diff --git a/ANX.Framework/Quaternion.cs b/ANX.Framework/Quaternion.cs
index 791d1ed9..cd87d0b0 100644
--- a/ANX.Framework/Quaternion.cs
+++ b/ANX.Framework/Quaternion.cs
@@ -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
}