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Added Quaterniond version of FromMatrix

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This commit is contained in:
Robert Rouhani 2013-07-18 13:14:30 -07:00
parent d479e3768b
commit 5c66266933
2 changed files with 77 additions and 1 deletions
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6
Source/OpenTK/Math/Quaternion.cs
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@ -252,7 +252,7 @@ namespace OpenTK
/// <summary>
/// Defines the identity quaternion.
/// </summary>
public static Quaternion Identity = new Quaternion(0, 0, 0, 1);
public static readonly Quaternion Identity = new Quaternion(0, 0, 0, 1);
#endregion
@ -507,6 +507,8 @@ namespace OpenTK
#endregion
#region FromMatrix
/// <summary>
/// Builds a quaternion from the given rotation matrix
/// </summary>
@ -575,6 +577,8 @@ namespace OpenTK
}
}
#endregion
#region Slerp
/// <summary>

72
Source/OpenTK/Math/Quaterniond.cs
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@ -507,6 +507,78 @@ namespace OpenTK
#endregion
#region FromMatrix
/// <summary>
/// Builds a quaternion from the given rotation matrix
/// </summary>
/// <param name="matrix">A rotation matrix</param>
/// <returns>The equivalent quaternion</returns>
public static Quaterniond FromMatrix(Matrix3d matrix)
{
Quaterniond result;
FromMatrix(ref matrix, out result);
return result;
}
/// <summary>
/// Builds a quaternion from the given rotation matrix
/// </summary>
/// <param name="matrix">A rotation matrix</param>
/// <param name="result">The equivalent quaternion</param>
public static void FromMatrix(ref Matrix3d matrix, out Quaterniond result)
{
double trace = matrix.Trace;
if (trace > 0)
{
double s = Math.Sqrt(trace + 1) * 2;
double invS = 1.0 / s;
result.w = s * 0.25;
result.xyz.X = (matrix.Row2.Y - matrix.Row1.Z) * invS;
result.xyz.Y = (matrix.Row0.Z - matrix.Row2.X) * invS;
result.xyz.Z = (matrix.Row1.X - matrix.Row0.Y) * invS;
}
else
{
double m00 = matrix.Row0.X, m11 = matrix.Row1.Y, m22 = matrix.Row2.Z;
if (m00 > m11 && m00 > m22)
{
double s = Math.Sqrt(1 + m00 - m11 - m22) * 2;
double invS = 1.0 / s;
result.w = (matrix.Row2.Y - matrix.Row1.Z) * invS;
result.xyz.X = s * 0.25;
result.xyz.Y = (matrix.Row0.Y + matrix.Row1.X) * invS;
result.xyz.Z = (matrix.Row0.Z + matrix.Row2.X) * invS;
}
else if (m11 > m22)
{
double s = Math.Sqrt(1 + m11 - m00 - m22) * 2;
double invS = 1.0 / s;
result.w = (matrix.Row0.Z - matrix.Row2.X) * invS;
result.xyz.X = (matrix.Row0.Y + matrix.Row1.X) * invS;
result.xyz.Y = s * 0.25;
result.xyz.Z = (matrix.Row1.Z + matrix.Row2.Y) * invS;
}
else
{
double s = Math.Sqrt(1 + m22 - m00 - m11) * 2;
double invS = 1.0 / s;
result.w = (matrix.Row1.X - matrix.Row0.Y) * invS;
result.xyz.X = (matrix.Row0.Z + matrix.Row2.X) * invS;
result.xyz.Y = (matrix.Row1.Z + matrix.Row2.Y) * invS;
result.xyz.Z = s * 0.25;
}
}
}
#endregion
#region Slerp
/// <summary>