From 540549bd897baaa83b72bc3234ef6243009592e8 Mon Sep 17 00:00:00 2001 From: MW Date: Fri, 13 Jul 2007 17:03:59 +0000 Subject: Stage 1 of adding Darok's bulletX plugin: adding the ModifiedBulletX project (which is based on the BulletXNA project, but modified to not use XNA). --- .../MonoXnaCompactMaths/Quaternion.cs | 346 +++++++++++++++++++++ 1 file changed, 346 insertions(+) create mode 100644 libraries/ModifiedBulletX/MonoXnaCompactMaths/Quaternion.cs (limited to 'libraries/ModifiedBulletX/MonoXnaCompactMaths/Quaternion.cs') diff --git a/libraries/ModifiedBulletX/MonoXnaCompactMaths/Quaternion.cs b/libraries/ModifiedBulletX/MonoXnaCompactMaths/Quaternion.cs new file mode 100644 index 0000000..6ed1443 --- /dev/null +++ b/libraries/ModifiedBulletX/MonoXnaCompactMaths/Quaternion.cs @@ -0,0 +1,346 @@ +#region License +/* +MIT License +Copyright © 2006 The Mono.Xna Team + +All rights reserved. + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ +#endregion License + +using System; +using System.ComponentModel; + +namespace MonoXnaCompactMaths +{ + [Serializable] + //[TypeConverter(typeof(QuaternionConverter))] + public struct Quaternion : IEquatable + { + public float X; + public float Y; + public float Z; + public float W; + static Quaternion identity = new Quaternion(0, 0, 0, 1); + + + public Quaternion(float x, float y, float z, float w) + { + this.X = x; + this.Y = y; + this.Z = z; + this.W = w; + } + + + public Quaternion(Vector3 vectorPart, float scalarPart) + { + this.X = vectorPart.X; + this.Y = vectorPart.Y; + this.Z = vectorPart.Z; + this.W = scalarPart; + } + + public static Quaternion Identity + { + get{ return identity; } + } + + + public static Quaternion Add(Quaternion quaternion1, Quaternion quaternion2) + { + throw new NotImplementedException(); + } + + + public static void Add(ref Quaternion quaternion1, ref Quaternion quaternion2, out Quaternion result) + { + throw new NotImplementedException(); + } + + + public static Quaternion CreateFromAxisAngle(Vector3 axis, float angle) + { + throw new NotImplementedException(); + } + + + public static void CreateFromAxisAngle(ref Vector3 axis, float angle, out Quaternion result) + { + throw new NotImplementedException(); + } + + + public static Quaternion CreateFromRotationMatrix(Matrix matrix) + { + throw new NotImplementedException(); + } + + + public static void CreateFromRotationMatrix(ref Matrix matrix, out Quaternion result) + { + throw new NotImplementedException(); + } + + + public static Quaternion Divide(Quaternion quaternion1, Quaternion quaternion2) + { + throw new NotImplementedException(); + } + + + public static void Divide(ref Quaternion quaternion1, ref Quaternion quaternion2, out Quaternion result) + { + throw new NotImplementedException(); + } + + + public static float Dot(Quaternion quaternion1, Quaternion quaternion2) + { + throw new NotImplementedException(); + } + + + public static void Dot(ref Quaternion quaternion1, ref Quaternion quaternion2, out float result) + { + throw new NotImplementedException(); + } + + + public override bool Equals(object obj) + { + throw new NotImplementedException(); + } + + + public bool Equals(Quaternion other) + { + throw new NotImplementedException(); + } + + + public override int GetHashCode() + { + throw new NotImplementedException(); + } + + + public static Quaternion Inverse(Quaternion quaternion) + { + throw new NotImplementedException(); + } + + + public static void Inverse(ref Quaternion quaternion, out Quaternion result) + { + throw new NotImplementedException(); + } + + + public float Length() + { + //--- + return (float)Math.Sqrt(Math.Pow(this.W, 2.0) + Math.Pow(this.X, 2.0) + Math.Pow(this.Y, 2.0) + Math.Pow(this.Z, 2.0)); + //--- + //throw new NotImplementedException(); + } + + + public float LengthSquared() + { + //--- + return (float)(Math.Pow(this.W, 2.0) + Math.Pow(this.X, 2.0) + Math.Pow(this.Y, 2.0) + Math.Pow(this.Z, 2.0)); + //--- + //throw new NotImplementedException(); + } + + + public static Quaternion Lerp(Quaternion quaternion1, Quaternion quaternion2, float amount) + { + throw new NotImplementedException(); + } + + + public static void Lerp(ref Quaternion quaternion1, ref Quaternion quaternion2, float amount, out Quaternion result) + { + throw new NotImplementedException(); + } + + + public static Quaternion Slerp(Quaternion quaternion1, Quaternion quaternion2, float amount) + { + throw new NotImplementedException(); + } + + + public static void Slerp(ref Quaternion quaternion1, ref Quaternion quaternion2, float amount, out Quaternion result) + { + throw new NotImplementedException(); + } + + + public static Quaternion Subtract(Quaternion quaternion1, Quaternion quaternion2) + { + throw new NotImplementedException(); + } + + + public static void Subtract(ref Quaternion quaternion1, ref Quaternion quaternion2, out Quaternion result) + { + throw new NotImplementedException(); + } + + + public static Quaternion Multiply(Quaternion quaternion1, Quaternion quaternion2) + { + throw new NotImplementedException(); + } + + + public static Quaternion Multiply(Quaternion quaternion1, float scaleFactor) + { + throw new NotImplementedException(); + } + + + public static void Multiply(ref Quaternion quaternion1, float scaleFactor, out Quaternion result) + { + throw new NotImplementedException(); + } + + + public static void Multiply(ref Quaternion quaternion1, ref Quaternion quaternion2, out Quaternion result) + { + throw new NotImplementedException(); + } + + + public static Quaternion Negate(Quaternion quaternion) + { + throw new NotImplementedException(); + } + + + public static void Negate(ref Quaternion quaternion, out Quaternion result) + { + throw new NotImplementedException(); + } + + + public void Normalize() + { + //--- + this = Normalize(this); + //--- + //throw new NotImplementedException(); + } + + + public static Quaternion Normalize(Quaternion quaternion) + { + //--- + return quaternion / quaternion.Length(); + //--- + //throw new NotImplementedException(); + } + + + public static void Normalize(ref Quaternion quaternion, out Quaternion result) + { + throw new NotImplementedException(); + } + + + public static Quaternion operator +(Quaternion quaternion1, Quaternion quaternion2) + { + throw new NotImplementedException(); + } + + + public static Quaternion operator /(Quaternion quaternion1, Quaternion quaternion2) + { + throw new NotImplementedException(); + } + public static Quaternion operator /(Quaternion quaternion, float factor) + { + quaternion.W /= factor; + quaternion.X /= factor; + quaternion.Y /= factor; + quaternion.Z /= factor; + return quaternion; + } + + public static bool operator ==(Quaternion quaternion1, Quaternion quaternion2) + { + throw new NotImplementedException(); + } + + + public static bool operator !=(Quaternion quaternion1, Quaternion quaternion2) + { + throw new NotImplementedException(); + } + + + public static Quaternion operator *(Quaternion quaternion1, Quaternion quaternion2) + { + //--- + //Grassmann product + Quaternion quaternionProduct = new Quaternion(); + + quaternionProduct.W = quaternion1.W * quaternion2.W - quaternion1.X * quaternion2.X - quaternion1.Y * quaternion2.Y - quaternion1.Z * quaternion2.Z; + quaternionProduct.X = quaternion1.W * quaternion2.X + quaternion1.X * quaternion2.W + quaternion1.Y * quaternion2.Z - quaternion1.Z * quaternion2.Y; + quaternionProduct.Y = quaternion1.W * quaternion2.Y - quaternion1.X * quaternion2.Z + quaternion1.Y * quaternion2.W + quaternion1.Z * quaternion2.X; + quaternionProduct.Z = quaternion1.W * quaternion2.Z + quaternion1.X * quaternion2.Y - quaternion1.Y * quaternion2.X + quaternion1.Z * quaternion2.W; + return quaternionProduct; + //--- + //throw new NotImplementedException(); + } + + + public static Quaternion operator *(Quaternion quaternion1, float scaleFactor) + { + throw new NotImplementedException(); + } + + + public static Quaternion operator -(Quaternion quaternion1, Quaternion quaternion2) + { + throw new NotImplementedException(); + } + + + public static Quaternion operator -(Quaternion quaternion) + { + throw new NotImplementedException(); + } + + + public override string ToString() + { + throw new NotImplementedException(); + } + + private static void Conjugate(ref Quaternion quaternion, out Quaternion result) + { + throw new NotImplementedException(); + } + } +} -- cgit v1.1