41 lines
1.3 KiB
C#
41 lines
1.3 KiB
C#
using System.Numerics;
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#if UNITY_5_3_OR_NEWER
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using Quaternion = UnityEngine.Quaternion;
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#endif
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namespace LinearAlgebra {
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public class SwingTwist {
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public Direction swing;
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public float twist;
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public static readonly SwingTwist zero = new SwingTwist(0, 0, 0);
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public SwingTwist(Direction swing, float twist) {
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this.swing = swing;
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this.twist = twist;
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}
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public SwingTwist(float horizontalSwing, float verticalSwing, float twist) {
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this.swing = Direction.Degrees(horizontalSwing, verticalSwing);
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this.swing.Normalize();
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this.twist = twist;
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}
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public static SwingTwist FromQuat32(Quat32 q32) {
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// UnityEngine.Quaternion q = new(q32.x, q32.y, q32.z, q32.w);
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// SwingTwist r = new(q.eulerAngles.y, q.eulerAngles.x, q.eulerAngles.z);
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q32.ToAngles(out float right, out float up, out float forward);
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SwingTwist r = new SwingTwist(up, right, forward);
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return r;
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}
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#if UNITY_5_3_OR_NEWER
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public Quaternion ToQuaternion() {
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Quaternion q = Quaternion.Euler(-this.swing.vertical,
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this.swing.horizontal,
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this.twist);
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return q;
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}
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#endif
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}
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} |