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41 lines
1.3 KiB
C#
41 lines
1.3 KiB
C#
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//
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// ExtensionMethods.cs
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//
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// Author:
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// Jarl Gullberg <jarl.gullberg@gmail.com>
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//
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// Copyright (c) 2016 Jarl Gullberg
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//
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// This program is free software: you can redistribute it and/or modify
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// it under the terms of the GNU General Public License as published by
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// the Free Software Foundation, either version 3 of the License, or
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// (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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// GNU General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program. If not, see <http://www.gnu.org/licenses/>.
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//
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using OpenTK.Mathematics;
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namespace GLWidgetTestGTK3.Extensions
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{
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public static class ExtensionMethods
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{
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public static Quaternion QuaternionFromEuler(float Yaw, float Pitch, float Roll)
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{
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Quaternion XRotation = Quaternion.FromAxisAngle(Vector3.UnitX, Yaw);
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Quaternion YRotation = Quaternion.FromAxisAngle(Vector3.UnitY, Pitch);
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Quaternion ZRotation = Quaternion.FromAxisAngle(Vector3.UnitZ, Roll);
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Quaternion final = Quaternion.Multiply(ZRotation, YRotation);
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final = Quaternion.Multiply(XRotation, final);
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return final;
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}
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}
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}
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