135 lines
3.5 KiB
C#
135 lines
3.5 KiB
C#
using System;
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namespace SourceFormatParser.Common
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{
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/// <summary>
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/// Quaternion x/y/z/w (float)
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/// Size: 16 bytes (4 bytes per axis)
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/// </summary>
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public struct SourceQuaternion
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{
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// same data-layout as engine's vec4_t,
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// which is a vec_t[4]=float[4]
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public float x, y, z, w;
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public SourceQuaternion(float ix, float iy, float iz, float iw)
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{
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//Init(ix, iy, iz, iw);
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x = ix; y = iy; z = iz; w = iw;
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}
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public SourceQuaternion(SourceRadianEuler angle)
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{
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var t = new SourceQuaternion();
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MathUtils.AngleQuaternion(angle, ref t);
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this.x = t.x;
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this.y = t.y;
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this.z = t.z;
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this.w = t.w;
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}
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public SourceQuaternion(SourceDegreeEuler angle)
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{
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SourceRadianEuler radians = new SourceRadianEuler(angle);
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var t = new SourceQuaternion();
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MathUtils.AngleQuaternion(radians, ref t);
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this.x = t.x;
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this.y = t.y;
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this.z = t.z;
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this.w = t.w;
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}
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void Init(float ix = 0.0f, float iy = 0.0f, float iz = 0.0f, float iw = 0.0f) { x = ix; y = iy; z = iz; w = iw; }
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void Init(SourceVector vImaginaryPart, float flRealPart) { x = vImaginaryPart.x; y = vImaginaryPart.y; z = vImaginaryPart.z; w = flRealPart; }
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public static bool operator ==(SourceQuaternion v1, SourceQuaternion v2) => v1.x == v2.x && v1.y == v2.y && v1.z == v2.z && v1.w == v2.w;
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public static bool operator !=(SourceQuaternion v1, SourceQuaternion v2) => !(v1 == v2);
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public override bool Equals(object obj) => this == (SourceQuaternion)obj;
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public override int GetHashCode() => base.GetHashCode();
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public SourceQuaternion Conjugate() { return new SourceQuaternion(-x, -y, -z, w); }
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public SourceVector GetForward()
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{
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SourceVector vAxisX;
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vAxisX.x = 1.0f - 2.0f * y * y - 2.0f * z * z;
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vAxisX.y = 2.0f * x * y + 2.0f * w * z;
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vAxisX.z = 2.0f * x * z - 2.0f * w * y;
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return vAxisX;
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}
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public SourceVector GetLeft()
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{
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SourceVector vAxisY;
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vAxisY.x = 2.0f * x * y - 2.0f * w * z;
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vAxisY.y = 1.0f - 2.0f * x * x - 2.0f * z * z;
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vAxisY.z = 2.0f * y * z + 2.0f * w * x;
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return vAxisY;
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}
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public SourceVector GetUp()
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{
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SourceVector vAxisZ;
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vAxisZ.x = 2.0f * x * z + 2.0f * w * y;
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vAxisZ.y = 2.0f * y * z - 2.0f * w * x;
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vAxisZ.z = 1.0f - 2.0f * x * x - 2.0f * y * y;
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return vAxisZ;
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}
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public float RealPart() { return w; }
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public SourceQAngle ToQAngle()
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{
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SourceQAngle anglesOut = new SourceQAngle();
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MathUtils.QuaternionAngles(this, ref anglesOut);
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return anglesOut;
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}
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public SourceMatrix3x4 ToMatrix()
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{
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SourceMatrix3x4 mat = new SourceMatrix3x4();
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mat.InitFromQuaternion(this);
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return mat;
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}
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// array access...
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public float this[int i]
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{
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get
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{
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switch (i)
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{
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case 0: return x;
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case 1: return y;
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case 2: return z;
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case 3: return w;
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default: throw new Exception("wrong index [0..3]");
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}
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}
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set
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{
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switch (i)
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{
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case 0:
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x = value;
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break;
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case 1:
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y = value;
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break;
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case 2:
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z = value;
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break;
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case 3:
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w = value;
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break;
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default:
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throw new Exception("wrong index [0..3]");
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}
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}
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}
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public static SourceQuaternion operator +(SourceQuaternion q1, SourceQuaternion q2) => new SourceQuaternion(q1.x + q2.x, q1.y + q2.y, q1.z + q2.z, q1.w + q2.w);
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public static SourceQuaternion operator -(SourceQuaternion q1, SourceQuaternion q2) => new SourceQuaternion(q1.x - q2.x, q1.y - q2.y, q1.z - q2.z, q1.w - q2.w);
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public static SourceQuaternion Identity = new SourceQuaternion();
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}
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}
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