Terraria v1.4.4.9
Terraria source code documentation
Loading...
Searching...
No Matches
Quaternion.cs
Go to the documentation of this file.
1using System;
2using System.ComponentModel;
3using System.Diagnostics.CodeAnalysis;
4using System.Globalization;
5using Microsoft.Xna.Framework.Design;
6
7namespace Microsoft.Xna.Framework;
8
9[Serializable]
10[TypeConverter(typeof(QuaternionConverter))]
11public struct Quaternion : IEquatable<Quaternion>
12{
13 [SuppressMessage("Microsoft.Design", "CA1051:DoNotDeclareVisibleInstanceFields")]
14 public float X;
15
16 [SuppressMessage("Microsoft.Design", "CA1051:DoNotDeclareVisibleInstanceFields")]
17 public float Y;
18
19 [SuppressMessage("Microsoft.Design", "CA1051:DoNotDeclareVisibleInstanceFields")]
20 public float Z;
21
22 [SuppressMessage("Microsoft.Design", "CA1051:DoNotDeclareVisibleInstanceFields")]
23 public float W;
24
25 private static Quaternion _identity = new Quaternion(0f, 0f, 0f, 1f);
26
27 public static Quaternion Identity => _identity;
28
29 public Quaternion(float x, float y, float z, float w)
30 {
31 X = x;
32 Y = y;
33 Z = z;
34 W = w;
35 }
36
37 public Quaternion(Vector3 vectorPart, float scalarPart)
38 {
39 X = vectorPart.X;
40 Y = vectorPart.Y;
41 Z = vectorPart.Z;
42 W = scalarPart;
43 }
44
45 public override string ToString()
46 {
47 CultureInfo currentCulture = CultureInfo.CurrentCulture;
48 return string.Format(currentCulture, "{{X:{0} Y:{1} Z:{2} W:{3}}}", X.ToString(currentCulture), Y.ToString(currentCulture), Z.ToString(currentCulture), W.ToString(currentCulture));
49 }
50
51 public bool Equals(Quaternion other)
52 {
53 if (X == other.X && Y == other.Y && Z == other.Z)
54 {
55 return W == other.W;
56 }
57 return false;
58 }
59
60 public override bool Equals(object obj)
61 {
62 bool result = false;
63 if (obj is Quaternion)
64 {
65 result = Equals((Quaternion)obj);
66 }
67 return result;
68 }
69
70 public override int GetHashCode()
71 {
72 return X.GetHashCode() + Y.GetHashCode() + Z.GetHashCode() + W.GetHashCode();
73 }
74
75 public float LengthSquared()
76 {
77 return X * X + Y * Y + Z * Z + W * W;
78 }
79
80 public float Length()
81 {
82 float num = X * X + Y * Y + Z * Z + W * W;
83 return (float)Math.Sqrt(num);
84 }
85
86 public void Normalize()
87 {
88 float num = X * X + Y * Y + Z * Z + W * W;
89 float num2 = 1f / (float)Math.Sqrt(num);
90 X *= num2;
91 Y *= num2;
92 Z *= num2;
93 W *= num2;
94 }
95
96 public static Quaternion Normalize(Quaternion quaternion)
97 {
98 float num = quaternion.X * quaternion.X + quaternion.Y * quaternion.Y + quaternion.Z * quaternion.Z + quaternion.W * quaternion.W;
99 float num2 = 1f / (float)Math.Sqrt(num);
100 Quaternion result = default(Quaternion);
101 result.X = quaternion.X * num2;
102 result.Y = quaternion.Y * num2;
103 result.Z = quaternion.Z * num2;
104 result.W = quaternion.W * num2;
105 return result;
106 }
107
108 public static void Normalize(ref Quaternion quaternion, out Quaternion result)
109 {
110 float num = quaternion.X * quaternion.X + quaternion.Y * quaternion.Y + quaternion.Z * quaternion.Z + quaternion.W * quaternion.W;
111 float num2 = 1f / (float)Math.Sqrt(num);
112 result.X = quaternion.X * num2;
113 result.Y = quaternion.Y * num2;
114 result.Z = quaternion.Z * num2;
115 result.W = quaternion.W * num2;
116 }
117
118 public void Conjugate()
119 {
120 X = 0f - X;
121 Y = 0f - Y;
122 Z = 0f - Z;
123 }
124
125 public static Quaternion Conjugate(Quaternion value)
126 {
127 Quaternion result = default(Quaternion);
128 result.X = 0f - value.X;
129 result.Y = 0f - value.Y;
130 result.Z = 0f - value.Z;
131 result.W = value.W;
132 return result;
133 }
134
135 public static void Conjugate(ref Quaternion value, out Quaternion result)
136 {
137 result.X = 0f - value.X;
138 result.Y = 0f - value.Y;
139 result.Z = 0f - value.Z;
140 result.W = value.W;
141 }
142
143 public static Quaternion Inverse(Quaternion quaternion)
144 {
145 float num = quaternion.X * quaternion.X + quaternion.Y * quaternion.Y + quaternion.Z * quaternion.Z + quaternion.W * quaternion.W;
146 float num2 = 1f / num;
147 Quaternion result = default(Quaternion);
148 result.X = (0f - quaternion.X) * num2;
149 result.Y = (0f - quaternion.Y) * num2;
150 result.Z = (0f - quaternion.Z) * num2;
151 result.W = quaternion.W * num2;
152 return result;
153 }
154
155 public static void Inverse(ref Quaternion quaternion, out Quaternion result)
156 {
157 float num = quaternion.X * quaternion.X + quaternion.Y * quaternion.Y + quaternion.Z * quaternion.Z + quaternion.W * quaternion.W;
158 float num2 = 1f / num;
159 result.X = (0f - quaternion.X) * num2;
160 result.Y = (0f - quaternion.Y) * num2;
161 result.Z = (0f - quaternion.Z) * num2;
162 result.W = quaternion.W * num2;
163 }
164
165 public static Quaternion CreateFromAxisAngle(Vector3 axis, float angle)
166 {
167 float num = angle * 0.5f;
168 float num2 = (float)Math.Sin(num);
169 float w = (float)Math.Cos(num);
170 Quaternion result = default(Quaternion);
171 result.X = axis.X * num2;
172 result.Y = axis.Y * num2;
173 result.Z = axis.Z * num2;
174 result.W = w;
175 return result;
176 }
177
178 public static void CreateFromAxisAngle(ref Vector3 axis, float angle, out Quaternion result)
179 {
180 float num = angle * 0.5f;
181 float num2 = (float)Math.Sin(num);
182 float w = (float)Math.Cos(num);
183 result.X = axis.X * num2;
184 result.Y = axis.Y * num2;
185 result.Z = axis.Z * num2;
186 result.W = w;
187 }
188
189 public static Quaternion CreateFromYawPitchRoll(float yaw, float pitch, float roll)
190 {
191 float num = roll * 0.5f;
192 float num2 = (float)Math.Sin(num);
193 float num3 = (float)Math.Cos(num);
194 float num4 = pitch * 0.5f;
195 float num5 = (float)Math.Sin(num4);
196 float num6 = (float)Math.Cos(num4);
197 float num7 = yaw * 0.5f;
198 float num8 = (float)Math.Sin(num7);
199 float num9 = (float)Math.Cos(num7);
200 Quaternion result = default(Quaternion);
201 result.X = num9 * num5 * num3 + num8 * num6 * num2;
202 result.Y = num8 * num6 * num3 - num9 * num5 * num2;
203 result.Z = num9 * num6 * num2 - num8 * num5 * num3;
204 result.W = num9 * num6 * num3 + num8 * num5 * num2;
205 return result;
206 }
207
208 public static void CreateFromYawPitchRoll(float yaw, float pitch, float roll, out Quaternion result)
209 {
210 float num = roll * 0.5f;
211 float num2 = (float)Math.Sin(num);
212 float num3 = (float)Math.Cos(num);
213 float num4 = pitch * 0.5f;
214 float num5 = (float)Math.Sin(num4);
215 float num6 = (float)Math.Cos(num4);
216 float num7 = yaw * 0.5f;
217 float num8 = (float)Math.Sin(num7);
218 float num9 = (float)Math.Cos(num7);
219 result.X = num9 * num5 * num3 + num8 * num6 * num2;
220 result.Y = num8 * num6 * num3 - num9 * num5 * num2;
221 result.Z = num9 * num6 * num2 - num8 * num5 * num3;
222 result.W = num9 * num6 * num3 + num8 * num5 * num2;
223 }
224
225 public static Quaternion CreateFromRotationMatrix(Matrix matrix)
226 {
227 float num = matrix.M11 + matrix.M22 + matrix.M33;
228 Quaternion result = default(Quaternion);
229 if (num > 0f)
230 {
231 float num2 = (float)Math.Sqrt(num + 1f);
232 result.W = num2 * 0.5f;
233 num2 = 0.5f / num2;
234 result.X = (matrix.M23 - matrix.M32) * num2;
235 result.Y = (matrix.M31 - matrix.M13) * num2;
236 result.Z = (matrix.M12 - matrix.M21) * num2;
237 }
238 else if (matrix.M11 >= matrix.M22 && matrix.M11 >= matrix.M33)
239 {
240 float num3 = (float)Math.Sqrt(1f + matrix.M11 - matrix.M22 - matrix.M33);
241 float num4 = 0.5f / num3;
242 result.X = 0.5f * num3;
243 result.Y = (matrix.M12 + matrix.M21) * num4;
244 result.Z = (matrix.M13 + matrix.M31) * num4;
245 result.W = (matrix.M23 - matrix.M32) * num4;
246 }
247 else if (matrix.M22 > matrix.M33)
248 {
249 float num5 = (float)Math.Sqrt(1f + matrix.M22 - matrix.M11 - matrix.M33);
250 float num6 = 0.5f / num5;
251 result.X = (matrix.M21 + matrix.M12) * num6;
252 result.Y = 0.5f * num5;
253 result.Z = (matrix.M32 + matrix.M23) * num6;
254 result.W = (matrix.M31 - matrix.M13) * num6;
255 }
256 else
257 {
258 float num7 = (float)Math.Sqrt(1f + matrix.M33 - matrix.M11 - matrix.M22);
259 float num8 = 0.5f / num7;
260 result.X = (matrix.M31 + matrix.M13) * num8;
261 result.Y = (matrix.M32 + matrix.M23) * num8;
262 result.Z = 0.5f * num7;
263 result.W = (matrix.M12 - matrix.M21) * num8;
264 }
265 return result;
266 }
267
268 public static void CreateFromRotationMatrix(ref Matrix matrix, out Quaternion result)
269 {
270 float num = matrix.M11 + matrix.M22 + matrix.M33;
271 if (num > 0f)
272 {
273 float num2 = (float)Math.Sqrt(num + 1f);
274 result.W = num2 * 0.5f;
275 num2 = 0.5f / num2;
276 result.X = (matrix.M23 - matrix.M32) * num2;
277 result.Y = (matrix.M31 - matrix.M13) * num2;
278 result.Z = (matrix.M12 - matrix.M21) * num2;
279 }
280 else if (matrix.M11 >= matrix.M22 && matrix.M11 >= matrix.M33)
281 {
282 float num3 = (float)Math.Sqrt(1f + matrix.M11 - matrix.M22 - matrix.M33);
283 float num4 = 0.5f / num3;
284 result.X = 0.5f * num3;
285 result.Y = (matrix.M12 + matrix.M21) * num4;
286 result.Z = (matrix.M13 + matrix.M31) * num4;
287 result.W = (matrix.M23 - matrix.M32) * num4;
288 }
289 else if (matrix.M22 > matrix.M33)
290 {
291 float num5 = (float)Math.Sqrt(1f + matrix.M22 - matrix.M11 - matrix.M33);
292 float num6 = 0.5f / num5;
293 result.X = (matrix.M21 + matrix.M12) * num6;
294 result.Y = 0.5f * num5;
295 result.Z = (matrix.M32 + matrix.M23) * num6;
296 result.W = (matrix.M31 - matrix.M13) * num6;
297 }
298 else
299 {
300 float num7 = (float)Math.Sqrt(1f + matrix.M33 - matrix.M11 - matrix.M22);
301 float num8 = 0.5f / num7;
302 result.X = (matrix.M31 + matrix.M13) * num8;
303 result.Y = (matrix.M32 + matrix.M23) * num8;
304 result.Z = 0.5f * num7;
305 result.W = (matrix.M12 - matrix.M21) * num8;
306 }
307 }
308
309 public static float Dot(Quaternion quaternion1, Quaternion quaternion2)
310 {
311 return quaternion1.X * quaternion2.X + quaternion1.Y * quaternion2.Y + quaternion1.Z * quaternion2.Z + quaternion1.W * quaternion2.W;
312 }
313
314 public static void Dot(ref Quaternion quaternion1, ref Quaternion quaternion2, out float result)
315 {
316 result = quaternion1.X * quaternion2.X + quaternion1.Y * quaternion2.Y + quaternion1.Z * quaternion2.Z + quaternion1.W * quaternion2.W;
317 }
318
319 public static Quaternion Slerp(Quaternion quaternion1, Quaternion quaternion2, float amount)
320 {
321 float num = quaternion1.X * quaternion2.X + quaternion1.Y * quaternion2.Y + quaternion1.Z * quaternion2.Z + quaternion1.W * quaternion2.W;
322 bool flag = false;
323 if (num < 0f)
324 {
325 flag = true;
326 num = 0f - num;
327 }
328 float num2;
329 float num3;
330 if (num > 0.999999f)
331 {
332 num2 = 1f - amount;
333 num3 = (flag ? (0f - amount) : amount);
334 }
335 else
336 {
337 float num4 = (float)Math.Acos(num);
338 float num5 = (float)(1.0 / Math.Sin(num4));
339 num2 = (float)Math.Sin((1f - amount) * num4) * num5;
340 num3 = (flag ? ((float)(0.0 - Math.Sin(amount * num4)) * num5) : ((float)Math.Sin(amount * num4) * num5));
341 }
342 Quaternion result = default(Quaternion);
343 result.X = num2 * quaternion1.X + num3 * quaternion2.X;
344 result.Y = num2 * quaternion1.Y + num3 * quaternion2.Y;
345 result.Z = num2 * quaternion1.Z + num3 * quaternion2.Z;
346 result.W = num2 * quaternion1.W + num3 * quaternion2.W;
347 return result;
348 }
349
350 public static void Slerp(ref Quaternion quaternion1, ref Quaternion quaternion2, float amount, out Quaternion result)
351 {
352 float num = quaternion1.X * quaternion2.X + quaternion1.Y * quaternion2.Y + quaternion1.Z * quaternion2.Z + quaternion1.W * quaternion2.W;
353 bool flag = false;
354 if (num < 0f)
355 {
356 flag = true;
357 num = 0f - num;
358 }
359 float num2;
360 float num3;
361 if (num > 0.999999f)
362 {
363 num2 = 1f - amount;
364 num3 = (flag ? (0f - amount) : amount);
365 }
366 else
367 {
368 float num4 = (float)Math.Acos(num);
369 float num5 = (float)(1.0 / Math.Sin(num4));
370 num2 = (float)Math.Sin((1f - amount) * num4) * num5;
371 num3 = (flag ? ((float)(0.0 - Math.Sin(amount * num4)) * num5) : ((float)Math.Sin(amount * num4) * num5));
372 }
373 result.X = num2 * quaternion1.X + num3 * quaternion2.X;
374 result.Y = num2 * quaternion1.Y + num3 * quaternion2.Y;
375 result.Z = num2 * quaternion1.Z + num3 * quaternion2.Z;
376 result.W = num2 * quaternion1.W + num3 * quaternion2.W;
377 }
378
379 public static Quaternion Lerp(Quaternion quaternion1, Quaternion quaternion2, float amount)
380 {
381 float num = 1f - amount;
382 Quaternion result = default(Quaternion);
383 float num2 = quaternion1.X * quaternion2.X + quaternion1.Y * quaternion2.Y + quaternion1.Z * quaternion2.Z + quaternion1.W * quaternion2.W;
384 if (num2 >= 0f)
385 {
386 result.X = num * quaternion1.X + amount * quaternion2.X;
387 result.Y = num * quaternion1.Y + amount * quaternion2.Y;
388 result.Z = num * quaternion1.Z + amount * quaternion2.Z;
389 result.W = num * quaternion1.W + amount * quaternion2.W;
390 }
391 else
392 {
393 result.X = num * quaternion1.X - amount * quaternion2.X;
394 result.Y = num * quaternion1.Y - amount * quaternion2.Y;
395 result.Z = num * quaternion1.Z - amount * quaternion2.Z;
396 result.W = num * quaternion1.W - amount * quaternion2.W;
397 }
398 float num3 = result.X * result.X + result.Y * result.Y + result.Z * result.Z + result.W * result.W;
399 float num4 = 1f / (float)Math.Sqrt(num3);
400 result.X *= num4;
401 result.Y *= num4;
402 result.Z *= num4;
403 result.W *= num4;
404 return result;
405 }
406
407 public static void Lerp(ref Quaternion quaternion1, ref Quaternion quaternion2, float amount, out Quaternion result)
408 {
409 float num = 1f - amount;
410 float num2 = quaternion1.X * quaternion2.X + quaternion1.Y * quaternion2.Y + quaternion1.Z * quaternion2.Z + quaternion1.W * quaternion2.W;
411 if (num2 >= 0f)
412 {
413 result.X = num * quaternion1.X + amount * quaternion2.X;
414 result.Y = num * quaternion1.Y + amount * quaternion2.Y;
415 result.Z = num * quaternion1.Z + amount * quaternion2.Z;
416 result.W = num * quaternion1.W + amount * quaternion2.W;
417 }
418 else
419 {
420 result.X = num * quaternion1.X - amount * quaternion2.X;
421 result.Y = num * quaternion1.Y - amount * quaternion2.Y;
422 result.Z = num * quaternion1.Z - amount * quaternion2.Z;
423 result.W = num * quaternion1.W - amount * quaternion2.W;
424 }
425 float num3 = result.X * result.X + result.Y * result.Y + result.Z * result.Z + result.W * result.W;
426 float num4 = 1f / (float)Math.Sqrt(num3);
427 result.X *= num4;
428 result.Y *= num4;
429 result.Z *= num4;
430 result.W *= num4;
431 }
432
433 public static Quaternion Concatenate(Quaternion value1, Quaternion value2)
434 {
435 float x = value2.X;
436 float y = value2.Y;
437 float z = value2.Z;
438 float w = value2.W;
439 float x2 = value1.X;
440 float y2 = value1.Y;
441 float z2 = value1.Z;
442 float w2 = value1.W;
443 float num = y * z2 - z * y2;
444 float num2 = z * x2 - x * z2;
445 float num3 = x * y2 - y * x2;
446 float num4 = x * x2 + y * y2 + z * z2;
447 Quaternion result = default(Quaternion);
448 result.X = x * w2 + x2 * w + num;
449 result.Y = y * w2 + y2 * w + num2;
450 result.Z = z * w2 + z2 * w + num3;
451 result.W = w * w2 - num4;
452 return result;
453 }
454
455 public static void Concatenate(ref Quaternion value1, ref Quaternion value2, out Quaternion result)
456 {
457 float x = value2.X;
458 float y = value2.Y;
459 float z = value2.Z;
460 float w = value2.W;
461 float x2 = value1.X;
462 float y2 = value1.Y;
463 float z2 = value1.Z;
464 float w2 = value1.W;
465 float num = y * z2 - z * y2;
466 float num2 = z * x2 - x * z2;
467 float num3 = x * y2 - y * x2;
468 float num4 = x * x2 + y * y2 + z * z2;
469 result.X = x * w2 + x2 * w + num;
470 result.Y = y * w2 + y2 * w + num2;
471 result.Z = z * w2 + z2 * w + num3;
472 result.W = w * w2 - num4;
473 }
474
475 public static Quaternion Negate(Quaternion quaternion)
476 {
477 Quaternion result = default(Quaternion);
478 result.X = 0f - quaternion.X;
479 result.Y = 0f - quaternion.Y;
480 result.Z = 0f - quaternion.Z;
481 result.W = 0f - quaternion.W;
482 return result;
483 }
484
485 public static void Negate(ref Quaternion quaternion, out Quaternion result)
486 {
487 result.X = 0f - quaternion.X;
488 result.Y = 0f - quaternion.Y;
489 result.Z = 0f - quaternion.Z;
490 result.W = 0f - quaternion.W;
491 }
492
493 public static Quaternion Add(Quaternion quaternion1, Quaternion quaternion2)
494 {
495 Quaternion result = default(Quaternion);
496 result.X = quaternion1.X + quaternion2.X;
497 result.Y = quaternion1.Y + quaternion2.Y;
498 result.Z = quaternion1.Z + quaternion2.Z;
499 result.W = quaternion1.W + quaternion2.W;
500 return result;
501 }
502
503 public static void Add(ref Quaternion quaternion1, ref Quaternion quaternion2, out Quaternion result)
504 {
505 result.X = quaternion1.X + quaternion2.X;
506 result.Y = quaternion1.Y + quaternion2.Y;
507 result.Z = quaternion1.Z + quaternion2.Z;
508 result.W = quaternion1.W + quaternion2.W;
509 }
510
511 public static Quaternion Subtract(Quaternion quaternion1, Quaternion quaternion2)
512 {
513 Quaternion result = default(Quaternion);
514 result.X = quaternion1.X - quaternion2.X;
515 result.Y = quaternion1.Y - quaternion2.Y;
516 result.Z = quaternion1.Z - quaternion2.Z;
517 result.W = quaternion1.W - quaternion2.W;
518 return result;
519 }
520
521 public static void Subtract(ref Quaternion quaternion1, ref Quaternion quaternion2, out Quaternion result)
522 {
523 result.X = quaternion1.X - quaternion2.X;
524 result.Y = quaternion1.Y - quaternion2.Y;
525 result.Z = quaternion1.Z - quaternion2.Z;
526 result.W = quaternion1.W - quaternion2.W;
527 }
528
529 public static Quaternion Multiply(Quaternion quaternion1, Quaternion quaternion2)
530 {
531 float x = quaternion1.X;
532 float y = quaternion1.Y;
533 float z = quaternion1.Z;
534 float w = quaternion1.W;
535 float x2 = quaternion2.X;
536 float y2 = quaternion2.Y;
537 float z2 = quaternion2.Z;
538 float w2 = quaternion2.W;
539 float num = y * z2 - z * y2;
540 float num2 = z * x2 - x * z2;
541 float num3 = x * y2 - y * x2;
542 float num4 = x * x2 + y * y2 + z * z2;
543 Quaternion result = default(Quaternion);
544 result.X = x * w2 + x2 * w + num;
545 result.Y = y * w2 + y2 * w + num2;
546 result.Z = z * w2 + z2 * w + num3;
547 result.W = w * w2 - num4;
548 return result;
549 }
550
551 public static void Multiply(ref Quaternion quaternion1, ref Quaternion quaternion2, out Quaternion result)
552 {
553 float x = quaternion1.X;
554 float y = quaternion1.Y;
555 float z = quaternion1.Z;
556 float w = quaternion1.W;
557 float x2 = quaternion2.X;
558 float y2 = quaternion2.Y;
559 float z2 = quaternion2.Z;
560 float w2 = quaternion2.W;
561 float num = y * z2 - z * y2;
562 float num2 = z * x2 - x * z2;
563 float num3 = x * y2 - y * x2;
564 float num4 = x * x2 + y * y2 + z * z2;
565 result.X = x * w2 + x2 * w + num;
566 result.Y = y * w2 + y2 * w + num2;
567 result.Z = z * w2 + z2 * w + num3;
568 result.W = w * w2 - num4;
569 }
570
571 public static Quaternion Multiply(Quaternion quaternion1, float scaleFactor)
572 {
573 Quaternion result = default(Quaternion);
574 result.X = quaternion1.X * scaleFactor;
575 result.Y = quaternion1.Y * scaleFactor;
576 result.Z = quaternion1.Z * scaleFactor;
577 result.W = quaternion1.W * scaleFactor;
578 return result;
579 }
580
581 public static void Multiply(ref Quaternion quaternion1, float scaleFactor, out Quaternion result)
582 {
583 result.X = quaternion1.X * scaleFactor;
584 result.Y = quaternion1.Y * scaleFactor;
585 result.Z = quaternion1.Z * scaleFactor;
586 result.W = quaternion1.W * scaleFactor;
587 }
588
589 public static Quaternion Divide(Quaternion quaternion1, Quaternion quaternion2)
590 {
591 float x = quaternion1.X;
592 float y = quaternion1.Y;
593 float z = quaternion1.Z;
594 float w = quaternion1.W;
595 float num = quaternion2.X * quaternion2.X + quaternion2.Y * quaternion2.Y + quaternion2.Z * quaternion2.Z + quaternion2.W * quaternion2.W;
596 float num2 = 1f / num;
597 float num3 = (0f - quaternion2.X) * num2;
598 float num4 = (0f - quaternion2.Y) * num2;
599 float num5 = (0f - quaternion2.Z) * num2;
600 float num6 = quaternion2.W * num2;
601 float num7 = y * num5 - z * num4;
602 float num8 = z * num3 - x * num5;
603 float num9 = x * num4 - y * num3;
604 float num10 = x * num3 + y * num4 + z * num5;
605 Quaternion result = default(Quaternion);
606 result.X = x * num6 + num3 * w + num7;
607 result.Y = y * num6 + num4 * w + num8;
608 result.Z = z * num6 + num5 * w + num9;
609 result.W = w * num6 - num10;
610 return result;
611 }
612
613 public static void Divide(ref Quaternion quaternion1, ref Quaternion quaternion2, out Quaternion result)
614 {
615 float x = quaternion1.X;
616 float y = quaternion1.Y;
617 float z = quaternion1.Z;
618 float w = quaternion1.W;
619 float num = quaternion2.X * quaternion2.X + quaternion2.Y * quaternion2.Y + quaternion2.Z * quaternion2.Z + quaternion2.W * quaternion2.W;
620 float num2 = 1f / num;
621 float num3 = (0f - quaternion2.X) * num2;
622 float num4 = (0f - quaternion2.Y) * num2;
623 float num5 = (0f - quaternion2.Z) * num2;
624 float num6 = quaternion2.W * num2;
625 float num7 = y * num5 - z * num4;
626 float num8 = z * num3 - x * num5;
627 float num9 = x * num4 - y * num3;
628 float num10 = x * num3 + y * num4 + z * num5;
629 result.X = x * num6 + num3 * w + num7;
630 result.Y = y * num6 + num4 * w + num8;
631 result.Z = z * num6 + num5 * w + num9;
632 result.W = w * num6 - num10;
633 }
634
635 public static Quaternion operator -(Quaternion quaternion)
636 {
637 Quaternion result = default(Quaternion);
638 result.X = 0f - quaternion.X;
639 result.Y = 0f - quaternion.Y;
640 result.Z = 0f - quaternion.Z;
641 result.W = 0f - quaternion.W;
642 return result;
643 }
644
645 public static bool operator ==(Quaternion quaternion1, Quaternion quaternion2)
646 {
647 if (quaternion1.X == quaternion2.X && quaternion1.Y == quaternion2.Y && quaternion1.Z == quaternion2.Z)
648 {
649 return quaternion1.W == quaternion2.W;
650 }
651 return false;
652 }
653
654 public static bool operator !=(Quaternion quaternion1, Quaternion quaternion2)
655 {
656 if (quaternion1.X == quaternion2.X && quaternion1.Y == quaternion2.Y && quaternion1.Z == quaternion2.Z)
657 {
658 return quaternion1.W != quaternion2.W;
659 }
660 return true;
661 }
662
663 public static Quaternion operator +(Quaternion quaternion1, Quaternion quaternion2)
664 {
665 Quaternion result = default(Quaternion);
666 result.X = quaternion1.X + quaternion2.X;
667 result.Y = quaternion1.Y + quaternion2.Y;
668 result.Z = quaternion1.Z + quaternion2.Z;
669 result.W = quaternion1.W + quaternion2.W;
670 return result;
671 }
672
673 public static Quaternion operator -(Quaternion quaternion1, Quaternion quaternion2)
674 {
675 Quaternion result = default(Quaternion);
676 result.X = quaternion1.X - quaternion2.X;
677 result.Y = quaternion1.Y - quaternion2.Y;
678 result.Z = quaternion1.Z - quaternion2.Z;
679 result.W = quaternion1.W - quaternion2.W;
680 return result;
681 }
682
683 public static Quaternion operator *(Quaternion quaternion1, Quaternion quaternion2)
684 {
685 float x = quaternion1.X;
686 float y = quaternion1.Y;
687 float z = quaternion1.Z;
688 float w = quaternion1.W;
689 float x2 = quaternion2.X;
690 float y2 = quaternion2.Y;
691 float z2 = quaternion2.Z;
692 float w2 = quaternion2.W;
693 float num = y * z2 - z * y2;
694 float num2 = z * x2 - x * z2;
695 float num3 = x * y2 - y * x2;
696 float num4 = x * x2 + y * y2 + z * z2;
697 Quaternion result = default(Quaternion);
698 result.X = x * w2 + x2 * w + num;
699 result.Y = y * w2 + y2 * w + num2;
700 result.Z = z * w2 + z2 * w + num3;
701 result.W = w * w2 - num4;
702 return result;
703 }
704
705 public static Quaternion operator *(Quaternion quaternion1, float scaleFactor)
706 {
707 Quaternion result = default(Quaternion);
708 result.X = quaternion1.X * scaleFactor;
709 result.Y = quaternion1.Y * scaleFactor;
710 result.Z = quaternion1.Z * scaleFactor;
711 result.W = quaternion1.W * scaleFactor;
712 return result;
713 }
714
715 public static Quaternion operator /(Quaternion quaternion1, Quaternion quaternion2)
716 {
717 float x = quaternion1.X;
718 float y = quaternion1.Y;
719 float z = quaternion1.Z;
720 float w = quaternion1.W;
721 float num = quaternion2.X * quaternion2.X + quaternion2.Y * quaternion2.Y + quaternion2.Z * quaternion2.Z + quaternion2.W * quaternion2.W;
722 float num2 = 1f / num;
723 float num3 = (0f - quaternion2.X) * num2;
724 float num4 = (0f - quaternion2.Y) * num2;
725 float num5 = (0f - quaternion2.Z) * num2;
726 float num6 = quaternion2.W * num2;
727 float num7 = y * num5 - z * num4;
728 float num8 = z * num3 - x * num5;
729 float num9 = x * num4 - y * num3;
730 float num10 = x * num3 + y * num4 + z * num5;
731 Quaternion result = default(Quaternion);
732 result.X = x * num6 + num3 * w + num7;
733 result.Y = y * num6 + num4 * w + num8;
734 result.Z = z * num6 + num5 * w + num9;
735 result.W = w * num6 - num10;
736 return result;
737 }
738}
System.Globalization.CultureInfo.CurrentCulture
static CultureInfo CurrentCulture
Definition CultureInfo.cs:72
System.Math.Acos
static double Acos(double d)
System.Math.Cos
static double Cos(double d)
System.Math.Sqrt
static double Sqrt(double d)
System.Math.Sin
static double Sin(double a)
Microsoft.Xna.Framework.Quaternion.operator==
static bool operator==(Quaternion quaternion1, Quaternion quaternion2)
Definition Quaternion.cs:645
Microsoft.Xna.Framework.Quaternion.CreateFromRotationMatrix
static Quaternion CreateFromRotationMatrix(Matrix matrix)
Definition Quaternion.cs:225
Microsoft.Xna.Framework.Quaternion.Subtract
static Quaternion Subtract(Quaternion quaternion1, Quaternion quaternion2)
Definition Quaternion.cs:511
Microsoft.Xna.Framework.Quaternion.CreateFromAxisAngle
static void CreateFromAxisAngle(ref Vector3 axis, float angle, out Quaternion result)
Definition Quaternion.cs:178
Microsoft.Xna.Framework.Quaternion.operator!=
static bool operator!=(Quaternion quaternion1, Quaternion quaternion2)
Definition Quaternion.cs:654
Microsoft.Xna.Framework.Quaternion.Lerp
static void Lerp(ref Quaternion quaternion1, ref Quaternion quaternion2, float amount, out Quaternion result)
Definition Quaternion.cs:407
Microsoft.Xna.Framework.Quaternion.CreateFromYawPitchRoll
static void CreateFromYawPitchRoll(float yaw, float pitch, float roll, out Quaternion result)
Definition Quaternion.cs:208
Microsoft.Xna.Framework.Quaternion.Conjugate
static Quaternion Conjugate(Quaternion value)
Definition Quaternion.cs:125
Microsoft.Xna.Framework.Quaternion.Subtract
static void Subtract(ref Quaternion quaternion1, ref Quaternion quaternion2, out Quaternion result)
Definition Quaternion.cs:521
Microsoft.Xna.Framework.Quaternion.Multiply
static void Multiply(ref Quaternion quaternion1, float scaleFactor, out Quaternion result)
Definition Quaternion.cs:581
Microsoft.Xna.Framework.Quaternion.Lerp
static Quaternion Lerp(Quaternion quaternion1, Quaternion quaternion2, float amount)
Definition Quaternion.cs:379
Microsoft.Xna.Framework.Quaternion.operator*
static Quaternion operator*(Quaternion quaternion1, Quaternion quaternion2)
Definition Quaternion.cs:683
Microsoft.Xna.Framework.Quaternion.Negate
static void Negate(ref Quaternion quaternion, out Quaternion result)
Definition Quaternion.cs:485
Microsoft.Xna.Framework.Quaternion.CreateFromAxisAngle
static Quaternion CreateFromAxisAngle(Vector3 axis, float angle)
Definition Quaternion.cs:165
Microsoft.Xna.Framework.Quaternion.Add
static void Add(ref Quaternion quaternion1, ref Quaternion quaternion2, out Quaternion result)
Definition Quaternion.cs:503
Microsoft.Xna.Framework.Quaternion.Conjugate
static void Conjugate(ref Quaternion value, out Quaternion result)
Definition Quaternion.cs:135
Microsoft.Xna.Framework.Quaternion.Normalize
static Quaternion Normalize(Quaternion quaternion)
Definition Quaternion.cs:96
Microsoft.Xna.Framework.Quaternion.Quaternion
Quaternion(float x, float y, float z, float w)
Definition Quaternion.cs:29
Microsoft.Xna.Framework.Quaternion.Dot
static void Dot(ref Quaternion quaternion1, ref Quaternion quaternion2, out float result)
Definition Quaternion.cs:314
Microsoft.Xna.Framework.Quaternion.Equals
bool Equals(Quaternion other)
Definition Quaternion.cs:51
Microsoft.Xna.Framework.Quaternion.Concatenate
static void Concatenate(ref Quaternion value1, ref Quaternion value2, out Quaternion result)
Definition Quaternion.cs:455
Microsoft.Xna.Framework.Quaternion.Normalize
static void Normalize(ref Quaternion quaternion, out Quaternion result)
Definition Quaternion.cs:108
Microsoft.Xna.Framework.Quaternion.Inverse
static Quaternion Inverse(Quaternion quaternion)
Definition Quaternion.cs:143
Microsoft.Xna.Framework.Quaternion.Slerp
static Quaternion Slerp(Quaternion quaternion1, Quaternion quaternion2, float amount)
Definition Quaternion.cs:319
Microsoft.Xna.Framework.Quaternion.Slerp
static void Slerp(ref Quaternion quaternion1, ref Quaternion quaternion2, float amount, out Quaternion result)
Definition Quaternion.cs:350
Microsoft.Xna.Framework.Quaternion.Dot
static float Dot(Quaternion quaternion1, Quaternion quaternion2)
Definition Quaternion.cs:309
Microsoft.Xna.Framework.Quaternion.Add
static Quaternion Add(Quaternion quaternion1, Quaternion quaternion2)
Definition Quaternion.cs:493
Microsoft.Xna.Framework.Quaternion.Multiply
static Quaternion Multiply(Quaternion quaternion1, float scaleFactor)
Definition Quaternion.cs:571
Microsoft.Xna.Framework.Quaternion.Concatenate
static Quaternion Concatenate(Quaternion value1, Quaternion value2)
Definition Quaternion.cs:433
Microsoft.Xna.Framework.Quaternion.Quaternion
Quaternion(Vector3 vectorPart, float scalarPart)
Definition Quaternion.cs:37
Microsoft.Xna.Framework.Quaternion.CreateFromRotationMatrix
static void CreateFromRotationMatrix(ref Matrix matrix, out Quaternion result)
Definition Quaternion.cs:268
Microsoft.Xna.Framework.Quaternion.operator/
static Quaternion operator/(Quaternion quaternion1, Quaternion quaternion2)
Definition Quaternion.cs:715
Microsoft.Xna.Framework.Quaternion.CreateFromYawPitchRoll
static Quaternion CreateFromYawPitchRoll(float yaw, float pitch, float roll)
Definition Quaternion.cs:189
Microsoft.Xna.Framework.Quaternion.Equals
override bool Equals(object obj)
Definition Quaternion.cs:60
Microsoft.Xna.Framework.Quaternion.Divide
static Quaternion Divide(Quaternion quaternion1, Quaternion quaternion2)
Definition Quaternion.cs:589
Microsoft.Xna.Framework.Quaternion.Inverse
static void Inverse(ref Quaternion quaternion, out Quaternion result)
Definition Quaternion.cs:155
Microsoft.Xna.Framework.Quaternion.Divide
static void Divide(ref Quaternion quaternion1, ref Quaternion quaternion2, out Quaternion result)
Definition Quaternion.cs:613
Microsoft.Xna.Framework.Quaternion.operator+
static Quaternion operator+(Quaternion quaternion1, Quaternion quaternion2)
Definition Quaternion.cs:663
Microsoft.Xna.Framework.Quaternion.Multiply
static Quaternion Multiply(Quaternion quaternion1, Quaternion quaternion2)
Definition Quaternion.cs:529
Microsoft.Xna.Framework.Quaternion.Negate
static Quaternion Negate(Quaternion quaternion)
Definition Quaternion.cs:475
Microsoft.Xna.Framework.Quaternion.Multiply
static void Multiply(ref Quaternion quaternion1, ref Quaternion quaternion2, out Quaternion result)
Definition Quaternion.cs:551
Microsoft.Xna.Framework.Quaternion.operator-
static Quaternion operator-(Quaternion quaternion)
Definition Quaternion.cs:635