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added quaternion stuff

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SND\floAr_cp 2011-11-10 22:47:32 +00:00
parent 74a1ca7417
commit 181b6546a3
1 changed files with 85 additions and 25 deletions
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110
ANX.Framework/Quaternion.cs
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@ -118,12 +118,16 @@ namespace ANX.Framework
public void Conjugate()
{
throw new NotImplementedException();
this.Y = -this.Y;
this.Z = -this.Z;
this.W = -this.W;
}
public static Quaternion Conjugate(Quaternion value)
{
throw new NotImplementedException();
Quaternion result;
Quaternion.Conjugate(ref value, out result);
return result;
}
public static void Conjugate(ref Quaternion value, out Quaternion result)
@ -166,14 +170,27 @@ namespace ANX.Framework
public static Quaternion Divide(Quaternion quaternion1, Quaternion quaternion2)
{
throw new NotImplementedException();
Quaternion result;
Quaternion.Divide(ref quaternion1, ref quaternion2, out result);
return result;
}
public static void Divide(ref Quaternion quaternion1, ref Quaternion quaternion2, out Quaternion result)
{
throw new NotImplementedException();
result = Quaternion.Multiply(quaternion1, Quaternion.Inverse(quaternion2));
}
public static Quaternion Divide(Quaternion quaternion1, float divider)
{
Quaternion result;
Quaternion.Divide(ref quaternion1, ref divider, out result);
return result;
}
public static void Divide(ref Quaternion quaternion1, ref float divider, out Quaternion result)
{
result = Quaternion.Multiply(quaternion1, 1.0f / divider);
}
public static float Dot(Quaternion quaternion1, Quaternion quaternion2)
{
throw new NotImplementedException();
@ -186,19 +203,25 @@ namespace ANX.Framework
public override int GetHashCode()
{
throw new NotImplementedException();
return this.X.GetHashCode() ^ this.Y.GetHashCode() ^ this.Z.GetHashCode() ^ this.W.GetHashCode();
}
public static Quaternion Inverse(Quaternion quaternion)
{
throw new NotImplementedException();
Quaternion result;
Quaternion.Inverse(ref quaternion, out result);
return result;
}
public static void Inverse(ref Quaternion quaternion, out Quaternion result)
{
throw new NotImplementedException();
//(a + i b + j c + k d)-1= (a - i b - j c - k d) / (a2 + b2 + c2 + d2)
float magnitude = quaternion.Length();
result = Quaternion.Conjugate(quaternion) / (magnitude * magnitude);
}
public float Length()
{
return (float)Math.Sqrt(this.X * this.X + this.Y * this.Y + this.Z * this.Z + this.W * this.W);
@ -221,47 +244,74 @@ namespace ANX.Framework
public static Quaternion Multiply(Quaternion quaternion1, Quaternion quaternion2)
{
throw new NotImplementedException();
Quaternion result;
Quaternion.Multiply(ref quaternion1, ref quaternion2, out result);
return result;
}
public static void Multiply(ref Quaternion quaternion1, ref Quaternion quaternion2, out Quaternion result)
{
throw new NotImplementedException();
//z1 * z2= a*e - b*f - c*g- d*h + i (b*e + a*f + c*h - d*g) + j (a*g - b*h + c*e + d*f) + k (a*h + b*g - c*f + d*e)
result.X = quaternion1.X * quaternion2.X - quaternion1.Y * quaternion2.Y - quaternion1.Z * quaternion2.Z - quaternion1.W * quaternion2.W;
result.Y = quaternion1.Y * quaternion2.X + quaternion1.X * quaternion2.Y + quaternion1.Z * quaternion2.W - quaternion1.W * quaternion2.Z;
result.Z = quaternion1.X * quaternion2.Z - quaternion1.Y * quaternion2.W + quaternion1.Z * quaternion2.X + quaternion1.W * quaternion2.Y;
result.W = quaternion1.X * quaternion2.W + quaternion1.Y * quaternion2.Z - quaternion1.Z * quaternion2.Y + quaternion1.W * quaternion2.X;
}
public static Quaternion Multiply(Quaternion quaternion1, float scaleFactor)
{
throw new NotImplementedException();
Quaternion result;
Quaternion.Multiply(ref quaternion1, scaleFactor, out result);
return result;
}
public static void Multiply(ref Quaternion quaternion1, float scaleFactor, out Quaternion result)
{
throw new NotImplementedException();
result.X = quaternion1.X * scaleFactor;
result.Y = quaternion1.Y * scaleFactor;
result.Z = quaternion1.Z * scaleFactor;
result.W = quaternion1.W * scaleFactor;
}
public static Quaternion Negate(Quaternion quaternion)
{
throw new NotImplementedException();
Quaternion result;
Quaternion.Negate(ref quaternion, out result);
return result;
}
public static void Negate(ref Quaternion quaternion, out Quaternion result)
{
throw new NotImplementedException();
result = Quaternion.Conjugate(quaternion);
result.X = -result.X;
}
public void Normalize()
{
throw new NotImplementedException();
float norm = this.Length();
float scaler = 1.0f / norm;
this.X *= scaler;
this.Y *= scaler;
this.Z *= scaler;
this.W *= scaler;
}
public static Quaternion Normalize(Quaternion quaternion)
{
throw new NotImplementedException();
Quaternion result;
Quaternion.Normalize(ref quaternion, out result);
return result;
}
public static void Normalize(ref Quaternion quaternion, out Quaternion result)
{
throw new NotImplementedException();
float norm = quaternion.Length();
float scaler = 1.0f / norm;
result.X = quaternion.X * scaler;
result.Y = quaternion.Y * scaler;
result.Z = quaternion.Z * scaler;
result.W = quaternion.W * scaler;
}
public static Quaternion Slerp(Quaternion quaternion1, Quaternion quaternion2, float amount)
@ -276,17 +326,22 @@ namespace ANX.Framework
public static Quaternion Subtract(Quaternion quaternion1, Quaternion quaternion2)
{
throw new NotImplementedException();
Quaternion result;
Quaternion.Subtract(ref quaternion1, ref quaternion2, out result);
return result;
}
public static void Subtract(ref Quaternion quaternion1, ref Quaternion quaternion2, out Quaternion result)
{
throw new NotImplementedException();
result.X = quaternion1.X - quaternion2.X;
result.Y = quaternion1.Y - quaternion2.Y;
result.Z = quaternion1.Z - quaternion2.Z;
result.W = quaternion1.W - quaternion2.W;
}
public override string ToString()
{
throw new NotImplementedException();
return "{X:" + this.X + " Y:" + this.Y + " Z:" + this.Z + " W:" + this.W + "}";
}
#endregion
@ -305,12 +360,17 @@ namespace ANX.Framework
#region operator overloading
public static Quaternion operator +(Quaternion quaternion1, Quaternion quaternion2)
{
throw new NotImplementedException();
return Quaternion.Add(quaternion1, quaternion2);
}
public static Quaternion operator /(Quaternion quaternion1, Quaternion quaternion2)
{
throw new NotImplementedException();
return Quaternion.Divide(quaternion1, quaternion2);
}
public static Quaternion operator /(Quaternion quaternion1, float divider)
{
return Quaternion.Divide(quaternion1, divider);
}
public static bool operator ==(Quaternion quaternion1, Quaternion quaternion2)
@ -331,22 +391,22 @@ namespace ANX.Framework
public static Quaternion operator *(Quaternion quaternion1, Quaternion quaternion2)
{
throw new NotImplementedException();
return Quaternion.Multiply(quaternion1, quaternion2);
}
public static Quaternion operator *(Quaternion quaternion1, float scaleFactor)
{
throw new NotImplementedException();
return Quaternion.Multiply(quaternion1, scaleFactor);
}
public static Quaternion operator -(Quaternion quaternion1, Quaternion quaternion2)
{
throw new NotImplementedException();
return Quaternion.Subtract(quaternion1, quaternion2);
}
public static Quaternion operator -(Quaternion quaternion)
{
throw new NotImplementedException();
return Quaternion.Negate(quaternion);
}
#endregion
}