MonoGame.Framework/Quaternion.cs
Rama develop · réplica de lectura del repositorio original.
// MIT License - Copyright (C) The Mono.Xna Team
// This file is subject to the terms and conditions defined in
// file 'LICENSE.txt', which is part of this source code package.
using System;
using System.Diagnostics;
using System.Runtime.Serialization;
namespace Microsoft.Xna.Framework
{
/// <summary>
/// An efficient mathematical representation for three dimensional rotations.
/// </summary>
[DataContract]
[DebuggerDisplay("{DebugDisplayString,nq}")]
public struct Quaternion : IEquatable<Quaternion>
{
#region Private Fields
private static readonly Quaternion _identity = new Quaternion(0, 0, 0, 1);
#endregion
#region Public Fields
/// <summary>
/// The x coordinate of this <see cref="Quaternion"/>.
/// </summary>
[DataMember]
public float X;
/// <summary>
/// The y coordinate of this <see cref="Quaternion"/>.
/// </summary>
[DataMember]
public float Y;
/// <summary>
/// The z coordinate of this <see cref="Quaternion"/>.
/// </summary>
[DataMember]
public float Z;
/// <summary>
/// The rotation component of this <see cref="Quaternion"/>.
/// </summary>
[DataMember]
public float W;
#endregion
#region Constructors
/// <summary>
/// Constructs a quaternion with X, Y, Z and W from four values.
/// </summary>
/// <param name="x">The x coordinate in 3d-space.</param>
/// <param name="y">The y coordinate in 3d-space.</param>
/// <param name="z">The z coordinate in 3d-space.</param>
/// <param name="w">The rotation component.</param>
public Quaternion(float x, float y, float z, float w)
{
this.X = x;
this.Y = y;
this.Z = z;
this.W = w;
}
/// <summary>
/// Constructs a quaternion with X, Y, Z from <see cref="Vector3"/> and rotation component from a scalar.
/// </summary>
/// <param name="value">The x, y, z coordinates in 3d-space.</param>
/// <param name="w">The rotation component.</param>
public Quaternion(Vector3 value, float w)
{
this.X = value.X;
this.Y = value.Y;
this.Z = value.Z;
this.W = w;
}
/// <summary>
/// Constructs a quaternion from <see cref="Vector4"/>.
/// </summary>
/// <param name="value">The x, y, z coordinates in 3d-space and the rotation component.</param>
public Quaternion(Vector4 value)
{
this.X = value.X;
this.Y = value.Y;
this.Z = value.Z;
this.W = value.W;
}
#endregion
#region Public Properties
/// <summary>
/// Returns a quaternion representing no rotation.
/// </summary>
public static Quaternion Identity
{
get{ return _identity; }
}
#endregion
#region Internal Properties
internal string DebugDisplayString
{
get
{
if (this == Quaternion._identity)
{
return "Identity";
}
return string.Concat(
this.X.ToString(), " ",
this.Y.ToString(), " ",
this.Z.ToString(), " ",
this.W.ToString()
);
}
}
#endregion
#region Public Methods
#region Add
/// <summary>
/// Creates a new <see cref="Quaternion"/> that contains the sum of two quaternions.
/// </summary>
/// <param name="quaternion1">Source <see cref="Quaternion"/>.</param>
/// <param name="quaternion2">Source <see cref="Quaternion"/>.</param>
/// <returns>The result of the quaternion addition.</returns>
public static Quaternion Add(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;
}
/// <summary>
/// Creates a new <see cref="Quaternion"/> that contains the sum of two quaternions.
/// </summary>
/// <param name="quaternion1">Source <see cref="Quaternion"/>.</param>
/// <param name="quaternion2">Source <see cref="Quaternion"/>.</param>
/// <param name="result">The result of the quaternion addition as an output parameter.</param>
public static void Add(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;
}
#endregion
#region Concatenate
/// <summary>
/// Creates a new <see cref="Quaternion"/> that contains concatenation between two quaternion.
/// </summary>
/// <param name="value1">The first <see cref="Quaternion"/> to concatenate.</param>
/// <param name="value2">The second <see cref="Quaternion"/> to concatenate.</param>
/// <returns>The result of rotation of <paramref name="value1"/> followed by <paramref name="value2"/> rotation.</returns>
public static Quaternion Concatenate(Quaternion value1, Quaternion value2)
{
Quaternion quaternion;
float x1 = value1.X;
float y1 = value1.Y;
float z1 = value1.Z;
float w1 = value1.W;
float x2 = value2.X;
float y2 = value2.Y;
float z2 = value2.Z;
float w2 = value2.W;
quaternion.X = ((x2 * w1) + (x1 * w2)) + ((y2 * z1) - (z2 * y1));
quaternion.Y = ((y2 * w1) + (y1 * w2)) + ((z2 * x1) - (x2 * z1));
quaternion.Z = ((z2 * w1) + (z1 * w2)) + ((x2 * y1) - (y2 * x1));
quaternion.W = (w2 * w1) - (((x2 * x1) + (y2 * y1)) + (z2 * z1));
return quaternion;
}
/// <summary>
/// Creates a new <see cref="Quaternion"/> that contains concatenation between two quaternion.
/// </summary>
/// <param name="value1">The first <see cref="Quaternion"/> to concatenate.</param>
/// <param name="value2">The second <see cref="Quaternion"/> to concatenate.</param>
/// <param name="result">The result of rotation of <paramref name="value1"/> followed by <paramref name="value2"/> rotation as an output parameter.</param>
public static void Concatenate(ref Quaternion value1, ref Quaternion value2, out Quaternion result)
{
float x1 = value1.X;
float y1 = value1.Y;
float z1 = value1.Z;
float w1 = value1.W;
float x2 = value2.X;
float y2 = value2.Y;
float z2 = value2.Z;
float w2 = value2.W;
result.X = ((x2 * w1) + (x1 * w2)) + ((y2 * z1) - (z2 * y1));
result.Y = ((y2 * w1) + (y1 * w2)) + ((z2 * x1) - (x2 * z1));
result.Z = ((z2 * w1) + (z1 * w2)) + ((x2 * y1) - (y2 * x1));
result.W = (w2 * w1) - (((x2 * x1) + (y2 * y1)) + (z2 * z1));
}
#endregion
#region Conjugate
/// <summary>
/// Transforms this quaternion into its conjugated version.
/// </summary>
public void Conjugate()
{
X = -X;
Y = -Y;
Z = -Z;
}
/// <summary>
/// Creates a new <see cref="Quaternion"/> that contains conjugated version of the specified quaternion.
/// </summary>
/// <param name="value">The quaternion which values will be used to create the conjugated version.</param>
/// <returns>The conjugate version of the specified quaternion.</returns>
public static Quaternion Conjugate(Quaternion value)
{
return new Quaternion(-value.X,-value.Y,-value.Z,value.W);
}
/// <summary>
/// Creates a new <see cref="Quaternion"/> that contains conjugated version of the specified quaternion.
/// </summary>
/// <param name="value">The quaternion which values will be used to create the conjugated version.</param>
/// <param name="result">The conjugated version of the specified quaternion as an output parameter.</param>
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;
}
#endregion
#region CreateFromAxisAngle
/// <summary>
/// Creates a new <see cref="Quaternion"/> from the specified axis and angle.
/// </summary>
/// <param name="axis">The axis of rotation.</param>
/// <param name="angle">The angle in radians.</param>
/// <returns>The new quaternion builded from axis and angle.</returns>
public static Quaternion CreateFromAxisAngle(Vector3 axis, float angle)
{
float half = angle * 0.5f;
float sin = MathF.Sin(half);
float cos = MathF.Cos(half);
return new Quaternion(axis.X * sin, axis.Y * sin, axis.Z * sin, cos);
}
/// <summary>
/// Creates a new <see cref="Quaternion"/> from the specified axis and angle.
/// </summary>
/// <param name="axis">The axis of rotation.</param>
/// <param name="angle">The angle in radians.</param>
/// <param name="result">The new quaternion builded from axis and angle as an output parameter.</param>
public static void CreateFromAxisAngle(ref Vector3 axis, float angle, out Quaternion result)
{
float half = angle * 0.5f;
float sin = MathF.Sin(half);
float cos = MathF.Cos(half);
result.X = axis.X * sin;
result.Y = axis.Y * sin;
result.Z = axis.Z * sin;
result.W = cos;
}
#endregion
#region CreateFromRotationMatrix
/// <summary>
/// Creates a new <see cref="Quaternion"/> from the specified <see cref="Matrix"/>.
/// </summary>
/// <param name="matrix">The rotation matrix.</param>
/// <returns>A quaternion composed from the rotation part of the matrix.</returns>
public static Quaternion CreateFromRotationMatrix(Matrix matrix)
{
Quaternion quaternion;
float sqrt;
float half;
float scale = matrix.M11 + matrix.M22 + matrix.M33;
if (scale > 0.0f)
{
sqrt = MathF.Sqrt(scale + 1.0f);
quaternion.W = sqrt * 0.5f;
sqrt = 0.5f / sqrt;
quaternion.X = (matrix.M23 - matrix.M32) * sqrt;
quaternion.Y = (matrix.M31 - matrix.M13) * sqrt;
quaternion.Z = (matrix.M12 - matrix.M21) * sqrt;
return quaternion;
}
if ((matrix.M11 >= matrix.M22) && (matrix.M11 >= matrix.M33))
{
sqrt = MathF.Sqrt(1.0f + matrix.M11 - matrix.M22 - matrix.M33);
half = 0.5f / sqrt;
quaternion.X = 0.5f * sqrt;
quaternion.Y = (matrix.M12 + matrix.M21) * half;
quaternion.Z = (matrix.M13 + matrix.M31) * half;
quaternion.W = (matrix.M23 - matrix.M32) * half;
return quaternion;
}
if (matrix.M22 > matrix.M33)
{
sqrt = MathF.Sqrt(1.0f + matrix.M22 - matrix.M11 - matrix.M33);
half = 0.5f / sqrt;
quaternion.X = (matrix.M21 + matrix.M12) * half;
quaternion.Y = 0.5f * sqrt;
quaternion.Z = (matrix.M32 + matrix.M23) * half;
quaternion.W = (matrix.M31 - matrix.M13) * half;
return quaternion;
}
sqrt = MathF.Sqrt(1.0f + matrix.M33 - matrix.M11 - matrix.M22);
half = 0.5f / sqrt;
quaternion.X = (matrix.M31 + matrix.M13) * half;
quaternion.Y = (matrix.M32 + matrix.M23) * half;
quaternion.Z = 0.5f * sqrt;
quaternion.W = (matrix.M12 - matrix.M21) * half;
return quaternion;
}
/// <summary>
/// Creates a new <see cref="Quaternion"/> from the specified <see cref="Matrix"/>.
/// </summary>
/// <param name="matrix">The rotation matrix.</param>
/// <param name="result">A quaternion composed from the rotation part of the matrix as an output parameter.</param>
public static void CreateFromRotationMatrix(ref Matrix matrix, out Quaternion result)
{
float sqrt;
float half;
float scale = matrix.M11 + matrix.M22 + matrix.M33;
if (scale > 0.0f)
{
sqrt = MathF.Sqrt(scale + 1.0f);
result.W = sqrt * 0.5f;
sqrt = 0.5f / sqrt;
result.X = (matrix.M23 - matrix.M32) * sqrt;
result.Y = (matrix.M31 - matrix.M13) * sqrt;
result.Z = (matrix.M12 - matrix.M21) * sqrt;
}
else
if ((matrix.M11 >= matrix.M22) && (matrix.M11 >= matrix.M33))
{
sqrt = MathF.Sqrt(1.0f + matrix.M11 - matrix.M22 - matrix.M33);
half = 0.5f / sqrt;
result.X = 0.5f * sqrt;
result.Y = (matrix.M12 + matrix.M21) * half;
result.Z = (matrix.M13 + matrix.M31) * half;
result.W = (matrix.M23 - matrix.M32) * half;
}
else if (matrix.M22 > matrix.M33)
{
sqrt = MathF.Sqrt(1.0f + matrix.M22 - matrix.M11 - matrix.M33);
half = 0.5f/sqrt;
result.X = (matrix.M21 + matrix.M12)*half;
result.Y = 0.5f*sqrt;
result.Z = (matrix.M32 + matrix.M23)*half;
result.W = (matrix.M31 - matrix.M13)*half;
}
else
{
sqrt = MathF.Sqrt(1.0f + matrix.M33 - matrix.M11 - matrix.M22);
half = 0.5f / sqrt;
result.X = (matrix.M31 + matrix.M13) * half;
result.Y = (matrix.M32 + matrix.M23) * half;
result.Z = 0.5f * sqrt;
result.W = (matrix.M12 - matrix.M21) * half;
}
}
#endregion
#region CreateFromYawPitchRoll
/// <summary>
/// Creates a new <see cref="Quaternion"/> from the specified yaw, pitch and roll angles.
/// </summary>
/// <param name="yaw">Yaw around the y axis in radians.</param>
/// <param name="pitch">Pitch around the x axis in radians.</param>
/// <param name="roll">Roll around the z axis in radians.</param>
/// <returns>A new quaternion from the concatenated yaw, pitch, and roll angles.</returns>
public static Quaternion CreateFromYawPitchRoll(float yaw, float pitch, float roll)
{
float halfRoll = roll * 0.5f;
float halfPitch = pitch * 0.5f;
float halfYaw = yaw * 0.5f;
float sinRoll = MathF.Sin(halfRoll);
float cosRoll = MathF.Cos(halfRoll);
float sinPitch = MathF.Sin(halfPitch);
float cosPitch = MathF.Cos(halfPitch);
float sinYaw = MathF.Sin(halfYaw);
float cosYaw = MathF.Cos(halfYaw);
return new Quaternion((cosYaw * sinPitch * cosRoll) + (sinYaw * cosPitch * sinRoll),
(sinYaw * cosPitch * cosRoll) - (cosYaw * sinPitch * sinRoll),
(cosYaw * cosPitch * sinRoll) - (sinYaw * sinPitch * cosRoll),
(cosYaw * cosPitch * cosRoll) + (sinYaw * sinPitch * sinRoll));
}
/// <summary>
/// Creates a new <see cref="Quaternion"/> from the specified yaw, pitch and roll angles.
/// </summary>
/// <param name="yaw">Yaw around the y axis in radians.</param>
/// <param name="pitch">Pitch around the x axis in radians.</param>
/// <param name="roll">Roll around the z axis in radians.</param>
/// <param name="result">A new quaternion from the concatenated yaw, pitch, and roll angles as an output parameter.</param>
public static void CreateFromYawPitchRoll(float yaw, float pitch, float roll, out Quaternion result)
{
float halfRoll = roll * 0.5f;
float halfPitch = pitch * 0.5f;
float halfYaw = yaw * 0.5f;
float sinRoll = MathF.Sin(halfRoll);
float cosRoll = MathF.Cos(halfRoll);
float sinPitch = MathF.Sin(halfPitch);
float cosPitch = MathF.Cos(halfPitch);
float sinYaw = MathF.Sin(halfYaw);
float cosYaw = MathF.Cos(halfYaw);
result.X = (cosYaw * sinPitch * cosRoll) + (sinYaw * cosPitch * sinRoll);
result.Y = (sinYaw * cosPitch * cosRoll) - (cosYaw * sinPitch * sinRoll);
result.Z = (cosYaw * cosPitch * sinRoll) - (sinYaw * sinPitch * cosRoll);
result.W = (cosYaw * cosPitch * cosRoll) + (sinYaw * sinPitch * sinRoll);
}
#endregion
#region Divide
/// <summary>
/// Divides a <see cref="Quaternion"/> by the other <see cref="Quaternion"/>.
/// </summary>
/// <param name="quaternion1">Source <see cref="Quaternion"/>.</param>
/// <param name="quaternion2">Divisor <see cref="Quaternion"/>.</param>
/// <returns>The result of dividing the quaternions.</returns>
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;
}
/// <summary>
/// Divides a <see cref="Quaternion"/> by the other <see cref="Quaternion"/>.
/// </summary>
/// <param name="quaternion1">Source <see cref="Quaternion"/>.</param>
/// <param name="quaternion2">Divisor <see cref="Quaternion"/>.</param>
/// <param name="result">The result of dividing the quaternions as an output parameter.</param>
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;
}
#endregion
#region Dot
/// <summary>
/// Returns a dot product of two quaternions.
/// </summary>
/// <param name="quaternion1">The first quaternion.</param>
/// <param name="quaternion2">The second quaternion.</param>
/// <returns>The dot product of two quaternions.</returns>
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));
}
/// <summary>
/// Returns a dot product of two quaternions.
/// </summary>
/// <param name="quaternion1">The first quaternion.</param>
/// <param name="quaternion2">The second quaternion.</param>
/// <param name="result">The dot product of two quaternions as an output parameter.</param>
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);
}
#endregion
#region Equals
/// <summary>
/// Compares whether current instance is equal to specified <see cref="Object"/>.
/// </summary>
/// <param name="obj">The <see cref="Object"/> to compare.</param>
/// <returns><c>true</c> if the instances are equal; <c>false</c> otherwise.</returns>
public override bool Equals(object obj)
{
if (obj is Quaternion)
return Equals((Quaternion)obj);
return false;
}
/// <summary>
/// Compares whether current instance is equal to specified <see cref="Quaternion"/>.
/// </summary>
/// <param name="other">The <see cref="Quaternion"/> to compare.</param>
/// <returns><c>true</c> if the instances are equal; <c>false</c> otherwise.</returns>
public bool Equals(Quaternion other)
{
return X == other.X &&
Y == other.Y &&
Z == other.Z &&
W == other.W;
}
#endregion
/// <summary>
/// Gets the hash code of this <see cref="Quaternion"/>.
/// </summary>
/// <returns>Hash code of this <see cref="Quaternion"/>.</returns>
public override int GetHashCode()
{
return X.GetHashCode() + Y.GetHashCode() + Z.GetHashCode() + W.GetHashCode();
}
#region Inverse
/// <summary>
/// Returns the inverse quaternion which represents the opposite rotation.
/// </summary>
/// <param name="quaternion">Source <see cref="Quaternion"/>.</param>
/// <returns>The inverse quaternion.</returns>
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;
}
/// <summary>
/// Returns the inverse quaternion which represents the opposite rotation.
/// </summary>
/// <param name="quaternion">Source <see cref="Quaternion"/>.</param>
/// <param name="result">The inverse quaternion as an output parameter.</param>
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;
}
#endregion
/// <summary>
/// Returns the magnitude of the quaternion components.
/// </summary>
/// <returns>The magnitude of the quaternion components.</returns>
public float Length()
{
return MathF.Sqrt((X * X) + (Y * Y) + (Z * Z) + (W * W));
}
/// <summary>
/// Returns the squared magnitude of the quaternion components.
/// </summary>
/// <returns>The squared magnitude of the quaternion components.</returns>
public float LengthSquared()
{
return (X * X) + (Y * Y) + (Z * Z) + (W * W);
}
#region Lerp
/// <summary>
/// Performs a linear blend between two quaternions.
/// </summary>
/// <param name="quaternion1">Source <see cref="Quaternion"/>.</param>
/// <param name="quaternion2">Source <see cref="Quaternion"/>.</param>
/// <param name="amount">The blend amount where 0 returns <paramref name="quaternion1"/> and 1 <paramref name="quaternion2"/>.</param>
/// <returns>The result of linear blending between two quaternions.</returns>
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 / MathF.Sqrt(num4);
quaternion.X *= num3;
quaternion.Y *= num3;
quaternion.Z *= num3;
quaternion.W *= num3;
return quaternion;
}
/// <summary>
/// Performs a linear blend between two quaternions.
/// </summary>
/// <param name="quaternion1">Source <see cref="Quaternion"/>.</param>
/// <param name="quaternion2">Source <see cref="Quaternion"/>.</param>
/// <param name="amount">The blend amount where 0 returns <paramref name="quaternion1"/> and 1 <paramref name="quaternion2"/>.</param>
/// <param name="result">The result of linear blending between two quaternions as an output parameter.</param>
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 / MathF.Sqrt(num4);
result.X *= num3;
result.Y *= num3;
result.Z *= num3;
result.W *= num3;
}
#endregion
#region Slerp
/// <summary>
/// Performs a spherical linear blend between two quaternions.
/// </summary>
/// <param name="quaternion1">Source <see cref="Quaternion"/>.</param>
/// <param name="quaternion2">Source <see cref="Quaternion"/>.</param>
/// <param name="amount">The blend amount where 0 returns <paramref name="quaternion1"/> and 1 <paramref name="quaternion2"/>.</param>
/// <returns>The result of spherical linear blending between two quaternions.</returns>
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 = MathF.Acos(num4);
float num6 = (float) (1.0 / Math.Sin((double) num5));
num3 = MathF.Sin((1f - num) * num5) * num6;
num2 = flag ? (-MathF.Sin(num * num5) * num6) : (MathF.Sin(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;
}
/// <summary>
/// Performs a spherical linear blend between two quaternions.
/// </summary>
/// <param name="quaternion1">Source <see cref="Quaternion"/>.</param>
/// <param name="quaternion2">Source <see cref="Quaternion"/>.</param>
/// <param name="amount">The blend amount where 0 returns <paramref name="quaternion1"/> and 1 <paramref name="quaternion2"/>.</param>
/// <param name="result">The result of spherical linear blending between two quaternions as an output parameter.</param>
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 = MathF.Acos(num4);
float num6 = (float) (1.0 / Math.Sin((double) num5));
num3 = MathF.Sin((1f - num) * num5) * num6;
num2 = flag ? (-MathF.Sin(num * num5) * num6) : (MathF.Sin(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);
}
#endregion
#region Subtract
/// <summary>
/// Creates a new <see cref="Quaternion"/> that contains subtraction of one <see cref="Quaternion"/> from another.
/// </summary>
/// <param name="quaternion1">Source <see cref="Quaternion"/>.</param>
/// <param name="quaternion2">Source <see cref="Quaternion"/>.</param>
/// <returns>The result of the quaternion subtraction.</returns>
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;
}
/// <summary>
/// Creates a new <see cref="Quaternion"/> that contains subtraction of one <see cref="Quaternion"/> from another.
/// </summary>
/// <param name="quaternion1">Source <see cref="Quaternion"/>.</param>
/// <param name="quaternion2">Source <see cref="Quaternion"/>.</param>
/// <param name="result">The result of the quaternion subtraction as an output parameter.</param>
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;
}
#endregion
#region Multiply
/// <summary>
/// Creates a new <see cref="Quaternion"/> that contains a multiplication of two quaternions.
/// </summary>
/// <param name="quaternion1">Source <see cref="Quaternion"/>.</param>
/// <param name="quaternion2">Source <see cref="Quaternion"/>.</param>
/// <returns>The result of the quaternion multiplication.</returns>
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;
}
/// <summary>
/// Creates a new <see cref="Quaternion"/> that contains a multiplication of <see cref="Quaternion"/> and a scalar.
/// </summary>
/// <param name="quaternion1">Source <see cref="Quaternion"/>.</param>
/// <param name="scaleFactor">Scalar value.</param>
/// <returns>The result of the quaternion multiplication with a scalar.</returns>
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;
}
/// <summary>
/// Creates a new <see cref="Quaternion"/> that contains a multiplication of <see cref="Quaternion"/> and a scalar.
/// </summary>
/// <param name="quaternion1">Source <see cref="Quaternion"/>.</param>
/// <param name="scaleFactor">Scalar value.</param>
/// <param name="result">The result of the quaternion multiplication with a scalar as an output parameter.</param>
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;
}
/// <summary>
/// Creates a new <see cref="Quaternion"/> that contains a multiplication of two quaternions.
/// </summary>
/// <param name="quaternion1">Source <see cref="Quaternion"/>.</param>
/// <param name="quaternion2">Source <see cref="Quaternion"/>.</param>
/// <param name="result">The result of the quaternion multiplication as an output parameter.</param>
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;
}
#endregion
#region Negate
/// <summary>
/// Flips the sign of the all the quaternion components.
/// </summary>
/// <param name="quaternion">Source <see cref="Quaternion"/>.</param>
/// <returns>The result of the quaternion negation.</returns>
public static Quaternion Negate(Quaternion quaternion)
{
return new Quaternion(-quaternion.X, -quaternion.Y, -quaternion.Z, -quaternion.W);
}
/// <summary>
/// Flips the sign of the all the quaternion components.
/// </summary>
/// <param name="quaternion">Source <see cref="Quaternion"/>.</param>
/// <param name="result">The result of the quaternion negation as an output parameter.</param>
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;
}
#endregion
#region Normalize
/// <summary>
/// Scales the quaternion magnitude to unit length.
/// </summary>
public void Normalize()
{
float num = 1f / MathF.Sqrt((X * X) + (Y * Y) + (Z * Z) + (W * W));
X *= num;
Y *= num;
Z *= num;
W *= num;
}
/// <summary>
/// Scales the quaternion magnitude to unit length.
/// </summary>
/// <param name="quaternion">Source <see cref="Quaternion"/>.</param>
/// <returns>The unit length quaternion.</returns>
public static Quaternion Normalize(Quaternion quaternion)
{
Quaternion result;
float num = 1f / MathF.Sqrt((quaternion.X * quaternion.X) + (quaternion.Y * quaternion.Y) + (quaternion.Z * quaternion.Z) + (quaternion.W * quaternion.W));
result.X = quaternion.X * num;
result.Y = quaternion.Y * num;
result.Z = quaternion.Z * num;
result.W = quaternion.W * num;
return result;
}
/// <summary>
/// Scales the quaternion magnitude to unit length.
/// </summary>
/// <param name="quaternion">Source <see cref="Quaternion"/>.</param>
/// <param name="result">The unit length quaternion an output parameter.</param>
public static void Normalize(ref Quaternion quaternion, out Quaternion result)
{
float num = 1f / MathF.Sqrt((quaternion.X * quaternion.X) + (quaternion.Y * quaternion.Y) + (quaternion.Z * quaternion.Z) + (quaternion.W * quaternion.W));
result.X = quaternion.X * num;
result.Y = quaternion.Y * num;
result.Z = quaternion.Z * num;
result.W = quaternion.W * num;
}
#endregion
/// <summary>
/// Returns a <see cref="String"/> representation of this <see cref="Quaternion"/> in the format:
/// {X:[<see cref="X"/>] Y:[<see cref="Y"/>] Z:[<see cref="Z"/>] W:[<see cref="W"/>]}
/// </summary>
/// <returns>A <see cref="String"/> representation of this <see cref="Quaternion"/>.</returns>
public override string ToString()
{
return "{X:" + X + " Y:" + Y + " Z:" + Z + " W:" + W + "}";
}
/// <summary>
/// Gets a <see cref="Vector4"/> representation for this object.
/// </summary>
/// <returns>A <see cref="Vector4"/> representation for this object.</returns>
public Vector4 ToVector4()
{
return new Vector4(X,Y,Z,W);
}
/// <summary>
/// Deconstruction method for <see cref="Quaternion"/>.
/// </summary>
/// <param name="x">The x coordinate in 3d-space.</param>
/// <param name="y">The y coordinate in 3d-space.</param>
/// <param name="z">The z coordinate in 3d-space.</param>
/// <param name="w">The rotation component.</param>
public void Deconstruct(out float x, out float y, out float z, out float w)
{
x = X;
y = Y;
z = Z;
w = W;
}
/// <summary>
/// Returns a <see cref="System.Numerics.Quaternion"/>.
/// </summary>
public System.Numerics.Quaternion ToNumerics()
{
return new System.Numerics.Quaternion(this.X, this.Y, this.Z, this.W);
}
#endregion
#region Operators
/// <summary>
/// Converts a <see cref="System.Numerics.Quaternion"/> to a <see cref="Quaternion"/>.
/// </summary>
/// <param name="value">The converted value.</param>
public static implicit operator Quaternion(System.Numerics.Quaternion value)
{
return new Quaternion(value.X, value.Y, value.Z, value.W);
}
/// <summary>
/// Adds two quaternions.
/// </summary>
/// <param name="quaternion1">Source <see cref="Quaternion"/> on the left of the add sign.</param>
/// <param name="quaternion2">Source <see cref="Quaternion"/> on the right of the add sign.</param>
/// <returns>Sum of the vectors.</returns>
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;
}
/// <summary>
/// Divides a <see cref="Quaternion"/> by the other <see cref="Quaternion"/>.
/// </summary>
/// <param name="quaternion1">Source <see cref="Quaternion"/> on the left of the div sign.</param>
/// <param name="quaternion2">Divisor <see cref="Quaternion"/> on the right of the div sign.</param>
/// <returns>The result of dividing the quaternions.</returns>
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;
}
/// <summary>
/// Compares whether two <see cref="Quaternion"/> instances are equal.
/// </summary>
/// <param name="quaternion1"><see cref="Quaternion"/> instance on the left of the equal sign.</param>
/// <param name="quaternion2"><see cref="Quaternion"/> instance on the right of the equal sign.</param>
/// <returns><c>true</c> if the instances are equal; <c>false</c> otherwise.</returns>
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));
}
/// <summary>
/// Compares whether two <see cref="Quaternion"/> instances are not equal.
/// </summary>
/// <param name="quaternion1"><see cref="Quaternion"/> instance on the left of the not equal sign.</param>
/// <param name="quaternion2"><see cref="Quaternion"/> instance on the right of the not equal sign.</param>
/// <returns><c>true</c> if the instances are not equal; <c>false</c> otherwise.</returns>
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;
}
/// <summary>
/// Multiplies two quaternions.
/// </summary>
/// <param name="quaternion1">Source <see cref="Quaternion"/> on the left of the mul sign.</param>
/// <param name="quaternion2">Source <see cref="Quaternion"/> on the right of the mul sign.</param>
/// <returns>Result of the quaternions multiplication.</returns>
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;
}
/// <summary>
/// Multiplies the components of quaternion by a scalar.
/// </summary>
/// <param name="quaternion1">Source <see cref="Vector3"/> on the left of the mul sign.</param>
/// <param name="scaleFactor">Scalar value on the right of the mul sign.</param>
/// <returns>Result of the quaternion multiplication with a scalar.</returns>
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;
}
/// <summary>
/// Subtracts a <see cref="Quaternion"/> from a <see cref="Quaternion"/>.
/// </summary>
/// <param name="quaternion1">Source <see cref="Vector3"/> on the left of the sub sign.</param>
/// <param name="quaternion2">Source <see cref="Vector3"/> on the right of the sub sign.</param>
/// <returns>Result of the quaternion subtraction.</returns>
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;
}
/// <summary>
/// Flips the sign of the all the quaternion components.
/// </summary>
/// <param name="quaternion">Source <see cref="Quaternion"/> on the right of the sub sign.</param>
/// <returns>The result of the quaternion negation.</returns>
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;
}
#endregion
}
}