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mirror of https://github.com/borgesdan/xn65 synced 2024-12-29 21:54:47 +01:00
xn65/framework/common/numerics.cpp
2024-06-03 21:55:09 -03:00

625 lines
30 KiB
C++

#include "xna/common/numerics.hpp"
namespace xna {
bool Vector2::Transform(Vector2 const* sourceArray, size_t sourceArrayLength, Matrix const& matrix, Vector2* destinationArray, size_t destinationArrayLength) {
if (!sourceArray || !destinationArray || destinationArrayLength < sourceArrayLength)
return false;
for (size_t index = 0; index < sourceArrayLength; ++index)
{
const auto& source = sourceArray[index];
destinationArray[index].X = (source.X * matrix.M11 + source.Y * matrix.M21) + matrix.M41;
destinationArray[index].Y = (source.X * matrix.M12 + source.Y * matrix.M22) + matrix.M42;
}
return true;
}
bool Vector2::Transform(std::vector<Vector2> sourceArray, Matrix const& matrix, std::vector<Vector2>& destinationArray)
{
if (destinationArray.empty())
destinationArray.resize(sourceArray.size());
return Transform(sourceArray.data(), sourceArray.size(), matrix, destinationArray.data(), destinationArray.size());
}
bool Vector2::Transform(Vector2 const* sourceArray, size_t sourceArrayLength, size_t sourceIndex, Matrix const& matrix,
Vector2* destinationArray, size_t destinationArrayLength, size_t destinationIndex, size_t length) {
if (!sourceArray || !destinationArray || destinationArrayLength < sourceArrayLength
|| sourceArrayLength < sourceIndex + length || destinationArrayLength < destinationIndex + length)
return false;
for (size_t i = 0; i < length; ++i) {
const auto& source = sourceArray[sourceIndex + i];
destinationArray[destinationIndex + i].X = (source.X * matrix.M11 + source.Y * matrix.M21) + matrix.M41;
destinationArray[destinationIndex + i].Y = (source.X * matrix.M12 + source.Y * matrix.M22) + matrix.M42;
}
return true;
}
bool Vector2::Transform(std::vector<Vector2> const& sourceArray, size_t sourceIndex, Matrix const& matrix, std::vector<Vector2>& destinationArray, size_t destinationIndex, size_t length)
{
if (destinationArray.empty())
destinationArray.resize(sourceArray.size());
return Transform(sourceArray.data(), sourceArray.size(), sourceIndex, matrix, destinationArray.data(), destinationArray.size(), destinationIndex, length);
}
bool Vector2::TransformNormal(Vector2 const* sourceArray, size_t sourceArrayLength, Matrix const& matrix, Vector2* destinationArray, size_t destinationArrayLength) {
if (!sourceArray || !destinationArray || destinationArrayLength < sourceArrayLength)
return false;
for (size_t index = 0; index < sourceArrayLength; ++index) {
const auto& source = sourceArray[index];
destinationArray[index].X = source.X * matrix.M11 + source.Y * matrix.M21;
destinationArray[index].Y = source.X * matrix.M12 + source.Y * matrix.M22;
}
return true;
}
bool Vector2::TransformNormal(std::vector<Vector2> const& sourceArray, Matrix const& matrix, std::vector<Vector2>& destinationArray)
{
if (destinationArray.empty())
destinationArray.resize(sourceArray.size());
return TransformNormal(sourceArray.data(), sourceArray.size(), matrix, destinationArray.data(), destinationArray.size());
}
bool Vector2::TransformNormal(Vector2 const* sourceArray, size_t sourceArrayLength, size_t sourceIndex, Matrix const& matrix, Vector2* destinationArray, size_t destinationArrayLength, size_t destinationIndex, size_t length) {
if (!sourceArray || !destinationArray || destinationArrayLength < sourceArrayLength
|| sourceArrayLength < sourceIndex + length || destinationArrayLength < destinationIndex + length)
return false;
for (size_t i = 0; i < length; ++i)
{
const auto& source = sourceArray[sourceIndex + i];
destinationArray[destinationIndex].X = (source.X * matrix.M11 + source.Y * matrix.M21);
destinationArray[destinationIndex].Y = (source.X * matrix.M12 + source.Y * matrix.M22);
}
return true;
}
bool Vector2::TransformNormal(std::vector<Vector2> const& sourceArray, size_t sourceIndex, Matrix const& matrix, std::vector<Vector2>& destinationArray, size_t destinationIndex, size_t length)
{
if (destinationArray.empty())
destinationArray.resize(sourceArray.size());
return TransformNormal(sourceArray.data(), sourceArray.size(), sourceIndex, matrix, destinationArray.data(), destinationArray.size(), destinationIndex, length);
}
bool Vector2::Transform(Vector2 const* sourceArray, size_t sourceArrayLength, Quaternion const& rotation, Vector2* destinationArray, size_t destinationArrayLength) {
if (!sourceArray || !destinationArray || destinationArrayLength < sourceArrayLength)
return false;
const auto rx = rotation.X + rotation.X;
const auto ry = rotation.Y + rotation.Y;
const auto rz = rotation.Z + rotation.Z;
const auto rwz = rotation.W * rz;
const auto rxx = rotation.X * rx;
const auto rxy = rotation.X * ry;
const auto ryy = rotation.Y * ry;
const auto rzz = rotation.Z * rz;
const auto a = 1.0f - ryy - rzz;
const auto b = rxy - rwz;
const auto c = rxy + rwz;
const auto d = 1.0f - rxx - rzz;
for (size_t index = 0; index < sourceArrayLength; ++index) {
const auto& source = sourceArray[index];
destinationArray[index].X = source.X * a + source.Y * b;
destinationArray[index].Y = source.X * c + source.Y * d;
}
return true;
}
bool Vector2::Transform(std::vector<Vector2> const& sourceArray, Quaternion const& rotation, std::vector<Vector2>& destinationArray)
{
if (destinationArray.empty())
destinationArray.resize(sourceArray.size());
return Transform(sourceArray.data(), sourceArray.size(), rotation, destinationArray.data(), destinationArray.size());
}
bool Vector2::Transform(Vector2 const* sourceArray, size_t sourceArrayLength, size_t sourceIndex, Quaternion const& rotation,
Vector2* destinationArray, size_t destinationArrayLength, size_t destinationIndex, size_t length) {
if (!sourceArray || !destinationArray || destinationArrayLength < sourceArrayLength
|| sourceArrayLength < sourceIndex + length || destinationArrayLength < destinationIndex + length)
return false;
const auto rx = rotation.X + rotation.X;
const auto ry = rotation.Y + rotation.Y;
const auto rz = rotation.Z + rotation.Z;
const auto rwz = rotation.W * rz;
const auto rxx = rotation.X * rx;
const auto rxy = rotation.X * ry;
const auto ryy = rotation.Y * ry;
const auto rzz = rotation.Z * rz;
const auto a = 1.0f - ryy - rzz;
const auto b = rxy - rwz;
const auto c = rxy + rwz;
const auto d = 1.0f - rxx - rzz;
for (size_t i = 0; i < length; ++i) {
const auto& source = sourceArray[sourceIndex = i];
destinationArray[destinationIndex].X = source.X * a + source.Y * b;
destinationArray[destinationIndex].Y = source.X * c + source.Y * d;
++sourceIndex;
++destinationIndex;
}
return true;
}
bool Vector2::Transform(std::vector<Vector2> const& sourceArray, size_t sourceIndex, Quaternion const& rotation, std::vector<Vector2>& destinationArray, size_t destinationIndex, size_t length)
{
if (destinationArray.empty())
destinationArray.resize(sourceArray.size());
return Transform(sourceArray.data(), sourceArray.size(), sourceIndex, rotation, destinationArray.data(), destinationArray.size(), destinationIndex, length);
}
bool Vector3::Transform(Vector3 const* sourceArray, size_t sourceArrayLength, Matrix const& matrix, Vector3* destinationArray, size_t destinationLength)
{
if (!sourceArray || !destinationArray || destinationLength < sourceArrayLength)
return false;
for (size_t index = 0; index < sourceArrayLength; ++index)
{
const auto& source = sourceArray[index];
destinationArray[index].X = (source.X * matrix.M11 + source.Y * matrix.M21 + source.Z * matrix.M31) + matrix.M41;
destinationArray[index].Y = (source.X * matrix.M12 + source.Y * matrix.M22 + source.Z * matrix.M32) + matrix.M42;
destinationArray[index].Z = (source.X * matrix.M13 + source.Y * matrix.M23 + source.Z * matrix.M33) + matrix.M43;
}
return true;
}
bool Vector3::Transform(std::vector<Vector3> const& sourceArray, Matrix const& matrix, std::vector<Vector3>& destinationArray)
{
if (destinationArray.empty())
destinationArray.resize(sourceArray.size());
return Transform(sourceArray.data(), sourceArray.size(), matrix, destinationArray.data(), destinationArray.size());
}
bool Vector3::Transform(Vector3 const* sourceArray, size_t sourceArrayLength, size_t sourceIndex, Matrix const& matrix, Vector3* destinationArray, size_t destinationLength, size_t destinationIndex, size_t length)
{
if (!sourceArray || !destinationArray || sourceArrayLength < sourceIndex + length || destinationLength < destinationIndex + length)
return false;
for (size_t index = 0; index < length; ++index)
{
const auto& source = sourceArray[sourceIndex + index];
destinationArray[destinationIndex + index].X = (source.X * matrix.M11 + source.Y * matrix.M21 + source.Z * matrix.M31) + matrix.M41;
destinationArray[destinationIndex + index].Y = (source.X * matrix.M12 + source.Y * matrix.M22 + source.Z * matrix.M32) + matrix.M42;
destinationArray[destinationIndex + index].Z = (source.X * matrix.M13 + source.Y * matrix.M23 + source.Z * matrix.M33) + matrix.M43;
}
return true;
}
bool Vector3::Transform(std::vector<Vector3> const& sourceArray, size_t sourceIndex, Matrix const& matrix, std::vector<Vector3>& destinationArray, size_t destinationIndex, size_t length)
{
if (destinationArray.empty())
destinationArray.resize(sourceArray.size());
return Transform(sourceArray.data(), sourceArray.size(), sourceIndex, matrix, destinationArray.data(), destinationArray.size(), destinationIndex, length);
}
bool Vector3::TransformNormal(Vector3 const* sourceArray, size_t sourceArrayLength, Matrix const& matrix, Vector3* destinationArray, size_t destionationArrayLength)
{
if (!sourceArray || !destinationArray || sourceArrayLength < destionationArrayLength)
return false;
for (size_t index = 0; index < sourceArrayLength; ++index)
{
const auto& source = sourceArray[index];
destinationArray[index].X = source.X * matrix.M11 + source.Y * matrix.M21 + source.Z * matrix.M31;
destinationArray[index].Y = source.X * matrix.M12 + source.Y * matrix.M22 + source.Z * matrix.M32;
destinationArray[index].Z = source.X * matrix.M13 + source.Y * matrix.M23 + source.Z * matrix.M33;
}
return true;
}
bool Vector3::TransformNormal(std::vector<Vector3> const& sourceArray, Matrix const& matrix, std::vector<Vector3>& destinationArray)
{
if (destinationArray.empty())
destinationArray.resize(sourceArray.size());
return TransformNormal(sourceArray.data(), sourceArray.size(), matrix, destinationArray.data(), destinationArray.size());
}
bool Vector3::TransformNormal(Vector3 const* sourceArray, size_t sourceArrayLength, size_t sourceIndex, Matrix const& matrix, Vector3* destinationArray, size_t destinationLength, size_t destinationIndex, size_t length)
{
if (!sourceArray || !destinationArray || sourceArrayLength < sourceIndex + length || destinationLength < destinationIndex + length)
return false;
for (size_t index = 0; index < length; ++index) {
const auto& source = sourceArray[sourceIndex + index];
destinationArray[destinationIndex + index].X = source.X * matrix.M11 + source.Y * matrix.M21 + source.Z * matrix.M31;
destinationArray[destinationIndex + index].Y = source.X * matrix.M12 + source.Y * matrix.M22 + source.Z * matrix.M32;
destinationArray[destinationIndex + index].Z = source.X * matrix.M13 + source.Y * matrix.M23 + source.Z * matrix.M33;
}
return true;
}
bool Vector3::TransformNormal(std::vector<Vector3> const& sourceArray, size_t sourceIndex, Matrix const& matrix, std::vector<Vector3>& destinationArray, size_t destinationIndex, size_t length)
{
if (destinationArray.empty())
destinationArray.resize(sourceArray.size());
return TransformNormal(sourceArray.data(), sourceArray.size(), sourceIndex, matrix, destinationArray.data(), destinationArray.size(), destinationIndex, length);
}
bool Vector3::TransformNormal(Vector3 const* sourceArray, size_t sourceArrayLength, Quaternion const& rotation, Vector3* destinationArray, size_t destinationLength)
{
if (!sourceArray || !destinationArray || destinationLength < sourceArrayLength)
return false;
const auto num1 = rotation.X + rotation.X;
const auto num2 = rotation.Y + rotation.Y;
const auto num3 = rotation.Z + rotation.Z;
const auto num4 = rotation.W * num1;
const auto num5 = rotation.W * num2;
const auto num6 = rotation.W * num3;
const auto num7 = rotation.X * num1;
const auto num8 = rotation.X * num2;
const auto num9 = rotation.X * num3;
const auto num10 = rotation.Y * num2;
const auto num11 = rotation.Y * num3;
const auto num12 = rotation.Z * num3;
const auto num13 = 1.0f - num10 - num12;
const auto num14 = num8 - num6;
const auto num15 = num9 + num5;
const auto num16 = num8 + num6;
const auto num17 = 1.0f - num7 - num12;
const auto num18 = num11 - num4;
const auto num19 = num9 - num5;
const auto num20 = num11 + num4;
const auto num21 = 1.0f - num7 - num10;
for (size_t index = 0; index < sourceArrayLength; ++index)
{
const auto& source = sourceArray[index];
destinationArray[index].X = source.X * num13 + source.Y * num14 + source.Z * num15;
destinationArray[index].Y = source.X * num16 + source.Y * num17 + source.Z * num18;
destinationArray[index].Z = source.X * num19 + source.Y * num20 + source.Z * num21;
}
return true;
}
bool Vector3::TransformNormal(std::vector<Vector3> const& sourceArray, Quaternion const& rotation, std::vector<Vector3>& destinationArray)
{
if (destinationArray.empty())
destinationArray.resize(sourceArray.size());
return TransformNormal(sourceArray.data(), sourceArray.size(), rotation, destinationArray.data(), destinationArray.size());
}
bool Vector3::TransformNormal(Vector3 const* sourceArray, size_t sourceArrayLength, size_t sourceIndex, Quaternion const& rotation, Vector3* destinationArray, size_t destinationLength, size_t destinationIndex, size_t length)
{
if (!sourceArray || !destinationArray || sourceArrayLength < sourceIndex + length || destinationLength < destinationIndex + length)
return false;
const auto num1 = rotation.X + rotation.X;
const auto num2 = rotation.Y + rotation.Y;
const auto num3 = rotation.Z + rotation.Z;
const auto num4 = rotation.W * num1;
const auto num5 = rotation.W * num2;
const auto num6 = rotation.W * num3;
const auto num7 = rotation.X * num1;
const auto num8 = rotation.X * num2;
const auto num9 = rotation.X * num3;
const auto num10 = rotation.Y * num2;
const auto num11 = rotation.Y * num3;
const auto num12 = rotation.Z * num3;
const auto num13 = 1.0f - num10 - num12;
const auto num14 = num8 - num6;
const auto num15 = num9 + num5;
const auto num16 = num8 + num6;
const auto num17 = 1.0f - num7 - num12;
const auto num18 = num11 - num4;
const auto num19 = num9 - num5;
const auto num20 = num11 + num4;
const auto num21 = 1.0f - num7 - num10;
for (size_t index = 0; index < length; ++index)
{
const auto& source = sourceArray[sourceIndex + index];
destinationArray[destinationIndex + index].X = source.X * num13 + source.Y * num14 + source.Z * num15;
destinationArray[destinationIndex + index].Y = source.X * num16 + source.Y * num17 + source.Z * num18;
destinationArray[destinationIndex + index].Z = source.X * num19 + source.Y * num20 + source.Z * num21;
}
return true;
}
bool Vector3::TransformNormal(std::vector<Vector3> const& sourceArray, size_t sourceIndex, Quaternion const& rotation, std::vector<Vector3>& destinationArray, size_t destinationIndex, size_t length)
{
if (destinationArray.empty())
destinationArray.resize(sourceArray.size());
return TransformNormal(sourceArray.data(), sourceArray.size(), sourceIndex, rotation, destinationArray.data(), destinationArray.size(), destinationIndex, length);
}
bool Vector4::Transform(Vector4 const* sourceArray, size_t sourceLength, Matrix const& matrix, Vector4* destinationArray, size_t destinationLength)
{
if (!sourceArray || !destinationArray || destinationLength < sourceLength)
return false;
for (size_t index = 0; index < sourceLength; ++index)
{
const auto& source = sourceArray[index];
destinationArray[index].X = source.X * matrix.M11 + source.Y * matrix.M21 + source.Z * matrix.M31 + source.W * matrix.M41;
destinationArray[index].Y = source.X * matrix.M12 + source.Y * matrix.M22 + source.Z * matrix.M32 + source.W * matrix.M42;
destinationArray[index].Z = source.X * matrix.M13 + source.Y * matrix.M23 + source.Z * matrix.M33 + source.W * matrix.M43;
destinationArray[index].W = source.X * matrix.M14 + source.Y * matrix.M24 + source.Z * matrix.M34 + source.W * matrix.M44;
}
return true;
}
bool Vector4::Transform(std::vector<Vector4> const& sourceArray, size_t sourceLength, Matrix const& matrix, std::vector<Vector4>& destinationArray)
{
if (destinationArray.empty())
destinationArray.resize(sourceArray.size());
return Transform(sourceArray.data(), sourceArray.size(), matrix, destinationArray.data(), destinationArray.size());
}
bool Vector4::Transform(Vector4 const* sourceArray, size_t sourceLength, size_t sourceIndex, Matrix const& matrix, Vector4* destinationArray, size_t destinationLength, size_t destinationIndex, size_t length)
{
if (!sourceArray || !destinationArray || sourceLength < sourceIndex + length || destinationLength < destinationIndex + length)
return false;
for (size_t i = 0; i < length; ++i)
{
const auto& source = sourceArray[sourceIndex + i];
destinationArray[destinationIndex].X = source.X * matrix.M11 + source.Y * matrix.M21 + source.Z * matrix.M31 + source.W * matrix.M41;
destinationArray[destinationIndex].Y = source.X * matrix.M12 + source.Y * matrix.M22 + source.Z * matrix.M32 + source.W * matrix.M42;
destinationArray[destinationIndex].Z = source.X * matrix.M13 + source.Y * matrix.M23 + source.Z * matrix.M33 + source.W * matrix.M43;
destinationArray[destinationIndex].W = source.X * matrix.M14 + source.Y * matrix.M24 + source.Z * matrix.M34 + source.W * matrix.M44;
}
return true;
}
bool Vector4::Transform(std::vector<Vector4> const& sourceArray, size_t sourceIndex, Matrix const& matrix, std::vector<Vector4>& destinationArray, size_t destinationIndex, size_t length)
{
if (destinationArray.empty())
destinationArray.resize(sourceArray.size());
return Transform(sourceArray.data(), sourceArray.size(), sourceIndex, matrix, destinationArray.data(), destinationArray.size(), destinationIndex, length);
}
bool Vector4::Transform(Vector4 const* sourceArray, size_t sourceLength, Quaternion const& rotation, Vector4* destinationArray, size_t destinationLength)
{
if (!sourceArray || !destinationArray || destinationLength < sourceLength)
return false;
const auto num1 = rotation.X + rotation.X;
const auto num2 = rotation.Y + rotation.Y;
const auto num3 = rotation.Z + rotation.Z;
const auto num4 = rotation.W * num1;
const auto num5 = rotation.W * num2;
const auto num6 = rotation.W * num3;
const auto num7 = rotation.X * num1;
const auto num8 = rotation.X * num2;
const auto num9 = rotation.X * num3;
const auto num10 = rotation.Y * num2;
const auto num11 = rotation.Y * num3;
const auto num12 = rotation.Z * num3;
const auto num13 = 1.0f - num10 - num12;
const auto num14 = num8 - num6;
const auto num15 = num9 + num5;
const auto num16 = num8 + num6;
const auto num17 = 1.0f - num7 - num12;
const auto num18 = num11 - num4;
const auto num19 = num9 - num5;
const auto num20 = num11 + num4;
const auto num21 = 1.0f - num7 - num10;
for (size_t index = 0; index < sourceLength; ++index)
{
const auto& source = sourceArray[index];
destinationArray[index].X = source.Z * num13 + source.Y * num14 + source.Z * num15;
destinationArray[index].Y = source.Z * num16 + source.Y * num17 + source.Z * num18;
destinationArray[index].Z = source.Z * num19 + source.Y * num20 + source.Z * num21;
destinationArray[index].W = sourceArray[index].W;
}
return true;
}
bool Vector4::Transform(std::vector<Vector4> const& sourceArray, Quaternion const& rotation, std::vector<Vector4>& destinationArray)
{
if (destinationArray.empty())
destinationArray.resize(sourceArray.size());
return Transform(sourceArray.data(), sourceArray.size(), rotation, destinationArray.data(), destinationArray.size());
}
bool Vector4::Transform(Vector4 const* sourceArray, size_t sourceLength, size_t sourceIndex, Quaternion const& rotation, Vector4* destinationArray, size_t destinationLength, size_t destinationIndex, size_t length)
{
if (!sourceArray || !destinationArray || sourceLength < sourceIndex + length || destinationLength < destinationIndex + length)
return false;
const auto num1 = rotation.X + rotation.X;
const auto num2 = rotation.Y + rotation.Y;
const auto num3 = rotation.Z + rotation.Z;
const auto num4 = rotation.W * num1;
const auto num5 = rotation.W * num2;
const auto num6 = rotation.W * num3;
const auto num7 = rotation.X * num1;
const auto num8 = rotation.X * num2;
const auto num9 = rotation.X * num3;
const auto num10 = rotation.Y * num2;
const auto num11 = rotation.Y * num3;
const auto num12 = rotation.Z * num3;
const auto num13 = 1.0f - num10 - num12;
const auto num14 = num8 - num6;
const auto num15 = num9 + num5;
const auto num16 = num8 + num6;
const auto num17 = 1.0f - num7 - num12;
const auto num18 = num11 - num4;
const auto num19 = num9 - num5;
const auto num20 = num11 + num4;
const auto num21 = 1.0f - num7 - num10;
for (size_t i = 0; i < length; ++i)
{
const auto& source = sourceArray[sourceIndex + i];
destinationArray[destinationIndex].X = source.X * num13 + source.Y * num14 + source.Z * num15;
destinationArray[destinationIndex].Y = source.X * num16 + source.Y * num17 + source.Z * num18;
destinationArray[destinationIndex].Z = source.X * num19 + source.Y * num20 + source.Z * num21;
destinationArray[destinationIndex].W = source.W;
}
return true;
}
bool Vector4::Transform(std::vector<Vector4> const& sourceArray, size_t sourceIndex, Quaternion const& rotation, std::vector<Vector4>& destinationArray, size_t destinationIndex, size_t length)
{
if (destinationArray.empty())
destinationArray.resize(sourceArray.size());
return Transform(sourceArray.data(), sourceArray.size(), sourceIndex, rotation, destinationArray.data(), destinationArray.size(), destinationIndex, length);
}
Quaternion Quaternion::CreateFromAxisAngle(Vector3 const& axis, float angle) {
const auto num1 = angle * 0.5f;
const auto num2 = std::sin(num1);
const auto num3 = std::cos(num1);
Quaternion fromAxisAngle;
fromAxisAngle.X = axis.X * num2;
fromAxisAngle.Y = axis.Y * num2;
fromAxisAngle.Z = axis.Z * num2;
fromAxisAngle.W = num3;
return fromAxisAngle;
}
Quaternion Quaternion::CreateFromYawPitchRoll(float yaw, float pitch, float roll) {
const auto num1 = roll * 0.5f;
const auto num2 = std::sin(num1);
const auto num3 = std::cos(num1);
const auto num4 = pitch * 0.5f;
const auto num5 = std::sin(num4);
const auto num6 = std::cos(num4);
const auto num7 = yaw * 0.5f;
const auto num8 = std::sin(num7);
const auto num9 = std::cos(num7);
Quaternion fromYawPitchRoll;
fromYawPitchRoll.X = (num9 * num5 * num3 + num8 * num6 * num2);
fromYawPitchRoll.Y = (num8 * num6 * num3 - num9 * num5 * num2);
fromYawPitchRoll.Z = (num9 * num6 * num2 - num8 * num5 * num3);
fromYawPitchRoll.W = (num9 * num6 * num3 + num8 * num5 * num2);
return fromYawPitchRoll;
}
Quaternion Quaternion::CreateFromRotationMatrix(Matrix const& matrix) {
const auto num1 = matrix.M11 + matrix.M22 + matrix.M33;
Quaternion fromRotationMatrix;
if (num1 > 0.0)
{
const auto num2 = std::sqrt(num1 + 1.0F);
fromRotationMatrix.W = num2 * 0.5f;
const auto num3 = 0.5f / num2;
fromRotationMatrix.X = (matrix.M23 - matrix.M32) * num3;
fromRotationMatrix.Y = (matrix.M31 - matrix.M13) * num3;
fromRotationMatrix.Z = (matrix.M12 - matrix.M21) * num3;
}
else if (matrix.M11 >= matrix.M22 && matrix.M11 >= matrix.M33)
{
const auto num4 = std::sqrt(1.0F + matrix.M11 - matrix.M22 - matrix.M33);
const auto num5 = 0.5f / num4;
fromRotationMatrix.X = 0.5f * num4;
fromRotationMatrix.Y = (matrix.M12 + matrix.M21) * num5;
fromRotationMatrix.Z = (matrix.M13 + matrix.M31) * num5;
fromRotationMatrix.W = (matrix.M23 - matrix.M32) * num5;
}
else if (matrix.M22 > matrix.M33)
{
const auto num6 = std::sqrt(1.0F + matrix.M22 - matrix.M11 - matrix.M33);
const auto num7 = 0.5f / num6;
fromRotationMatrix.X = (matrix.M21 + matrix.M12) * num7;
fromRotationMatrix.Y = 0.5f * num6;
fromRotationMatrix.Z = (matrix.M32 + matrix.M23) * num7;
fromRotationMatrix.W = (matrix.M31 - matrix.M13) * num7;
}
else
{
const auto num8 = std::sqrt(1.0F + matrix.M33 - matrix.M11 - matrix.M22);
const auto num9 = 0.5f / num8;
fromRotationMatrix.X = (matrix.M31 + matrix.M13) * num9;
fromRotationMatrix.Y = (matrix.M32 + matrix.M23) * num9;
fromRotationMatrix.Z = 0.5f * num8;
fromRotationMatrix.W = (matrix.M12 - matrix.M21) * num9;
}
return fromRotationMatrix;
}
Quaternion Quaternion::Slerp(Quaternion const& quaternion1, Quaternion const& quaternion2, float amount) {
const auto num1 = amount;
auto d = quaternion1.X * quaternion2.X + quaternion1.Y * quaternion2.Y + quaternion1.Z * quaternion2.Z + quaternion1.W * quaternion2.W;
bool flag = false;
if (d < 0.0) {
flag = true;
d = -d;
}
float num2 = 0;
float num3 = 0;
if (d > 0.99999898672103882) {
num2 = 1.0f - num1;
num3 = flag ? -num1 : num1;
}
else {
const auto a = std::acos(d);
const auto num4 = 1.0F / std::sin(a);
num2 = std::sin((1.0F - num1) * a) * num4;
num3 = flag ? -std::sin(num1 * a) * num4 : std::sin(num1 * a) * num4;
}
Quaternion quaternion;
quaternion.X = num2 * quaternion1.X + num3 * quaternion2.X;
quaternion.Y = num2 * quaternion1.Y + num3 * quaternion2.Y;
quaternion.Z = num2 * quaternion1.Z + num3 * quaternion2.Z;
quaternion.W = num2 * quaternion1.W + num3 * quaternion2.W;
return quaternion;
}
Quaternion Quaternion::Lerp(Quaternion const& quaternion1, Quaternion const& quaternion2, float amount) {
const auto num1 = amount;
const auto num2 = 1.0f - num1;
Quaternion quaternion;
if (quaternion1.X * quaternion2.X + quaternion1.Y * quaternion2.Y + quaternion1.Z * quaternion2.Z + quaternion1.W * quaternion2.W >= 0.0) {
quaternion.X = num2 * quaternion1.X + num1 * quaternion2.X;
quaternion.Y = num2 * quaternion1.Y + num1 * quaternion2.Y;
quaternion.Z = num2 * quaternion1.Z + num1 * quaternion2.Z;
quaternion.W = num2 * quaternion1.W + num1 * quaternion2.W;
}
else {
quaternion.X = num2 * quaternion1.X - num1 * quaternion2.X;
quaternion.Y = num2 * quaternion1.Y - num1 * quaternion2.Y;
quaternion.Z = num2 * quaternion1.Z - num1 * quaternion2.Z;
quaternion.W = num2 * quaternion1.W - num1 * quaternion2.W;
}
const auto num3 = 1.0f / std::sqrt(quaternion.X * quaternion.X + quaternion.Y * quaternion.Y + quaternion.Z * quaternion.Z + quaternion.W * quaternion.W);
quaternion.X *= num3;
quaternion.Y *= num3;
quaternion.Z *= num3;
quaternion.W *= num3;
return quaternion;
}
}