitch, float roll) {
Quaternion quaternion;
float num9 = roll * 0.5f;
float num6 = (float)Math.Sin((double)num9);
float num5 = (float)Math.Cos((double)num9);
float num8 = pitch * 0.5f;
float num4 = (float)Math.Sin((double)num8);
float num3 = (float)Math.Cos((double)num8);
float num7 = yaw * 0.5f;
float num2 = (float)Math.Sin((double)num7);
float num = (float)Math.Cos((double)num7);
quaternion.X = ((num * num4) * num5) + ((num2 * num3) * num6);
quaternion.Y = ((num2 * num3) * num5) - ((num * num4) * num6);
quaternion.Z = ((num * num3) * num6) - ((num2 * num4) * num5);
quaternion.W = ((num * num3) * num5) + ((num2 * num4) * num6);
return quaternion;
}
public static void CreateFromYawPitchRoll(float yaw, float pitch, float roll, out Quaternion result) {
float num9 = roll * 0.5f;
float num6 = (float)Math.Sin((double)num9);
float num5 = (float)Math.Cos((double)num9);
float num8 = pitch * 0.5f;
float num4 = (float)Math.Sin((double)num8);
float num3 = (float)Math.Cos((double)num8);
float num7 = yaw * 0.5f;
float num2 = (float)Math.Sin((double)num7);
float num = (float)Math.Cos((double)num7);
result.X = ((num * num4) * num5) + ((num2 * num3) * num6);
result.Y = ((num2 * num3) * num5) - ((num * num4) * num6);
result.Z = ((num * num3) * num6) - ((num2 * num4) * num5);
result.W = ((num * num3) * num5) + ((num2 * num4) * num6);
}
public static Quaternion Divide(Quaternion quaternion1, Quaternion quaternion2) {
Quaternion quaternion;
float x = quaternion1.X;
float y = quaternion1.Y;
float z = quaternion1.Z;
float w = quaternion1.W;
float num14 = (((quaternion2.X * quaternion2.X) + (quaternion2.Y * quaternion2.Y)) + (quaternion2.Z * quaternion2.Z)) + (quaternion2.W * quaternion2.W);
float num5 = 1f / num14;
float num4 = -quaternion2.X * num5;
float num3 = -quaternion2.Y * num5;
float num2 = -quaternion2.Z * num5;
float num = quaternion2.W * num5;
float num13 = (y * num2) - (z * num3);
float num12 = (z * num4) - (x * num2);
float num11 = (x * num3) - (y * num4);
float num10 = ((x * num4) + (y * num3)) + (z * num2);
quaternion.X = ((x * num) + (num4 * w)) + num13;
quaternion.Y = ((y * num) + (num3 * w)) + num12;
quaternion.Z = ((z * num) + (num2 * w)) + num11;
quaternion.W = (w * num) - num10;
return quaternion;
}
public static void Divide(ref Quaternion quaternion1, ref Quaternion quaternion2, out Quaternion result) {
float x = quaternion1.X;
float y = quaternion1.Y;
float z = quaternion1.Z;
float w = quaternion1.W;
float num14 = (((quaternion2.X * quaternion2.X) + (quaternion2.Y * quaternion2.Y)) + (quaternion2.Z * quaternion2.Z)) + (quaternion2.W * quaternion2.W);
float num5 = 1f / num14;
float num4 = -quaternion2.X * num5;
float num3 = -quaternion2.Y * num5;
float num2 = -quaternion2.Z * num5;
float num = quaternion2.W * num5;
float num13 = (y * num2) - (z * num3);
float num12 = (z * num4) - (x * num2);
float num11 = (x * num3) - (y * num4);
float num10 = ((x * num4) + (y * num3)) + (z * num2);
result.X = ((x * num) + (num4 * w)) + num13;
result.Y = ((y * num) + (num3 * w)) + num12;
result.Z = ((z * num) + (num2 * w)) + num11;
result.W = (w * num) - num10;
}
public static float Dot(Quaternion quaternion1, Quaternion quaternion2) {
return ((((quaternion1.X * quaternion2.X) + (quaternion1.Y * quaternion2.Y)) + (quaternion1.Z * quaternion2.Z)) + (quaternion1.W * quaternion2.W));
}
public static void Dot(ref Quaternion quaternion1, ref Quaternion quaternion2, out float result) {
result = (((quaternion1.X * quaternion2.X) + (quaternion1.Y * quaternion2.Y)) + (quaternion1.Z * quaternion2.Z)) + (quaternion1.W * quaternion2.W);
}
public override bool Equals(object obj) {
bool flag = false;
if (obj is Quaternion) {
flag = this.Equals((Quaternion)obj);
}
return flag;
}
public bool Equals(Quaternion other) {
return ((((this.X == other.X) && (this.Y == other.Y)) && (this.Z == other.Z)) && (this.W == other.W));
}
public override int GetHashCode() {
return (((this.X.GetHashCode() + this.Y.GetHashCode()) + this.Z.GetHashCode()) + this.W.GetHashCode());
}
public static Quaternion Inverse(Quaternion quaternion) {
Quaternion quaternion2;
float num2 = (((quaternion.X * quaternion.X) + (quaternion.Y * quaternion.Y)) + (quaternion.Z * quaternion.Z)) + (quaternion.W * quaternion.W);
float num = 1f / num2;
quaternion2.X = -quaternion.X * num;
quaternion2.Y = -quaternion.Y * num;
quaternion2.Z = -quaternion.Z * num;
quaternion2.W = quaternion.W * num;
return quaternion2;
}
public static void Inverse(ref Quaternion quaternion, out Quaternion result) {
float num2 = (((quaternion.X * quaternion.X) + (quaternion.Y * quaternion.Y)) + (quaternion.Z * quaternion.Z)) + (quaternion.W * quaternion.W);
float num = 1f / num2;
result.X = -quaternion.X * num;
result.Y = -quaternion.Y * num;
result.Z = -quaternion.Z * num;
result.W = quaternion.W * num;
}
public float Length() {
float num = (((this.X * this.X) + (this.Y * this.Y)) + (this.Z * this.Z)) + (this.W * this.W);
return (float)Math.Sqrt((double)num);
}
public float LengthSquared() {
return ((((this.X * this.X) + (this.Y * this.Y)) + (this.Z * this.Z)) + (this.W * this.W));
}
public static Quaternion Lerp(Quaternion quaternion1, Quaternion quaternion2, float amount) {
float num = amount;
float num2 = 1f - num;
Quaternion quaternion = new Quaternion();
float num5 = (((quaternion1.X * quaternion2.X) + (quaternion1.Y * quaternion2.Y)) + (quaternion1.Z * quaternion2.Z)) + (quaternion1.W * quaternion2.W);
if (num5 >= 0f) {
quaternion.X = (num2 * quaternion1.X) + (num * quaternion2.X);
quaternion.Y = (num2 * quaternion1.Y) + (num * quaternion2.Y);
quaternion.Z = (num2 * quaternion1.Z) + (num * quaternion2.Z);
quaternion.W = (num2 * quaternion1.W) + (num * quaternion2.W);
}
else {
quaternion.X = (num2 * quaternion1.X) - (num * quaternion2.X);
quaternion.Y = (num2 * quaternion1.Y) - (num * quaternion2.Y);
quaternion.Z = (num2 * quaternion1.Z) - (num * quaternion2.Z);
quaternion.W = (num2 * quaternion1.W) - (num * quaternion2.W);
}
float num4 = (((quaternion.X * quaternion.X) + (quaternion.Y * quaternion.Y)) + (quaternion.Z * quaternion.Z)) + (quaternion.W * quaternion.W);
float num3 = 1f / ((float)Math.Sqrt((double)num4));
quaternion.X *= num3;
quaternion.Y *= num3;
quaternion.Z *= num3;
quaternion.W *= num3;
return quaternion;
}
public static void Lerp(ref Quaternion quaternion1, ref Quaternion quaternion2, float amount, out Quaternion result) {
float num = amount;
float num2 = 1f - num;
float num5 = (((quaternion1.X * quaternion2.X) + (quaternion1.Y * quaternion2.Y)) + (quaternion1.Z * quaternion2.Z)) + (quaternion1.W * quaternion2.W);
if (num5 >= 0f) {
result.X = (num2 * quaternion1.X) + (num * quaternion2.X);
result.Y = (num2 * quaternion1.Y) + (num * quaternion2.Y);
result.Z = (num2 * quaternion1.Z) + (num * quaternion2.Z);
result.W = (num2 * quaternion1.W) + (num * quaternion2.W);
}
else {
result.X = (num2 * quaternion1.X) - (num * quaternion2.X);
result.Y = (num2 * quaternion1.Y) - (num * quaternion2.Y);
result.Z = (num2 * quaternion1.Z) - (num * quaternion2.Z);
result.W = (num2 * quaternion1.W) - (num * quaternion2.W);
}
float num4 = (((result.X * result.X) + (result.Y * result.Y)) + (result.Z * result.Z)) + (result.W * result.W);
float num3 = 1f / ((float)Math.Sqrt((double)num4));
result.X *= num3;
result.Y *= num3;
result.Z *= num3;
result.W *= num3;
}
public static Quaternion Slerp(Quaternion quaternion1, Quaternion quaternion2, float amount) {
float num2;
float num3;
Quaternion quaternion;
float num = amount;
float num4 = (((quaternion1.X * quaternion2.X) + (quaternion1.Y * quaternion2.Y)) + (quaternion1.Z * quaternion2.Z)) + (quaternion1.W * quaternion2.W);
bool flag = false;
if (num4 < 0f) {
flag = true;
num4 = -num4;
}
if (num4 > 0.999999f) {
num3 = 1f - num;
num2 = flag ? -num : num;
}
else {
float num5 = (float)Math.Acos((double)num4);
float num6 = (float)(1.0 / Math.Sin((double)num5));
num3 = ((float)Math.Sin((double)((1f - num) * num5))) * num6;
num2 = flag ? (((float)-Math.Sin((double)(num * num5))) * num6) : (((float)Math.Sin((double)(num * num5))) * num6);
}
quaternion.X = (num3 * quaternion1.X) + (num2 * quaternion2.X);
quaternion.Y = (num3 * quaternion1.Y) + (num2 * quaternion2.Y);
quaternion.Z = (num3 * quaternion1.Z) + (num2 * quaternion2.Z);
quaternion.W = (num3 * quaternion1.W) + (num2 * quaternion2.W);
return quaternion;
}
public static void Slerp(ref Quaternion quaternion1, ref Quaternion quaternion2, float amount, out Quaternion result) {
float num2;
float num3;
float num = amount;
float num4 = (((quaternion1.X * quaternion2.X) + (quaternion1.Y * quaternion2.Y)) + (quaternion1.Z * quaternion2.Z)) + (quaternion1.W * quaternion2.W);
bool flag = false;
if (num4 < 0f) {
flag = true;
num4 = -num4;
}
if (num4 > 0.999999f) {
num3 = 1f - num;
num2 = flag ? -num : num;
}
else {
float num5 = (float)Math.Acos((double)num4);
float num6 = (float)(1.0 / Math.Sin((double)num5));
num3 = ((float)Math.Sin((double)((1f - num) * num5))) * num6;
num2 = flag ? (((float)-Math.Sin((double)(num * num5))) * num6) : (((float)Math.Sin((double)(num * num5))) * num6);
}
result.X = (num3 * quaternion1.X) + (num2 * quaternion2.X);
result.Y = (num3 * quaternion1.Y) + (num2 * quaternion2.Y);
result.Z = (num3 * quaternion1.Z) + (num2 * quaternion2.Z);
result.W = (num3 * quaternion1.W) + (num2 * quaternion2.W);
}
public static Quaternion Subtract(Quaternion quaternion1, Quaternion quaternion2) {
Quaternion quaternion;
quaternion.X = quaternion1.X - quaternion2.X;
quaternion.Y = quaternion1.Y - quaternion2.Y;
quaternion.Z = quaternion1.Z - quaternion2.Z;
quaternion.W = quaternion1.W - quaternion2.W;
return quaternion;
}
public static void Subtract(ref Quaternion quaternion1, ref Quaternion quaternion2, out Quaternion result) {
result.X = quaternion1.X - quaternion2.X;
result.Y = quaternion1.Y - quaternion2.Y;
result.Z = quaternion1.Z - quaternion2.Z;
result.W = quaternion1.W - quaternion2.W;
}
public static Quaternion Multiply(Quaternion quaternion1, Quaternion quaternion2) {
Quaternion quaternion;
float x = quaternion1.X;
float y = quaternion1.Y;
float z = quaternion1.Z;
float w = quaternion1.W;
float num4 = quaternion2.X;
float num3 = quaternion2.Y;
float num2 = quaternion2.Z;
float num = quaternion2.W;
float num12 = (y * num2) - (z * num3);
float num11 = (z * num4) - (x * num2);
float num10 = (x * num3) - (y * num4);
float num9 = ((x * num4) + (y * num3)) + (z * num2);
quaternion.X = ((x * num) + (num4 * w)) + num12;
quaternion.Y = ((y * num) + (num3 * w)) + num11;
quaternion.Z = ((z * num) + (num2 * w)) + num10;
quaternion.W = (w * num) - num9;
return quaternion;
}
public static Quaternion Multiply(Quaternion quaternion1, float scaleFactor) {
Quaternion quaternion;
quaternion.X = quaternion1.X * scaleFactor;
quaternion.Y = quaternion1.Y * scaleFactor;
quaternion.Z = quaternion1.Z * scaleFactor;
quaternion.W = quaternion1.W * scaleFactor;
return quaternion;
}
public static void Multiply(ref Quaternion quaternion1, float scaleFactor, out Quaternion result) {
result.X = quaternion1.X * scaleFactor;
result.Y = quaternion1.Y * scaleFactor;
result.Z = quaternion1.Z * scaleFactor;
result.W = quaternion1.W * scaleFactor;
}
public static void Multiply(ref Quaternion quaternion1, ref Quaternion quaternion2, out Quaternion result) {
float x = quaternion1.X;
float y = quaternion1.Y;
float z = quaternion1.Z;
float w = quaternion1.W;
float num4 = quaternion2.X;
float num3 = quaternion2.Y;
float num2 = quaternion2.Z;
float num = quaternion2.W;
float num12 = (y * num2) - (z * num3);
float num11 = (z * num4) - (x * num2);
float num10 = (x * num3) - (y * num4);
float num9 = ((x * num4) + (y * num3)) + (z * num2);
result.X = ((x * num) + (num4 * w)) + num12;
result.Y = ((y * num) + (num3 * w)) + num11;
result.Z = ((z * num) + (num2 * w)) + num10;
result.W = (w * num) - num9;
}
public static Quaternion Negate(Quaternion quaternion) {
Quaternion quaternion2;
quaternion2.X = -quaternion.X;
quaternion2.Y = -quaternion.Y;
quaternion2.Z = -quaternion.Z;
quaternion2.W = -quaternion.W;
return quaternion2;
}
public static void Negate(ref Quaternion quaternion, out Quaternion result) {
result.X = -quaternion.X;
result.Y = -quaternion.Y;
result.Z = -quaternion.Z;
result.W = -quaternion.W;
}
public void Normalize() {
float num2 = (((this.X * this.X) + (this.Y * this.Y)) + (this.Z * this.Z)) + (this.W * this.W);
float num = 1f / ((float)Math.Sqrt((double)num2));
this.X *= num;
this.Y *= num;
this.Z *= num;
this.W *= num;
}
public static Quaternion Normalize(Quaternion quaternion) {
Quaternion quaternion2;
float num2 = (((quaternion.X * quaternion.X) + (quaternion.Y * quaternion.Y)) + (quaternion.Z * quaternion.Z)) + (quaternion.W * quaternion.W);
float num = 1f / ((float)Math.Sqrt((double)num2));
quaternion2.X = quaternion.X * num;
quaternion2.Y = quaternion.Y * num;
quaternion2.Z = quaternion.Z * num;
quaternion2.W = quaternion.W * num;
return quaternion2;
}
public static void Normalize(ref Quaternion quaternion, out Quaternion result) {
float num2 = (((quaternion.X * quaternion.X) + (quaternion.Y * quaternion.Y)) + (quaternion.Z * quaternion.Z)) + (quaternion.W * quaternion.W);
float num = 1f / ((float)Math.Sqrt((double)num2));
result.X = quaternion.X * num;
result.Y = quaternion.Y * num;
result.Z = quaternion.Z * num;
result.W = quaternion.W * num;
}
public static Quaternion operator +(Quaternion quaternion1, Quaternion quaternion2) {
Quaternion quaternion;
quaternion.X = quaternion1.X + quaternion2.X;
quaternion.Y = quaternion1.Y + quaternion2.Y;
quaternion.Z = quaternion1.Z + quaternion2.Z;
quaternion.W = quaternion1.W + quaternion2.W;
return quaternion;
}
public static Quaternion operator /(Quaternion quaternion1, Quaternion quaternion2) {
Quaternion quaternion;
float x = quaternion1.X;
float y = quaternion1.Y;
float z = quaternion1.Z;
float w = quaternion1.W;
float num14 = (((quaternion2.X * quaternion2.X) + (quaternion2.Y * quaternion2.Y)) + (quaternion2.Z * quaternion2.Z)) + (quaternion2.W * quaternion2.W);
float num5 = 1f / num14;
float num4 = -quaternion2.X * num5;
float num3 = -quaternion2.Y * num5;
float num2 = -quaternion2.Z * num5;
float num = quaternion2.W * num5;
float num13 = (y * num2) - (z * num3);
float num12 = (z * num4) - (x * num2);
float num11 = (x * num3) - (y * num4);
float num10 = ((x * num4) + (y * num3)) + (z * num2);
quaternion.X = ((x * num) + (num4 * w)) + num13;
quaternion.Y = ((y * num) + (num3 * w)) + num12;
quaternion.Z = ((z * num) + (num2 * w)) + num11;
quaternion.W = (w * num) - num10;
return quaternion;
}
public static bool operator ==(Quaternion quaternion1, Quaternion quaternion2) {
return ((((quaternion1.X == quaternion2.X) && (quaternion1.Y == quaternion2.Y)) && (quaternion1.Z == quaternion2.Z)) && (quaternion1.W == quaternion2.W));
}
public static bool operator !=(Quaternion quaternion1, Quaternion quaternion2) {
if (((quaternion1.X == quaternion2.X) && (quaternion1.Y == quaternion2.Y)) && (quaternion1.Z == quaternion2.Z)) {
return (quaternion1.W != quaternion2.W);
}
return true;
}
public static Quaternion operator *(Quaternion quaternion1, Quaternion quaternion2) {
Quaternion quaternion;
float x = quaternion1.X;
float y = quaternion1.Y;
float z = quaternion1.Z;
float w = quaternion1.W;
float num4 = quaternion2.X;
float num3 = quaternion2.Y;
float num2 = quaternion2.Z;
float num = quaternion2.W;
float num12 = (y * num2) - (z * num3);
float num11 = (z * num4) - (x * num2);
float num10 = (x * num3) - (y * num4);
float num9 = ((x * num4) + (y * num3)) + (z * num2);
quaternion.X = ((x * num) + (num4 * w)) + num12;
quaternion.Y = ((y * num) + (num3 * w)) + num11;
quaternion.Z = ((z * num) + (num2 * w)) + num10;
quaternion.W = (w * num) - num9;
return quaternion;
}
public static Quaternion operator *(Quaternion quaternion1, float scaleFactor) {
Quaternion quaternion;
quaternion.X = quaternion1.X * scaleFactor;
quaternion.Y = quaternion1.Y * scaleFactor;
quaternion.Z = quaternion1.Z * scaleFactor;
quaternion.W = quaternion1.W * scaleFactor;
return quaternion;
}
public static Quaternion operator -(Quaternion quaternion1, Quaternion quaternion2) {
Quaternion quaternion;
quaternion.X = quaternion1.X - quaternion2.X;
quaternion.Y = quaternion1.Y - quaternion2.Y;
quaternion.Z = quaternion1.Z - quaternion2.Z;
quaternion.W = quaternion1.W - quaternion2.W;
return quaternion;
}
public static Quaternion operator -(Quaternion quaternion) {
Quaternion quaternion2;
quaternion2.X = -quaternion.X;
quaternion2.Y = -quaternion.Y;
quaternion2.Z = -quaternion.Z;
quaternion2.W = -quaternion.W;
return quaternion2;
}
public override string ToString() {
System.Text.StringBuilder sb = new System.Text.StringBuilder(32);
sb.Append("{X:");
sb.Append(this.X);
sb.Append(" Y:");
sb.Append(this.Y);
sb.Append(" Z:");
sb.Append(this.Z);
sb.Append(" W:");
sb.Append(this.W);
sb.Append("}");
return sb.ToString();
}
internal Matrix ToMatrix() {
Matrix matrix = Matrix.Identity;
ToMatrix(out matrix);
return matrix;
}
internal void ToMatrix(out Matrix matrix) {
Quaternion.ToMatrix(this, out matrix);
}
internal static void ToMatrix(Quaternion quaternion, out Matrix matrix) {
// source -> http://content.gpwiki.org/index.php/OpenGL:Tutorials:Using_Quaternions_to_represent_rotation#Quaternion_to_Matrix
float x2 = quaternion.X * quaternion.X;
float y2 = quaternion.Y * quaternion.Y;
float z2 = quaternion.Z * quaternion.Z;
float xy = quaternion.X * quaternion.Y;
float xz = quaternion.X * quaternion.Z;
float yz = quaternion.Y * quaternion.Z;
float wx = quaternion.W * quaternion.X;
float wy = quaternion.W * quaternion.Y;
float wz = quaternion.W * quaternion.Z;
// This calculation would be a lot more complicated for non-unit length quaternions
// Note: The constructor of Matrix4 expects the Matrix in column-major format like expected by
// OpenGL
matrix.M11 = 1.0f - 2.0f * (y2 + z2);
matrix.M12 = 2.0f * (xy - wz);
matrix.M13 = 2.0f * (xz + wy);
matrix.M14 = 0.0f;
matrix.M21 = 2.0f * (xy + wz);
matrix.M22 = 1.0f - 2.0f * (x2 + z2);
matrix.M23 = 2.0f * (yz - wx);
matrix.M24 = 0.0f;
matrix.M31 = 2.0f * (xz - wy);
matrix.M32 = 2.0f * (yz + wx);
matrix.M33 = 1.0f - 2.0f * (x2 + y2);
matrix.M34 = 0.0f;
matrix.M41 = 2.0f * (xz - wy);
matrix.M42 = 2.0f * (yz + wx);
matrix.M43 = 1.0f - 2.0f * (x2 + y2);
matrix.M44 = 0.0f;
//return Matrix4( 1.0f - 2.0f * (y2 + z2), 2.0f * (xy - wz), 2.0f * (xz + wy), 0.0f,
// 2.0f * (xy + wz), 1.0f - 2.0f * (x2 + z2), 2.0f * (yz - wx), 0.0f,
// 2.0f * (xz - wy), 2.0f * (yz + wx), 1.0f - 2.0f * (x2 + y2), 0.0f,
// 0.0f, 0.0f, 0.0f, 1.0f)
// }
}
internal Vector3 Xyz {
get {
return new Vector3(X, Y, Z);
}
set {
X = value.X;
Y = value.Y;
Z = value.Z;
}
}
}
}
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