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75 lines
2.2 KiB
C#
75 lines
2.2 KiB
C#
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using SharpDX;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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namespace CodeWalker
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{
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public static class QuaternionExtension
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{
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public static Vector3 Multiply(this Quaternion a, Vector3 b)
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{
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float axx = a.X * 2.0f;
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float ayy = a.Y * 2.0f;
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float azz = a.Z * 2.0f;
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float awxx = a.W * axx;
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float awyy = a.W * ayy;
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float awzz = a.W * azz;
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float axxx = a.X * axx;
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float axyy = a.X * ayy;
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float axzz = a.X * azz;
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float ayyy = a.Y * ayy;
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float ayzz = a.Y * azz;
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float azzz = a.Z * azz;
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return new Vector3(((b.X * ((1.0f - ayyy) - azzz)) + (b.Y * (axyy - awzz))) + (b.Z * (axzz + awyy)),
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((b.X * (axyy + awzz)) + (b.Y * ((1.0f - axxx) - azzz))) + (b.Z * (ayzz - awxx)),
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((b.X * (axzz - awyy)) + (b.Y * (ayzz + awxx))) + (b.Z * ((1.0f - axxx) - ayyy)));
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}
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public static Matrix ToMatrix(this Quaternion q)
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{
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float xx = q.X * q.X;
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float yy = q.Y * q.Y;
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float zz = q.Z * q.Z;
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float xy = q.X * q.Y;
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float zw = q.Z * q.W;
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float zx = q.Z * q.X;
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float yw = q.Y * q.W;
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float yz = q.Y * q.Z;
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float xw = q.X * q.W;
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Matrix result = new Matrix();
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result.M11 = 1.0f - (2.0f * (yy + zz));
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result.M12 = 2.0f * (xy + zw);
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result.M13 = 2.0f * (zx - yw);
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result.M14 = 0.0f;
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result.M21 = 2.0f * (xy - zw);
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result.M22 = 1.0f - (2.0f * (zz + xx));
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result.M23 = 2.0f * (yz + xw);
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result.M24 = 0.0f;
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result.M31 = 2.0f * (zx + yw);
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result.M32 = 2.0f * (yz - xw);
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result.M33 = 1.0f - (2.0f * (yy + xx));
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result.M34 = 0.0f;
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result.M41 = 0.0f;
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result.M42 = 0.0f;
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result.M43 = 0.0f;
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result.M44 = 1.0f;
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return result;
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}
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public static Vector4 ToVector4(this Quaternion q)
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{
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return new Vector4(q.X, q.Y, q.Z, q.W);
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}
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}
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}
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