931 lines
40 KiB
C#
931 lines
40 KiB
C#
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/****************************************************************************
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Copyright (c) 2011-2013,WebJet Business Division,CYOU
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http://www.genesis-3d.com.cn
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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****************************************************************************/
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namespace ScriptRuntime
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{
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using System;
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using System.ComponentModel;
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using System.Globalization;
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using System.Runtime.InteropServices;
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/// <summary>
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/// 定义一个四维向量，可以使对象关于一个三维向量有效旋转一定角度。
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/// </summary>
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[Serializable, StructLayout(LayoutKind.Sequential)]
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public struct Quaternion : IEquatable<Quaternion>
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{
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/// <summary>
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/// 指定四元组的旋转分量
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/// </summary>
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public float W;
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/// <summary>
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/// 指定四元组的X轴分量
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/// </summary>
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public float X;
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/// <summary>
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/// 指定四元组的Y轴分量
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/// </summary>
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public float Y;
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/// <summary>
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/// 指定四元组的Z轴分量
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/// </summary>
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public float Z;
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private static Quaternion _identity;
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/// <summary>
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/// 返回一个代表不旋转的四元组
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/// </summary>
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public static Quaternion Identity
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{
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get
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{
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return _identity;
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}
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}
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/// <summary>
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/// 初始化一个四元组实例
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/// </summary>
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/// <param name="x">四元组的x值</param>
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/// <param name="y">四元组的y值</param>
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/// <param name="z">四元组的z值</param>
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/// <param name="w">四元组的w值</param>
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public Quaternion(float x, float y, float z, float w)
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{
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this.X = x;
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this.Y = y;
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this.Z = z;
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this.W = w;
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}
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/// <summary>
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/// 初始化一个四元组实例
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/// </summary>
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/// <param name="angle">旋转角</param>
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/// <param name="rkAxis">四元组的旋转分量.</param>
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public Quaternion(float angle, Vector3 rkAxis)
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{
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float num2 = angle * 0.5f;
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float num = (float)Math.Sin((double)num2);
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float num3 = (float)Math.Cos((double)num2);
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X = rkAxis.X * num;
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Y = rkAxis.Y * num;
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Z = rkAxis.Z * num;
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W = num3;
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}
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/// <summary>
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/// 初始化一个四元组实例
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/// </summary>
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/// <param name="xaxis">X轴分量</param>
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/// <param name="yaxis">Y轴分量</param>
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/// <param name="zaxis">Z轴分量</param>
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public Quaternion(Vector3 xaxis, Vector3 yaxis, Vector3 zaxis)
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{
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Matrix44 kRot = Matrix44.Identity;
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kRot[0,0] = xaxis.X;
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kRot[1,0] = xaxis.Y;
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kRot[2,0] = xaxis.Z;
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kRot[0,1] = yaxis.X;
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kRot[1,1] = yaxis.Y;
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kRot[2,1] = yaxis.Z;
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kRot[0,2] = zaxis.X;
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kRot[1,2] = zaxis.Y;
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kRot[2,2] = zaxis.Z;
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CreateFromRotationMatrix(ref kRot, out this);
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}
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/// <summary>
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/// 用指定的偏航角，俯仰角，翻转角初始化四元组
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/// </summary>
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/// <param name="yaw">Y轴旋转弧度值</param>
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/// <param name="pitch">X轴旋转弧度值</param>
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/// <param name="roll">Z轴旋转弧度值</param>
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public Quaternion(float yaw, float pitch, float roll)
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{
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float num9 = roll * 0.5f;
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float num6 = (float)Math.Sin((double)num9);
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float num5 = (float)Math.Cos((double)num9);
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float num8 = pitch * 0.5f;
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float num4 = (float)Math.Sin((double)num8);
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float num3 = (float)Math.Cos((double)num8);
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float num7 = yaw * 0.5f;
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float num2 = (float)Math.Sin((double)num7);
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float num = (float)Math.Cos((double)num7);
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X = ((num * num4) * num5) + ((num2 * num3) * num6);
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Y = ((num2 * num3) * num5) - ((num * num4) * num6);
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Z = ((num * num3) * num6) - ((num2 * num4) * num5);
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W = ((num * num3) * num5) + ((num2 * num4) * num6);
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}
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/// <summary>
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/// 用字符表示当前对象
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/// </summary>
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/// <returns>表示当前对象的字符串</returns>
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public override string ToString()
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{
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CultureInfo currentCulture = CultureInfo.CurrentCulture;
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return string.Format(currentCulture, "{0}, {1}, {2}, {3}", new object[] { this.X.ToString(currentCulture), this.Y.ToString(currentCulture), this.Z.ToString(currentCulture), this.W.ToString(currentCulture) });
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}
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/// <summary>
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/// 判断是否相等
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/// </summary>
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/// <param name="other">指定的四元组</param>
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/// <returns>相等true，不相等false </returns>
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public bool Equals(Quaternion other)
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{
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return ((((this.X == other.X) && (this.Y == other.Y)) && (this.Z == other.Z)) && (this.W == other.W));
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}
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/// <summary>
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/// 返回一个值表明现有实例等于指定对象
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/// </summary>
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/// <param name="obj">指定对象</param>
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/// <returns>相等true，不相等false</returns>
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public override bool Equals(object obj)
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{
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bool flag = false;
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if (obj is Quaternion)
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{
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flag = this.Equals((Quaternion) obj);
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}
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return flag;
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}
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/// <summary>
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/// 计算哈希值
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/// </summary>
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/// <returns>对象的哈希值</returns>
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public override int GetHashCode()
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{
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return (((this.X.GetHashCode() + this.Y.GetHashCode()) + this.Z.GetHashCode()) + this.W.GetHashCode());
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}
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/// <summary>
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/// 计算一个四元组长度的平方
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/// </summary>
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/// <returns>四元组长度的平方</returns>
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public float LengthSquared()
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{
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return ((((this.X * this.X) + (this.Y * this.Y)) + (this.Z * this.Z)) + (this.W * this.W));
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}
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/// <summary>
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/// 计算四元组长度
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/// </summary>
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/// <returns>四元组的长度</returns>
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public float Length()
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{
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float num = (((this.X * this.X) + (this.Y * this.Y)) + (this.Z * this.Z)) + (this.W * this.W);
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return (float) Math.Sqrt((double) num);
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}
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/// <summary>
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/// 用四元组长度划分分量
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/// </summary>
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public void Normalize()
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{
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float num2 = (((this.X * this.X) + (this.Y * this.Y)) + (this.Z * this.Z)) + (this.W * this.W);
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float num = 1f / ((float) Math.Sqrt((double) num2));
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this.X *= num;
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this.Y *= num;
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this.Z *= num;
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this.W *= num;
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}
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/// <summary>
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/// 用四元组长度划分分量
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/// </summary>
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/// <param name="quaternion">源四元组</param>
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/// <returns>标准化四元组</returns>
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public static Quaternion Normalize(Quaternion quaternion)
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{
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Quaternion quaternion2;
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float num2 = (((quaternion.X * quaternion.X) + (quaternion.Y * quaternion.Y)) + (quaternion.Z * quaternion.Z)) + (quaternion.W * quaternion.W);
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float num = 1f / ((float) Math.Sqrt((double) num2));
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quaternion2.X = quaternion.X * num;
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quaternion2.Y = quaternion.Y * num;
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quaternion2.Z = quaternion.Z * num;
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quaternion2.W = quaternion.W * num;
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return quaternion2;
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}
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/// <summary>
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/// 用四元组长度划分分量
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/// </summary>
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/// <param name="quaternion">源四元组</param>
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/// <param name="result">[输出属性] 标准化四元组</param>
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public static void Normalize(ref Quaternion quaternion, out Quaternion result)
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{
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float num2 = (((quaternion.X * quaternion.X) + (quaternion.Y * quaternion.Y)) + (quaternion.Z * quaternion.Z)) + (quaternion.W * quaternion.W);
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float num = 1f / ((float)Math.Sqrt((double)num2));
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result.X = quaternion.X * num;
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result.Y = quaternion.Y * num;
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result.Z = quaternion.Z * num;
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result.W = quaternion.W * num;
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}
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/// <summary>
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/// 返回相反的四元组
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/// </summary>
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/// <param name="quaternion">源四元组</param>
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/// <returns>逆四元组</returns>
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public static Quaternion Inverse(Quaternion quaternion)
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{
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Quaternion quaternion2;
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float num2 = (((quaternion.X * quaternion.X) + (quaternion.Y * quaternion.Y)) + (quaternion.Z * quaternion.Z)) + (quaternion.W * quaternion.W);
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float num = 1f / num2;
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quaternion2.X = -quaternion.X * num;
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quaternion2.Y = -quaternion.Y * num;
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quaternion2.Z = -quaternion.Z * num;
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quaternion2.W = quaternion.W * num;
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return quaternion2;
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}
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/// <summary>
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/// 返回相反的四元组
|
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/// </summary>
|
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/// <param name="quaternion">源四元组</param>
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/// <param name="result">[输出属性] 逆四元组</param>
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public static void Inverse(ref Quaternion quaternion, out Quaternion result)
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{
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float num2 = (((quaternion.X * quaternion.X) + (quaternion.Y * quaternion.Y)) + (quaternion.Z * quaternion.Z)) + (quaternion.W * quaternion.W);
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float num = 1f / num2;
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result.X = -quaternion.X * num;
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result.Y = -quaternion.Y * num;
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result.Z = -quaternion.Z * num;
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result.W = quaternion.W * num;
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}
|
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/// <summary>
|
|||
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/// 用轴向量和旋转角创建一个四元组
|
|||
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/// </summary>
|
|||
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/// <param name="axis">轴向量</param>
|
|||
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/// <param name="angle">旋转角</param>
|
|||
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/// <returns></returns>
|
|||
|
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public static Quaternion CreateFromAxisAngle(Vector3 axis, float angle)
|
|||
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{
|
|||
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Quaternion quaternion;
|
|||
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float num2 = angle * 0.5f;
|
|||
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float num = (float) Math.Sin((double) num2);
|
|||
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float num3 = (float) Math.Cos((double) num2);
|
|||
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quaternion.X = axis.X * num;
|
|||
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quaternion.Y = axis.Y * num;
|
|||
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quaternion.Z = axis.Z * num;
|
|||
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quaternion.W = num3;
|
|||
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return quaternion;
|
|||
|
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}
|
|||
|
|
/// <summary>
|
|||
|
|
/// 用轴向量和旋转角创建一个四元组
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="axis">轴向量</param>
|
|||
|
|
/// <param name="angle">旋转角</param>
|
|||
|
|
/// <param name="result">[输出属性] 创建的四元组</param>
|
|||
|
|
public static void CreateFromAxisAngle(ref Vector3 axis, float angle, out Quaternion result)
|
|||
|
|
{
|
|||
|
|
float num2 = angle * 0.5f;
|
|||
|
|
float num = (float)Math.Sin((double)num2);
|
|||
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float num3 = (float)Math.Cos((double)num2);
|
|||
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result.X = axis.X * num;
|
|||
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result.Y = axis.Y * num;
|
|||
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result.Z = axis.Z * num;
|
|||
|
|
result.W = num3;
|
|||
|
|
}
|
|||
|
|
/// <summary>
|
|||
|
|
/// 用指定的偏航角，俯仰角，翻转角创建四元组
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="yaw">Y轴旋转弧度值</param>
|
|||
|
|
/// <param name="pitch">X轴旋转弧度值</param>
|
|||
|
|
/// <param name="roll">Z轴旋转弧度值</param>
|
|||
|
|
/// <returns>创建的四元组</returns>
|
|||
|
|
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;
|
|||
|
|
}
|
|||
|
|
/// <summary>
|
|||
|
|
/// 用指定的yaw，pitch，roll创建四元组
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="yaw">Y轴旋转弧度值</param>
|
|||
|
|
/// <param name="pitch">X轴旋转弧度值</param>
|
|||
|
|
/// <param name="roll">Z轴旋转弧度值</param>
|
|||
|
|
/// <param name="result">创建的四元组</param>
|
|||
|
|
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);
|
|||
|
|
}
|
|||
|
|
/// <summary>
|
|||
|
|
/// 用旋转矩阵创建四元组
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="matrix">旋转矩阵</param>
|
|||
|
|
/// <returns>创建的四元组</returns>
|
|||
|
|
public static Quaternion CreateFromRotationMatrix(Matrix44 matrix)
|
|||
|
|
{
|
|||
|
|
float num8 = (matrix.M00 + matrix.M11) + matrix.M22;
|
|||
|
|
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.M21 - matrix.M12) * num;
|
|||
|
|
quaternion.Y = (matrix.M02 - matrix.M20) * num;
|
|||
|
|
quaternion.Z = (matrix.M10 - matrix.M01) * num;
|
|||
|
|
return quaternion;
|
|||
|
|
}
|
|||
|
|
if ((matrix.M00 >= matrix.M11) && (matrix.M00 >= matrix.M22))
|
|||
|
|
{
|
|||
|
|
float num7 = (float) Math.Sqrt((double) (((1f + matrix.M00) - matrix.M11) - matrix.M22));
|
|||
|
|
float num4 = 0.5f / num7;
|
|||
|
|
quaternion.X = 0.5f * num7;
|
|||
|
|
quaternion.Y = (matrix.M10 + matrix.M01) * num4;
|
|||
|
|
quaternion.Z = (matrix.M20 + matrix.M02) * num4;
|
|||
|
|
quaternion.W = (matrix.M21 - matrix.M12) * num4;
|
|||
|
|
return quaternion;
|
|||
|
|
}
|
|||
|
|
if (matrix.M11 > matrix.M22)
|
|||
|
|
{
|
|||
|
|
float num6 = (float) Math.Sqrt((double) (((1f + matrix.M11) - matrix.M00) - matrix.M22));
|
|||
|
|
float num3 = 0.5f / num6;
|
|||
|
|
quaternion.X = (matrix.M01 + matrix.M10) * num3;
|
|||
|
|
quaternion.Y = 0.5f * num6;
|
|||
|
|
quaternion.Z = (matrix.M12 + matrix.M21) * num3;
|
|||
|
|
quaternion.W = (matrix.M02 - matrix.M20) * num3;
|
|||
|
|
return quaternion;
|
|||
|
|
}
|
|||
|
|
float num5 = (float) Math.Sqrt((double) (((1f + matrix.M22) - matrix.M00) - matrix.M11));
|
|||
|
|
float num2 = 0.5f / num5;
|
|||
|
|
quaternion.X = (matrix.M02 + matrix.M20) * num2;
|
|||
|
|
quaternion.Y = (matrix.M12 + matrix.M21) * num2;
|
|||
|
|
quaternion.Z = 0.5f * num5;
|
|||
|
|
quaternion.W = (matrix.M10 - matrix.M01) * num2;
|
|||
|
|
return quaternion;
|
|||
|
|
}
|
|||
|
|
/// <summary>
|
|||
|
|
/// 用旋转矩阵创建四元组
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="matrix">旋转矩阵</param>
|
|||
|
|
/// <param name="result">[输出属性] 创建的四元组</param>
|
|||
|
|
public static void CreateFromRotationMatrix(ref Matrix44 matrix, out Quaternion result)
|
|||
|
|
{
|
|||
|
|
float num8 = (matrix.M00 + matrix.M11) + matrix.M22;
|
|||
|
|
if (num8 > 0f)
|
|||
|
|
{
|
|||
|
|
float num = (float)Math.Sqrt((double)(num8 + 1f));
|
|||
|
|
result.W = num * 0.5f;
|
|||
|
|
num = 0.5f / num;
|
|||
|
|
result.X = (matrix.M21 - matrix.M12) * num;
|
|||
|
|
result.Y = (matrix.M02 - matrix.M20) * num;
|
|||
|
|
result.Z = (matrix.M10 - matrix.M01) * num;
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
if ((matrix.M00 >= matrix.M11) && (matrix.M00 >= matrix.M22))
|
|||
|
|
{
|
|||
|
|
float num7 = (float)Math.Sqrt((double)(((1f + matrix.M00) - matrix.M11) - matrix.M22));
|
|||
|
|
float num4 = 0.5f / num7;
|
|||
|
|
result.X = 0.5f * num7;
|
|||
|
|
result.Y = (matrix.M10 + matrix.M01) * num4;
|
|||
|
|
result.Z = (matrix.M20 + matrix.M02) * num4;
|
|||
|
|
result.W = (matrix.M21 - matrix.M12) * num4;
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
if (matrix.M11 > matrix.M22)
|
|||
|
|
{
|
|||
|
|
float num6 = (float)Math.Sqrt((double)(((1f + matrix.M11) - matrix.M00) - matrix.M22));
|
|||
|
|
float num3 = 0.5f / num6;
|
|||
|
|
result.X = (matrix.M01 + matrix.M10) * num3;
|
|||
|
|
result.Y = 0.5f * num6;
|
|||
|
|
result.Z = (matrix.M12 + matrix.M21) * num3;
|
|||
|
|
result.W = (matrix.M02 - matrix.M20) * num3;
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
float num5 = (float)Math.Sqrt((double)(((1f + matrix.M22) - matrix.M00) - matrix.M11));
|
|||
|
|
float num2 = 0.5f / num5;
|
|||
|
|
result.X = (matrix.M02 + matrix.M20) * num2;
|
|||
|
|
result.Y = (matrix.M12 + matrix.M21) * num2;
|
|||
|
|
result.Z = 0.5f * num5;
|
|||
|
|
result.W = (matrix.M10 - matrix.M01) * num2;
|
|||
|
|
}
|
|||
|
|
/// <summary>
|
|||
|
|
/// 计算两个四元组点乘
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="quaternion1">源四元组</param>
|
|||
|
|
/// <param name="quaternion2">源四元组</param>
|
|||
|
|
/// <returns>点乘结果</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>
|
|||
|
|
/// 计算两个四元组点乘
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="quaternion1">源四元组</param>
|
|||
|
|
/// <param name="quaternion2">源四元组</param>
|
|||
|
|
/// <param name="result">[输出属性] 点乘结果</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);
|
|||
|
|
}
|
|||
|
|
/// <summary>
|
|||
|
|
/// 两个四元组之间的线性插值
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="quaternion1">源四元组</param>
|
|||
|
|
/// <param name="quaternion2">源四元组</param>
|
|||
|
|
/// <param name="amount">权重</param>
|
|||
|
|
/// <returns>计算结果.</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 = (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;
|
|||
|
|
}
|
|||
|
|
/// <summary>
|
|||
|
|
/// 两个四元组之间的线性插值
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="quaternion1">源四元组</param>
|
|||
|
|
/// <param name="quaternion2">源四元组</param>
|
|||
|
|
/// <param name="amount">权重</param>
|
|||
|
|
/// <param name="result">[输出属性] 计算结果 </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 = (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);
|
|||
|
|
}
|
|||
|
|
/// <summary>
|
|||
|
|
/// 两个四元组之间的线性插值
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="quaternion1">源四元组</param>
|
|||
|
|
/// <param name="quaternion2">源四元组</param>
|
|||
|
|
/// <param name="amount">权重</param>
|
|||
|
|
/// <returns>计算结果</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 / ((float) Math.Sqrt((double) num4));
|
|||
|
|
quaternion.X *= num3;
|
|||
|
|
quaternion.Y *= num3;
|
|||
|
|
quaternion.Z *= num3;
|
|||
|
|
quaternion.W *= num3;
|
|||
|
|
return quaternion;
|
|||
|
|
}
|
|||
|
|
/// <summary>
|
|||
|
|
/// 两个四元组之间的线性插值
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="quaternion1">源四元组</param>
|
|||
|
|
/// <param name="quaternion2">源四元组</param>
|
|||
|
|
/// <param name="amount">权重</param>
|
|||
|
|
/// <param name="result">[输出属性] 计算结果</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 / ((float)Math.Sqrt((double)num4));
|
|||
|
|
result.X *= num3;
|
|||
|
|
result.Y *= num3;
|
|||
|
|
result.Z *= num3;
|
|||
|
|
result.W *= num3;
|
|||
|
|
}
|
|||
|
|
/// <summary>
|
|||
|
|
/// 改变为与当前四元组共轭的四元组
|
|||
|
|
/// </summary>
|
|||
|
|
public void Conjugate()
|
|||
|
|
{
|
|||
|
|
this.X = -this.X;
|
|||
|
|
this.Y = -this.Y;
|
|||
|
|
this.Z = -this.Z;
|
|||
|
|
}
|
|||
|
|
/// <summary>
|
|||
|
|
/// 求当前四元组共轭的四元组
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="value">指定四元组 </param>
|
|||
|
|
/// <returns>与指定四元组共轭的四元组</returns>
|
|||
|
|
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;
|
|||
|
|
}
|
|||
|
|
/// <summary>
|
|||
|
|
/// 求当前四元组共轭的四元组
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="value">指定四元组 </param>
|
|||
|
|
/// <param name="result">[输出属性] 与指定四元组共轭的四元组</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;
|
|||
|
|
}
|
|||
|
|
/// <summary>
|
|||
|
|
/// 返回一个a,b之间的角度值
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="a">源四元组</param>
|
|||
|
|
/// <param name="b">源四元组</param>
|
|||
|
|
/// <returns>计算所得角度值</returns>
|
|||
|
|
public static float Angle(Quaternion a, Quaternion b)
|
|||
|
|
{
|
|||
|
|
return (((float)Math.Acos((float)Math.Min((float)Math.Abs((float)Dot(a, b)), 1f)) * 2f) * 57.29578f);
|
|||
|
|
}
|
|||
|
|
/// <summary>
|
|||
|
|
/// 返回一个a,b之间的角度值
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="a">源四元组</param>
|
|||
|
|
/// <param name="b">源四元组</param>
|
|||
|
|
/// <param name="result">[输出属性] 计算所得角度值</param>
|
|||
|
|
public static void Angle(ref Quaternion a, ref Quaternion b, out float result)
|
|||
|
|
{
|
|||
|
|
result = (((float)Math.Acos((float)Math.Min((float)Math.Abs((float)Dot(a, b)), 1f)) * 2f) * 57.29578f);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// 返回一个a,b之间的弧度值
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="a">源四元组</param>
|
|||
|
|
/// <param name="b">源四元组</param>
|
|||
|
|
/// <returns>计算所得弧度值</returns>
|
|||
|
|
public static float Radian(Quaternion a, Quaternion b)
|
|||
|
|
{
|
|||
|
|
return (((float)Math.Acos((float)Math.Min((float)Math.Abs((float)Dot(a, b)), 1f)) * 2f));
|
|||
|
|
}
|
|||
|
|
/// <summary>
|
|||
|
|
/// 返回一个a,b之间的弧度值
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="a">源四元组</param>
|
|||
|
|
/// <param name="b">源四元组</param>
|
|||
|
|
/// <param name="result">[输出属性] 计算所得弧度值</param>
|
|||
|
|
public static void Radian(ref Quaternion a, ref Quaternion b, out float result)
|
|||
|
|
{
|
|||
|
|
result = (((float)Math.Acos((float)Math.Min((float)Math.Abs((float)Dot(a, b)), 1f)) * 2f));
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// 各分量相反的四元组
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="quaternion">源四元组</param>
|
|||
|
|
/// <returns>相反的四元组</returns>
|
|||
|
|
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;
|
|||
|
|
}
|
|||
|
|
/// <summary>
|
|||
|
|
/// 各分量相反的四元组
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="quaternion">源四元组</param>
|
|||
|
|
/// <param name="result">[OutAttribute] 相反的四元组</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;
|
|||
|
|
}
|
|||
|
|
/// <summary>
|
|||
|
|
/// 四元组减法
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="quaternion1">源四元组</param>
|
|||
|
|
/// <param name="quaternion2">源四元组</param>
|
|||
|
|
/// <returns>计算结果</returns>
|
|||
|
|
public static Quaternion Sub(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>
|
|||
|
|
/// 四元组减法
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="quaternion1">源四元组</param>
|
|||
|
|
/// <param name="quaternion2">源四元组</param>
|
|||
|
|
/// <param name="result">[输出属性] 计算结果 </param>
|
|||
|
|
public static void Sub(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;
|
|||
|
|
}
|
|||
|
|
/// <summary>
|
|||
|
|
/// 用四元组旋转一个向量
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="rotation">旋转四元组</param>
|
|||
|
|
/// <param name="vector3">向量</param>
|
|||
|
|
/// <returns>旋转后向量</returns>
|
|||
|
|
public static Vector3 Rotate(Quaternion rotation, Vector3 vector3)
|
|||
|
|
{
|
|||
|
|
float x = rotation.X * 2F;
|
|||
|
|
float y = rotation.Y * 2F;
|
|||
|
|
float z = rotation.Z * 2F;
|
|||
|
|
float xx = rotation.X * x;
|
|||
|
|
float yy = rotation.Y * y;
|
|||
|
|
float zz = rotation.Z * z;
|
|||
|
|
float xy = rotation.X * y;
|
|||
|
|
float xz = rotation.X * z;
|
|||
|
|
float yz = rotation.Y * z;
|
|||
|
|
float wx = rotation.W * x;
|
|||
|
|
float wy = rotation.W * y;
|
|||
|
|
float wz = rotation.W * z;
|
|||
|
|
Vector3 res;
|
|||
|
|
res.X = (1F - (yy + zz)) * vector3.X + (xy - wz) * vector3.Y + (xz + wy) * vector3.Z;
|
|||
|
|
res.Y = (xy + wz) * vector3.X + (1F - (xx + zz)) * vector3.Y + (yz - wx) * vector3.Z;
|
|||
|
|
res.Z = (xz - wy) * vector3.X + (yz + wx) * vector3.Y + (1F - (xx + yy)) * vector3.Z;
|
|||
|
|
return res;
|
|||
|
|
}
|
|||
|
|
/// <summary>
|
|||
|
|
/// 用四元组旋转一个向量
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="rotation">旋转四元组</param>
|
|||
|
|
/// <param name="vector3">向量</param>
|
|||
|
|
/// <param name="result">[输出属性] 旋转后的向量</param>
|
|||
|
|
public static void Rotate(ref Quaternion rotation, ref Vector3 vector3, out Vector3 result)
|
|||
|
|
{
|
|||
|
|
float x = rotation.X * 2F;
|
|||
|
|
float y = rotation.Y * 2F;
|
|||
|
|
float z = rotation.Z * 2F;
|
|||
|
|
float xx = rotation.X * x;
|
|||
|
|
float yy = rotation.Y * y;
|
|||
|
|
float zz = rotation.Z * z;
|
|||
|
|
float xy = rotation.X * y;
|
|||
|
|
float xz = rotation.X * z;
|
|||
|
|
float yz = rotation.Y * z;
|
|||
|
|
float wx = rotation.W * x;
|
|||
|
|
float wy = rotation.W * y;
|
|||
|
|
float wz = rotation.W * z;
|
|||
|
|
|
|||
|
|
result.X = (1F - (yy + zz)) * vector3.X + (xy - wz) * vector3.Y + (xz + wy) * vector3.Z;
|
|||
|
|
result.Y = (xy + wz) * vector3.X + (1F - (xx + zz)) * vector3.Y + (yz - wx) * vector3.Z;
|
|||
|
|
result.Z = (xz - wy) * vector3.X + (yz + wx) * vector3.Y + (1F - (xx + yy)) * vector3.Z;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// 四元组乘法
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="quaternion1">源四元组</param>
|
|||
|
|
/// <param name="quaternion2">源四元组</param>
|
|||
|
|
/// <returns>乘法结果</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>
|
|||
|
|
/// 四元组乘法
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="quaternion1">源四元组</param>
|
|||
|
|
/// <param name="quaternion2">源四元组</param>
|
|||
|
|
/// <param name="result">[输出属性] 乘法结果</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;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// 各分量相反的四元组
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="quaternion">源四元组</param>
|
|||
|
|
/// <returns>各分量相反的四元组</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;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// 比较四元组是否相等
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="quaternion1">源四元组</param>
|
|||
|
|
/// <param name="quaternion2">源四元组</param>
|
|||
|
|
/// <returns>相等true，不相等false</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>
|
|||
|
|
/// 比较四元组是否不相等
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="quaternion1">源四元组</param>
|
|||
|
|
/// <param name="quaternion2">源四元组</param>
|
|||
|
|
/// <returns>不相等true，相等false</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>
|
|||
|
|
/// 四元组减法
|
|||
|
|
/// </summary>
|
|||
|
|
/// <param name="quaternion1">源四元组</param>
|
|||
|
|
/// <param name="quaternion2">源四元组</param>
|
|||
|
|
/// <returns>计算结果</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>
|
|||
|
|
/// 四元组乘法
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/// </summary>
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/// <param name="quaternion1">源四元组</param>
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/// <param name="quaternion2">源四元组</param>
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/// <returns>计算结果</returns>
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public static Quaternion operator *(Quaternion quaternion1, Quaternion quaternion2)
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{
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Quaternion quaternion;
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float x = quaternion1.X;
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float y = quaternion1.Y;
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float z = quaternion1.Z;
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float w = quaternion1.W;
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float num4 = quaternion2.X;
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float num3 = quaternion2.Y;
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float num2 = quaternion2.Z;
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float num = quaternion2.W;
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float num12 = (y * num2) - (z * num3);
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float num11 = (z * num4) - (x * num2);
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float num10 = (x * num3) - (y * num4);
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float num9 = ((x * num4) + (y * num3)) + (z * num2);
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quaternion.X = ((x * num) + (num4 * w)) + num12;
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quaternion.Y = ((y * num) + (num3 * w)) + num11;
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quaternion.Z = ((z * num) + (num2 * w)) + num10;
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quaternion.W = (w * num) - num9;
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return quaternion;
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}
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static Quaternion()
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{
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_identity = new Quaternion(0f, 0f, 0f, 1f);
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}
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}
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}
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