ryujinx/Opentk
1
0
Fork 0
mirror of https://github.com/Ryujinx/Opentk.git synced 2025-01-11 00:05:37 +00:00
Code Issues Packages Projects Releases Wiki Activity

Changed vector-quaternion transformations to use standard q * v * q^-1 convention. Fixes issue [#1372]: "[Math] Vector transformation by Quaternion follows non-standard quaternion math convention".

Browse source
This commit is contained in:
the_fiddler 2009-11-16 13:00:42 +00:00
parent 6471772777
commit 0605607e6a
6 changed files with 18 additions and 30 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

8
Source/OpenTK/Math/Vector2.cs
View file

@ -908,12 +908,10 @@ namespace OpenTK
/// <param name="result">The result of the operation.</param> /// <param name="result">The result of the operation.</param>
public static void Transform(ref Vector2 vec, ref Quaternion quat, out Vector2 result) public static void Transform(ref Vector2 vec, ref Quaternion quat, out Vector2 result)
{ {
Quaternion v = new Quaternion(vec.X, vec.Y, 0, 0); Quaternion v = new Quaternion(vec.X, vec.Y, 0, 0), i, t;
Quaternion i;
Quaternion t;
Quaternion.Invert(ref quat, out i); Quaternion.Invert(ref quat, out i);
t = i * v; Quaternion.Multiply(ref quat, ref v, out t);
v = t * quat; Quaternion.Multiply(ref t, ref i, out v);
result = new Vector2(v.X, v.Y); result = new Vector2(v.X, v.Y);
} }

8
Source/OpenTK/Math/Vector2d.cs
View file

@ -796,12 +796,10 @@ namespace OpenTK
/// <param name="result">The result of the operation.</param> /// <param name="result">The result of the operation.</param>
public static void Transform(ref Vector2d vec, ref Quaterniond quat, out Vector2d result) public static void Transform(ref Vector2d vec, ref Quaterniond quat, out Vector2d result)
{ {
Quaterniond v = new Quaterniond(vec.X, vec.Y, 0, 0); Quaterniond v = new Quaterniond(vec.X, vec.Y, 0, 0), i, t;
Quaterniond i;
Quaterniond t;
Quaterniond.Invert(ref quat, out i); Quaterniond.Invert(ref quat, out i);
t = i * v; Quaterniond.Multiply(ref quat, ref v, out t);
v = t * quat; Quaterniond.Multiply(ref t, ref i, out v);
result = new Vector2d(v.X, v.Y); result = new Vector2d(v.X, v.Y);
} }

8
Source/OpenTK/Math/Vector3.cs
View file

@ -1115,12 +1115,10 @@ namespace OpenTK
/// <param name="result">The result of the operation.</param> /// <param name="result">The result of the operation.</param>
public static void Transform(ref Vector3 vec, ref Quaternion quat, out Vector3 result) public static void Transform(ref Vector3 vec, ref Quaternion quat, out Vector3 result)
{ {
Quaternion v = new Quaternion(vec.X, vec.Y, vec.Z, 0); Quaternion v = new Quaternion(vec.X, vec.Y, vec.Z, 0), i, t;
Quaternion i;
Quaternion t;
Quaternion.Invert(ref quat, out i); Quaternion.Invert(ref quat, out i);
t = i * v; Quaternion.Multiply(ref quat, ref v, out t);
v = t * quat; Quaternion.Multiply(ref t, ref i, out v);
result = new Vector3(v.X, v.Y, v.Z); result = new Vector3(v.X, v.Y, v.Z);
} }

8
Source/OpenTK/Math/Vector3d.cs
View file

@ -1111,12 +1111,10 @@ namespace OpenTK
/// <param name="result">The result of the operation.</param> /// <param name="result">The result of the operation.</param>
public static void Transform(ref Vector3d vec, ref Quaterniond quat, out Vector3d result) public static void Transform(ref Vector3d vec, ref Quaterniond quat, out Vector3d result)
{ {
Quaterniond v = new Quaterniond(vec.X, vec.Y, vec.Z, 0); Quaterniond v = new Quaterniond(vec.X, vec.Y, vec.Z, 0), i, t;
Quaterniond i;
Quaterniond t;
Quaterniond.Invert(ref quat, out i); Quaterniond.Invert(ref quat, out i);
t = i * v; Quaterniond.Multiply(ref quat, ref v, out t);
v = t * quat; Quaterniond.Multiply(ref t, ref i, out v);
result = new Vector3d(v.X, v.Y, v.Z); result = new Vector3d(v.X, v.Y, v.Z);
} }

8
Source/OpenTK/Math/Vector4.cs
View file

@ -963,12 +963,10 @@ namespace OpenTK
/// <param name="result">The result of the operation.</param> /// <param name="result">The result of the operation.</param>
public static void Transform(ref Vector4 vec, ref Quaternion quat, out Vector4 result) public static void Transform(ref Vector4 vec, ref Quaternion quat, out Vector4 result)
{ {
Quaternion v = new Quaternion(vec.X, vec.Y, vec.Z, vec.W); Quaternion v = new Quaternion(vec.X, vec.Y, vec.Z, vec.W), i, t;
Quaternion i;
Quaternion t;
Quaternion.Invert(ref quat, out i); Quaternion.Invert(ref quat, out i);
t = i * v; Quaternion.Multiply(ref quat, ref v, out t);
v = t * quat; Quaternion.Multiply(ref t, ref i, out v);
result = new Vector4(v.X, v.Y, v.Z, v.W); result = new Vector4(v.X, v.Y, v.Z, v.W);
} }

8
Source/OpenTK/Math/Vector4d.cs
View file

@ -966,12 +966,10 @@ namespace OpenTK
/// <param name="result">The result of the operation.</param> /// <param name="result">The result of the operation.</param>
public static void Transform(ref Vector4d vec, ref Quaterniond quat, out Vector4d result) public static void Transform(ref Vector4d vec, ref Quaterniond quat, out Vector4d result)
{ {
Quaterniond v = new Quaterniond(vec.X, vec.Y, vec.Z, vec.W); Quaterniond v = new Quaterniond(vec.X, vec.Y, vec.Z, vec.W), i, t;
Quaterniond i;
Quaterniond t;
Quaterniond.Invert(ref quat, out i); Quaterniond.Invert(ref quat, out i);
t = i * v; Quaterniond.Multiply(ref quat, ref v, out t);
v = t * quat; Quaterniond.Multiply(ref t, ref i, out v);
result = new Vector4d(v.X, v.Y, v.Z, v.W); result = new Vector4d(v.X, v.Y, v.Z, v.W);
} }