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Max G 2020-06-22 01:51:15 -05:00 committed by GitHub
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Utility/Quaternion.cs
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using System;
using RobloxFiles.DataTypes;
namespace RobloxFiles.Utility
{
/// <summary>
/// Quaternion is a utility used by the CFrame DataType to handle rotation interpolation.
/// It can be used as an independent Quaternion implementation if you so please!
/// </summary>
public class Quaternion
{
public readonly float X, Y, Z, W;
public float Magnitude
{
get
{
float squared = Dot(this);
double magnitude = Math.Sqrt(squared);
return (float)magnitude;
}
}
public Quaternion(float x, float y, float z, float w)
{
X = x;
Y = y;
Z = z;
W = w;
}
public Quaternion(Vector3 qv, float qw)
{
X = qv.X;
Y = qv.Y;
Z = qv.Z;
W = qw;
}
public Quaternion(CFrame cf)
{
CFrame matrix = (cf - cf.Position);
float[] ac = cf.GetComponents();
float m11 = ac[3], m12 = ac[4], m13 = ac[5],
m21 = ac[6], m22 = ac[7], m23 = ac[8],
m31 = ac[9], m32 = ac[10], m33 = ac[11];
float trace = m11 + m22 + m33;
if (trace > 0)
{
float s = (float)Math.Sqrt(1 + trace);
float r = 0.5f / s;
W = s * 0.5f;
X = (m32 - m23) * r;
Y = (m13 - m31) * r;
Z = (m21 - m12) * r;
}
else
{
float big = Math.Max(Math.Max(m11, m22), m33);
if (big == m11)
{
float s = (float)Math.Sqrt(1 + m11 - m22 - m33);
float r = 0.5f / s;
W = (m32 - m23) * r;
X = 0.5f * s;
Y = (m21 + m12) * r;
Z = (m13 + m31) * r;
}
else if (big == m22)
{
float s = (float)Math.Sqrt(1 - m11 + m22 - m33);
float r = 0.5f / s;
W = (m13 - m31) * r;
X = (m21 + m12) * r;
Y = 0.5f * s;
Z = (m32 + m23) * r;
}
else if (big == m33)
{
float s = (float)Math.Sqrt(1 - m11 - m22 + m33);
float r = 0.5f / s;
W = (m21 - m12) * r;
X = (m13 + m31) * r;
Y = (m32 + m23) * r;
Z = 0.5f * s;
}
}
}
public float Dot(Quaternion other)
{
return (X * other.X) + (Y * other.Y) + (Z * other.Z) + (W * other.W);
}
public Quaternion Lerp(Quaternion other, float alpha)
{
Quaternion result = this * (1.0f - alpha) + other * alpha;
return result / result.Magnitude;
}
public Quaternion Slerp(Quaternion other, float alpha)
{
float cosAng = Dot(other);
if (cosAng < 0)
{
other = -other;
cosAng = -cosAng;
}
double ang = Math.Acos(cosAng);
if (ang >= 0.05f)
{
float scale0 = (float)Math.Sin((1.0f - alpha) * ang);
float scale1 = (float)Math.Sin(alpha * ang);
float denom = (float)Math.Sin(ang);
return ((this * scale0) + (other * scale1)) / denom;
}
else
{
return Lerp(other, alpha);
}
}
public CFrame ToCFrame()
{
float xc = X * 2f;
float yc = Y * 2f;
float zc = Z * 2f;
float xx = X * xc;
float xy = X * yc;
float xz = X * zc;
float wx = W * xc;
float wy = W * yc;
float wz = W * zc;
float yy = Y * yc;
float yz = Y * zc;
float zz = Z * zc;
return new CFrame
(
0, 0, 0,
1f - (yy + zz),
xy - wz,
xz + wy,
xy + wz,
1f - (xx + zz),
yz - wx,
xz - wy,
yz + wx,
1f - (xx + yy)
);
}
public static Quaternion operator +(Quaternion a, Quaternion b)
{
return new Quaternion(a.X + b.X, a.Y + b.Y, a.Z + b.Z, a.W + b.W);
}
public static Quaternion operator -(Quaternion a, Quaternion b)
{
return new Quaternion(a.X - b.X, a.Y - b.Y, a.Z - b.Z, a.W - b.W);
}
public static Quaternion operator *(Quaternion a, float f)
{
return new Quaternion(a.X * f, a.Y * f, a.Z * f, a.W * f);
}
public static Quaternion operator /(Quaternion a, float f)
{
return new Quaternion(a.X / f, a.Y / f, a.Z / f, a.W / f);
}
public static Quaternion operator -(Quaternion a)
{
return new Quaternion(-a.X, -a.Y, -a.Z, -a.W);
}
public static Quaternion operator *(Quaternion a, Quaternion b)
{
Vector3 v1 = new Vector3(a.X, a.Y, a.Z);
float s1 = a.W;
Vector3 v2 = new Vector3(b.X, b.Y, b.Z);
float s2 = b.W;
return new Quaternion(s1 * v2 + s2 * v1 + v1.Cross(v2), s1 * s2 - v1.Dot(v2));
}
}
}