8287c54432
Replaced the old VS templates with ones that offer more flexiblity. Started replacing the Content Project for the samples with our custom project type. Inlcuded a basic not yet working AssimpImporter.
506 lines
18 KiB
C#
506 lines
18 KiB
C#
#region Using Statements
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using System;
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using System.Globalization;
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using ANX.Framework.NonXNA.Development;
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using System.ComponentModel;
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using ANX.Framework.Design;
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#endregion // Using Statements
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// This file is part of the ANX.Framework created by the
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// "ANX.Framework developer group" and released under the Ms-PL license.
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// For details see: http://anxframework.codeplex.com/license
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namespace ANX.Framework
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{
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[PercentageComplete(100)]
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[Developer("floAr, GinieDp")]
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[TestState(TestStateAttribute.TestState.InProgress)]
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#if !WINDOWSMETRO
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[Serializable]
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[TypeConverter(typeof(QuaternionConverter))]
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#endif
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public struct Quaternion : IEquatable<Quaternion>
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{
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#region fields
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public float X;
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public float Y;
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public float Z;
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public float W;
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#endregion
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#region properties
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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 new Quaternion(0.0f, 0.0f, 0.0f, 1.0f);
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}
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}
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#endregion
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#region constructors
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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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public Quaternion(Vector3 vectorPart, float scalarPart)
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{
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this.X = vectorPart.X;
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this.Y = vectorPart.Y;
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this.Z = vectorPart.Z;
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this.W = scalarPart;
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}
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#endregion
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#region public methods
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public static Quaternion Add(Quaternion quaternion1, Quaternion quaternion2)
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{
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Quaternion result;
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Quaternion.Add(ref quaternion1, ref quaternion2, out result);
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return result;
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}
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public static void Add(ref Quaternion quaternion1, ref Quaternion quaternion2, out Quaternion result)
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{
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result.X = quaternion1.X + quaternion2.X;
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result.Y = quaternion1.Y + quaternion2.Y;
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result.Z = quaternion1.Z + quaternion2.Z;
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result.W = quaternion1.W + quaternion2.W;
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}
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public static Quaternion Concatenate(Quaternion value1, Quaternion value2)
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{
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Quaternion result;
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Quaternion.Concatenate(ref value1, ref value2, out result);
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return result;
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}
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public static void Concatenate(ref Quaternion value1, ref Quaternion value2, out Quaternion result)
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{
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Multiply(ref value2, ref value1, out result);
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}
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public void Conjugate()
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{
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this.X = -this.X;
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this.Y = -this.Y;
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this.Z = -this.Z;
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}
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public static Quaternion Conjugate(Quaternion value)
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{
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Quaternion result;
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Quaternion.Conjugate(ref value, out result);
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return result;
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}
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public static void Conjugate(ref Quaternion value, out Quaternion result)
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{
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result.X = -value.X;
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result.Y = -value.Y;
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result.Z = -value.Z;
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result.W = value.W;
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}
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public static Quaternion CreateFromAxisAngle(Vector3 axis, float angle)
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{
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Quaternion result;
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Quaternion.CreateFromAxisAngle(ref axis, angle, out result);
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return result;
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}
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public static void CreateFromAxisAngle(ref Vector3 axis, float angle, out Quaternion result)
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{
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angle *= 0.5f;
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float sinAngle = (float)Math.Sin(angle);
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float cosAngle = (float)Math.Cos(angle);
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result.X = axis.X * sinAngle;
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result.Y = axis.Y * sinAngle;
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result.Z = axis.Z * sinAngle;
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result.W = cosAngle;
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}
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public static Quaternion CreateFromRotationMatrix(Matrix matrix)
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{
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Quaternion result;
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Quaternion.CreateFromRotationMatrix(ref matrix, out result);
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return result;
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}
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public static void CreateFromRotationMatrix(ref Matrix matrix, out Quaternion result)
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{
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// http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm
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float tr = matrix.M11 + matrix.M22 + matrix.M33;
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if (tr > 0f)
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{
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float s = (float)Math.Sqrt(tr + 1f);
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result.W = s * 0.5f;
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s = 0.5f / s;
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result.X = (matrix.M23 - matrix.M32) * s;
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result.Y = (matrix.M31 - matrix.M13) * s;
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result.Z = (matrix.M12 - matrix.M21) * s;
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}
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else if ((matrix.M11 >= matrix.M22) && (matrix.M11 >= matrix.M33))
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{
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float s = (float)Math.Sqrt(1f + matrix.M11 - matrix.M22 - matrix.M33);
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float s2 = 0.5f / s;
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result.W = (matrix.M23 - matrix.M32) * s2;
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result.X = 0.5f * s;
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result.Y = (matrix.M12 + matrix.M21) * s2;
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result.Z = (matrix.M13 + matrix.M31) * s2;
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}
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else if (matrix.M22 > matrix.M33)
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{
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float s = (float)Math.Sqrt(1f + matrix.M22 - matrix.M11 - matrix.M33);
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float s2 = 0.5f / s;
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result.W = (matrix.M31 - matrix.M13) * s2;
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result.X = (matrix.M21 + matrix.M12) * s2;
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result.Y = 0.5f * s;
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result.Z = (matrix.M32 + matrix.M23) * s2;
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}
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else
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{
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float s = (float)Math.Sqrt(1f + matrix.M33 - matrix.M11 - matrix.M22);
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float ss = 0.5f / s;
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result.W = (matrix.M12 - matrix.M21) * ss;
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result.X = (matrix.M31 + matrix.M13) * ss;
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result.Y = (matrix.M32 + matrix.M23) * ss;
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result.Z = 0.5f * s;
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}
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}
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public static Quaternion CreateFromYawPitchRoll(float yaw, float pitch, float roll)
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{
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Quaternion result;
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Quaternion.CreateFromYawPitchRoll(yaw,pitch,roll, out result);
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return result;
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}
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public static void CreateFromYawPitchRoll(float yaw, float pitch, float roll, out Quaternion result)
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{
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Vector3 yawAxis = Vector3.Up;
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Vector3 pitchAxis = Vector3.Right;
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Vector3 rollAxis = Vector3.Backward;
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Quaternion yawQuat;
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Quaternion pitchQuat;
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Quaternion rollQuat;
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Quaternion.CreateFromAxisAngle(ref yawAxis, yaw, out yawQuat);
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Quaternion.CreateFromAxisAngle(ref pitchAxis, pitch, out pitchQuat);
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Quaternion.CreateFromAxisAngle(ref rollAxis, roll, out rollQuat);
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Quaternion.Multiply(ref yawQuat, ref pitchQuat, out result);
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Quaternion.Multiply(ref result, ref rollQuat, out result);
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}
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public static Quaternion Divide(Quaternion quaternion1, Quaternion quaternion2)
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{
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Quaternion result;
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Quaternion.Divide(ref quaternion1, ref quaternion2, out result);
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return result;
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}
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public static void Divide(ref Quaternion quaternion1, ref Quaternion quaternion2, out Quaternion result)
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{
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Quaternion q3 = Quaternion.Inverse(quaternion2);
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Quaternion.Multiply(ref quaternion1, ref q3, out result);
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}
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public static Quaternion Divide(Quaternion quaternion1, float divider)
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{
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Quaternion result;
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Quaternion.Divide(ref quaternion1, ref divider, out result);
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return result;
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}
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public static void Divide(ref Quaternion quaternion1, ref float divider, out Quaternion result)
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{
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divider = 1f / divider;
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result.X = quaternion1.X * divider;
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result.Y = quaternion1.Y * divider;
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result.Z = quaternion1.Z * divider;
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result.W = quaternion1.W * divider;
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}
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public static float Dot(Quaternion quaternion1, Quaternion quaternion2)
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{
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float result;
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Quaternion.Dot(ref quaternion1, ref quaternion2, out result);
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return result;
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}
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public static void Dot(ref Quaternion quaternion1, ref Quaternion quaternion2, out float result)
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{
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result = (quaternion1.X * quaternion2.X +
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quaternion1.Y * quaternion2.Y +
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quaternion1.Z * quaternion2.Z +
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quaternion1.W * quaternion2.W);
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}
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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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public static Quaternion Inverse(Quaternion quaternion)
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{
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Quaternion result;
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Quaternion.Inverse(ref quaternion, out result);
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return result;
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}
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public static void Inverse(ref Quaternion quaternion, out Quaternion result)
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{
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float lengthSqrt = quaternion.LengthSquared();
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float invLength = 1.0f / lengthSqrt;
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result.X = -quaternion.X * invLength;
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result.Y = -quaternion.Y * invLength;
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result.Z = -quaternion.Z * invLength;
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result.W = quaternion.W * invLength;
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}
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public float Length()
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{
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return (float)Math.Sqrt((double)(this.X * this.X + this.Y * this.Y + this.Z * this.Z + this.W * this.W));
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}
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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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public static Quaternion Lerp(Quaternion quaternion1, Quaternion quaternion2, float amount)
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{
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Quaternion result;
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Quaternion.Lerp(ref quaternion1, ref quaternion2, amount, out result);
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return result;
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}
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public static void Lerp(ref Quaternion quaternion1, ref Quaternion quaternion2, float amount, out Quaternion result)
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{
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float dotProduct;
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Quaternion.Dot(ref quaternion1, ref quaternion2, out dotProduct);
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float amount1 = 1.0f - amount;
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if (dotProduct < 0)
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{
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amount = -amount;
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}
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result.X = amount1 * quaternion1.X + amount * quaternion2.X;
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result.Y = amount1 * quaternion1.Y + amount * quaternion2.Y;
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result.Z = amount1 * quaternion1.Z + amount * quaternion2.Z;
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result.W = amount1 * quaternion1.W + amount * quaternion2.W;
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result.Normalize();
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}
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public static Quaternion Multiply(Quaternion quaternion1, Quaternion quaternion2)
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{
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Quaternion result;
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Quaternion.Multiply(ref quaternion1, ref quaternion2, out result);
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return result;
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}
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public static void Multiply(ref Quaternion quaternion1, ref Quaternion quaternion2, out Quaternion result)
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{
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Quaternion temp;
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temp.X = quaternion1.W * quaternion2.X + quaternion1.X * quaternion2.W + quaternion1.Y * quaternion2.Z - quaternion1.Z * quaternion2.Y;
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temp.Y = quaternion1.W * quaternion2.Y - quaternion1.X * quaternion2.Z + quaternion1.Y * quaternion2.W + quaternion1.Z * quaternion2.X;
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temp.Z = quaternion1.W * quaternion2.Z + quaternion1.X * quaternion2.Y - quaternion1.Y * quaternion2.X + quaternion1.Z * quaternion2.W;
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temp.W = quaternion1.W * quaternion2.W - quaternion1.X * quaternion2.X - quaternion1.Y * quaternion2.Y - quaternion1.Z * quaternion2.Z;
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result = temp;
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}
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public static Quaternion Multiply(Quaternion quaternion1, float scaleFactor)
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{
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Quaternion result;
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Quaternion.Multiply(ref quaternion1, scaleFactor, out result);
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return result;
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}
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public static void Multiply(ref Quaternion quaternion1, float scaleFactor, out Quaternion result)
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{
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result.X = quaternion1.X * scaleFactor;
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result.Y = quaternion1.Y * scaleFactor;
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result.Z = quaternion1.Z * scaleFactor;
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result.W = quaternion1.W * scaleFactor;
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}
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public static Quaternion Negate(Quaternion quaternion)
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{
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Quaternion result;
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Quaternion.Negate(ref quaternion, out result);
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return result;
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}
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public static void Negate(ref Quaternion quaternion, out Quaternion result)
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{
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result.X = -quaternion.X;
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result.Y = -quaternion.Y;
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result.Z = -quaternion.Z;
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result.W = -quaternion.W;
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}
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public void Normalize()
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{
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float invLength = 1.0f / this.Length();
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this.X *= invLength;
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this.Y *= invLength;
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this.Z *= invLength;
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this.W *= invLength;
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}
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public static Quaternion Normalize(Quaternion quaternion)
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{
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Quaternion result;
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Quaternion.Normalize(ref quaternion, out result);
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return result;
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}
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public static void Normalize(ref Quaternion quaternion, out Quaternion result)
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{
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float invLength = 1.0f / quaternion.Length();
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result.X = quaternion.X * invLength;
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result.Y = quaternion.Y * invLength;
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result.Z = quaternion.Z * invLength;
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result.W = quaternion.W * invLength;
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}
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public static Quaternion Slerp(Quaternion quaternion1, Quaternion quaternion2, float amount)
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{
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Quaternion result;
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Quaternion.Slerp(ref quaternion1, ref quaternion2, amount, out result);
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return result;
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}
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public static void Slerp(ref Quaternion quaternion1, ref Quaternion quaternion2, float amount, out Quaternion result)
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{
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float cosAlpha;
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Dot(ref quaternion1, ref quaternion2, out cosAlpha);
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float alpha = (float)Math.Acos(cosAlpha);
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float invSinAlphaInv = 1.0f / (float)Math.Sin(alpha);
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float amount1 = (float)Math.Sin((1.0f - amount) * alpha) * invSinAlphaInv;
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float amount2 = (float)Math.Sin(amount * alpha) * invSinAlphaInv;
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result.X = quaternion1.X * amount1 + quaternion2.X * amount2;
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result.Y = quaternion1.Y * amount1 + quaternion2.Y * amount2;
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result.Z = quaternion1.Z * amount1 + quaternion2.Z * amount2;
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result.W = quaternion1.W * amount1 + quaternion2.W * amount2;
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}
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public static Quaternion Subtract(Quaternion quaternion1, Quaternion quaternion2)
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{
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Quaternion result;
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Quaternion.Subtract(ref quaternion1, ref quaternion2, out result);
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return result;
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}
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public static void Subtract(ref Quaternion quaternion1, ref Quaternion quaternion2, out Quaternion result)
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{
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result.X = quaternion1.X - quaternion2.X;
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result.Y = quaternion1.Y - quaternion2.Y;
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result.Z = quaternion1.Z - quaternion2.Z;
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result.W = quaternion1.W - quaternion2.W;
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}
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public override string ToString()
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{
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var culture = CultureInfo.CurrentCulture;
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return "{X:" + X.ToString(culture) + " Y:" + Y.ToString(culture) + " Z:" + Z.ToString(culture) +
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" W:" + W.ToString(culture) + "}";
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}
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#endregion
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#region IEquatable implementation
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public override bool Equals(Object obj)
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{
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return (obj is Quaternion) && this.Equals((Quaternion)obj);
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}
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public bool Equals(Quaternion other)
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{
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return this.W == other.W && this.X == other.X && this.Y == other.Y && this.Z == other.Z;
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}
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#endregion
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#region operator overloading
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public static Quaternion operator +(Quaternion quaternion1, Quaternion quaternion2)
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{
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Quaternion result;
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Add(ref quaternion1, ref quaternion2, out result);
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return result;
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}
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public static Quaternion operator /(Quaternion quaternion1, Quaternion quaternion2)
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{
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Quaternion result;
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Divide(ref quaternion1, ref quaternion2, out result);
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return result;
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}
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public static Quaternion operator /(Quaternion quaternion1, float divider)
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{
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return Quaternion.Divide(quaternion1, divider);
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}
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public static bool operator ==(Quaternion quaternion1, Quaternion quaternion2)
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{
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return (quaternion1.X == quaternion2.X &&
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quaternion1.Y == quaternion2.Y &&
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quaternion1.Z == quaternion2.Z &&
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quaternion1.W == quaternion2.W);
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}
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public static bool operator !=(Quaternion quaternion1, Quaternion quaternion2)
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{
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return (quaternion1.X != quaternion2.X ||
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quaternion1.Y != quaternion2.Y ||
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quaternion1.Z != quaternion2.Z ||
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quaternion1.W != quaternion2.W);
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}
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public static Quaternion operator *(Quaternion quaternion1, Quaternion quaternion2)
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{
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Quaternion result;
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Multiply(ref quaternion1, ref quaternion2, out result);
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return result;
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}
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public static Quaternion operator *(Quaternion quaternion1, float scaleFactor)
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{
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Quaternion result;
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Multiply(ref quaternion1, scaleFactor, out result);
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return result;
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}
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public static Quaternion operator -(Quaternion quaternion1, Quaternion quaternion2)
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{
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Quaternion result;
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Subtract(ref quaternion1, ref quaternion2, out result);
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return result;
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}
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public static Quaternion operator -(Quaternion quaternion)
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{
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Quaternion result;
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Negate(ref quaternion, out result);
|
|
return result;
|
|
}
|
|
#endregion
|
|
}
|
|
}
|