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Changed the public fields to properties.

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Renamed XYZ property to Xyz, in accordance to the guidelines for class libraries.
Added the SerializableAttribute.
This commit is contained in:
the_fiddler 2009-02-13 20:40:19 +00:00
parent 5281902f60
commit cb461d90b0
2 changed files with 80 additions and 84 deletions
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164
Source/OpenTK/Math/Quaternion.cs
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@ -24,11 +24,13 @@ SOFTWARE.
using System; using System;
using System.Runtime.InteropServices; using System.Runtime.InteropServices;
using System.ComponentModel;
using System.Xml.Serialization;
namespace OpenTK.Math namespace OpenTK.Math
{ {
/// <summary> /// <summary>
/// Represents a Quaternion /// Represents a Quaternion.
/// </summary> /// </summary>
[Serializable] [Serializable]
[StructLayout(LayoutKind.Sequential)] [StructLayout(LayoutKind.Sequential)]
@ -36,15 +38,8 @@ namespace OpenTK.Math
{ {
#region Fields #region Fields
/// <summary> Vector3 xyz;
/// The vector part of the quaternion float w;
/// </summary>
public Vector3 XYZ;
/// <summary>
/// The w component of the quaternion
/// </summary>
public float W;
#endregion #endregion
@ -55,11 +50,12 @@ namespace OpenTK.Math
/// </summary> /// </summary>
/// <param name="v">The vector part</param> /// <param name="v">The vector part</param>
/// <param name="w">The w part</param> /// <param name="w">The w part</param>
public Quaternion(Vector3 v, float w) public Quaternion(Vector3 v, float w)
{ : this(v.X, v.Y, v.Z, w)
XYZ = v; {
W = w; this.xyz = v;
} this.w = w;
}
/// <summary> /// <summary>
/// Construct a new Quaternion /// Construct a new Quaternion
@ -69,10 +65,8 @@ namespace OpenTK.Math
/// <param name="z">The z component</param> /// <param name="z">The z component</param>
/// <param name="w">The w component</param> /// <param name="w">The w component</param>
public Quaternion(float x, float y, float z, float w) public Quaternion(float x, float y, float z, float w)
{ : this(new Vector3(x, y, z), w)
XYZ = new Vector3(x, y, z); { }
W = w;
}
#endregion #endregion
@ -80,32 +74,42 @@ namespace OpenTK.Math
#region Properties #region Properties
/// <summary>
/// Gets or sets an OpenTK.Math.Vector3 with the X, Y and Z components of this instance.
/// </summary>
[Obsolete("Use Xyz property instead.")]
[CLSCompliant(false)]
[EditorBrowsable(EditorBrowsableState.Never)]
[XmlIgnore]
public Vector3 XYZ { get { return Xyz; } set { Xyz = value; } }
/// <summary>
/// Gets or sets an OpenTK.Math.Vector3 with the X, Y and Z components of this instance.
/// </summary>
public Vector3 Xyz { get { return xyz; } set { xyz = value; } }
/// <summary> /// <summary>
/// Gets or sets the X component of this instance. /// Gets or sets the X component of this instance.
/// </summary> /// </summary>
public float X [XmlIgnore]
{ public float X { get { return xyz.X; } set { xyz.X = value; } }
get { return XYZ.X; }
set { XYZ.X = value; }
}
/// <summary> /// <summary>
/// Gets or sets the Y component of this instance. /// Gets or sets the Y component of this instance.
/// </summary> /// </summary>
public float Y [XmlIgnore]
{ public float Y { get { return xyz.Y; } set { xyz.Y = value; } }
get { return XYZ.Y; }
set { XYZ.Y = value; }
}
/// <summary> /// <summary>
/// Gets or sets the Z component of this instance. /// Gets or sets the Z component of this instance.
/// </summary> /// </summary>
public float Z [XmlIgnore]
{ public float Z { get { return xyz.Z; } set { xyz.Z = value; } }
get { return XYZ.Z; }
set { XYZ.Z = value; } /// <summary>
} /// Gets or sets the W component of this instance.
/// </summary>
public float W { get { return w; } set { w = value; } }
#endregion #endregion
@ -141,7 +145,7 @@ namespace OpenTK.Math
float den = (float)System.Math.Sqrt(1.0 - q.W * q.W); float den = (float)System.Math.Sqrt(1.0 - q.W * q.W);
if (den > 0.0001f) if (den > 0.0001f)
{ {
result.Xyz = q.XYZ / den; result.Xyz = q.Xyz / den;
} }
else else
{ {
@ -194,7 +198,7 @@ namespace OpenTK.Math
public void Normalize() public void Normalize()
{ {
float scale = 1.0f / this.Length; float scale = 1.0f / this.Length;
XYZ *= scale; Xyz *= scale;
W *= scale; W *= scale;
} }
@ -207,7 +211,7 @@ namespace OpenTK.Math
/// </summary> /// </summary>
public void Conjugate() public void Conjugate()
{ {
XYZ = -XYZ; Xyz = -Xyz;
} }
#endregion #endregion
@ -235,9 +239,9 @@ namespace OpenTK.Math
/// <returns>The result of the addition</returns> /// <returns>The result of the addition</returns>
public static Quaternion Add(Quaternion left, Quaternion right) public static Quaternion Add(Quaternion left, Quaternion right)
{ {
left.XYZ += right.XYZ; return new Quaternion(
left.W += right.W; left.Xyz + right.Xyz,
return left; left.W + right.W);
} }
/// <summary> /// <summary>
@ -248,8 +252,9 @@ namespace OpenTK.Math
/// <param name="result">The result of the addition</param> /// <param name="result">The result of the addition</param>
public static void Add(ref Quaternion left, ref Quaternion right, out Quaternion result) public static void Add(ref Quaternion left, ref Quaternion right, out Quaternion result)
{ {
result.XYZ = left.XYZ + right.XYZ; result = new Quaternion(
result.W = left.W + right.W; left.Xyz + right.Xyz,
left.W + right.W);
} }
#endregion #endregion
@ -258,15 +263,16 @@ namespace OpenTK.Math
public static Quaternion Sub(Quaternion left, Quaternion right) public static Quaternion Sub(Quaternion left, Quaternion right)
{ {
left.XYZ -= right.XYZ; return new Quaternion(
left.W -= right.W; left.Xyz - right.Xyz,
return left; left.W - right.W);
} }
public static void Sub(ref Quaternion left, ref Quaternion right, out Quaternion result) public static void Sub(ref Quaternion left, ref Quaternion right, out Quaternion result)
{ {
result.XYZ = left.XYZ - right.XYZ; result = new Quaternion(
result.W = left.W - right.W; left.Xyz - right.Xyz,
left.W - right.W);
} }
#endregion #endregion
@ -275,16 +281,16 @@ namespace OpenTK.Math
public static Quaternion Mult(Quaternion left, Quaternion right) public static Quaternion Mult(Quaternion left, Quaternion right)
{ {
float w = left.W * right.W - Vector3.Dot(left.XYZ, right.XYZ); return new Quaternion(
left.XYZ = right.W * left.XYZ + left.W * right.XYZ + Vector3.Cross(left.XYZ, right.XYZ); right.W * left.Xyz + left.W * right.Xyz + Vector3.Cross(left.Xyz, right.Xyz),
left.W = w; left.W * right.W - Vector3.Dot(left.Xyz, right.Xyz));
return left;
} }
public static void Mult(ref Quaternion left, ref Quaternion right, out Quaternion result) public static void Mult(ref Quaternion left, ref Quaternion right, out Quaternion result)
{ {
result.W = left.W * right.W - Vector3.Dot(left.XYZ, right.XYZ); result = new Quaternion(
result.XYZ = right.W * left.XYZ + left.W * right.XYZ + Vector3.Cross(left.XYZ, right.XYZ); right.W * left.Xyz + left.W * right.Xyz + Vector3.Cross(left.Xyz, right.Xyz),
left.W * right.W - Vector3.Dot(left.Xyz, right.Xyz));
} }
#endregion #endregion
@ -298,8 +304,7 @@ namespace OpenTK.Math
/// <returns>The conjugate of the given quaternion</returns> /// <returns>The conjugate of the given quaternion</returns>
public static Quaternion Conjugate(Quaternion q) public static Quaternion Conjugate(Quaternion q)
{ {
q.XYZ = -q.XYZ; return new Quaternion(-q.Xyz, q.W);
return q;
} }
/// <summary> /// <summary>
@ -309,8 +314,7 @@ namespace OpenTK.Math
/// <param name="result">The conjugate of the given quaternion</param> /// <param name="result">The conjugate of the given quaternion</param>
public static void Conjugate(ref Quaternion q, out Quaternion result) public static void Conjugate(ref Quaternion q, out Quaternion result)
{ {
result.XYZ = -q.XYZ; result = new Quaternion(-q.Xyz, q.W);
result.W = q.W;
} }
#endregion #endregion
@ -324,14 +328,9 @@ namespace OpenTK.Math
/// <returns>The inverse of the given quaternion</returns> /// <returns>The inverse of the given quaternion</returns>
public static Quaternion Invert(Quaternion q) public static Quaternion Invert(Quaternion q)
{ {
float lengthSq = q.LengthSquared; Quaternion result;
if (lengthSq != 0.0) Invert(ref q, out result);
{ return result;
float i = 1.0f / lengthSq;
q.XYZ *= -i;
q.W *= i;
}
return q;
} }
/// <summary> /// <summary>
@ -345,8 +344,7 @@ namespace OpenTK.Math
if (lengthSq != 0.0) if (lengthSq != 0.0)
{ {
float i = 1.0f / lengthSq; float i = 1.0f / lengthSq;
result.XYZ = q.XYZ * -i; result = new Quaternion(q.Xyz * -i, q.W * i);
result.W = q.W * i;
} }
else else
{ {
@ -365,10 +363,9 @@ namespace OpenTK.Math
/// <returns>The normalized quaternion</returns> /// <returns>The normalized quaternion</returns>
public static Quaternion Normalize(Quaternion q) public static Quaternion Normalize(Quaternion q)
{ {
float scale = 1.0f / q.Length; Quaternion result;
q.XYZ *= scale; Normalize(ref q, out result);
q.W *= scale; return result;
return q;
} }
/// <summary> /// <summary>
@ -379,8 +376,7 @@ namespace OpenTK.Math
public static void Normalize(ref Quaternion q, out Quaternion result) public static void Normalize(ref Quaternion q, out Quaternion result)
{ {
float scale = 1.0f / q.Length; float scale = 1.0f / q.Length;
result.XYZ = q.XYZ * scale; result = new Quaternion(q.Xyz * scale, q.W * scale);
result.W = q.W * scale;
} }
#endregion #endregion
@ -402,7 +398,7 @@ namespace OpenTK.Math
angle *= 0.5f; angle *= 0.5f;
axis.Normalize(); axis.Normalize();
result.XYZ = axis * (float)System.Math.Sin(angle); result.Xyz = axis * (float)System.Math.Sin(angle);
result.W = (float)System.Math.Cos(angle); result.W = (float)System.Math.Cos(angle);
return Normalize(result); return Normalize(result);
@ -436,7 +432,7 @@ namespace OpenTK.Math
} }
float cosHalfAngle = q1.W * q2.W + Vector3.Dot(q1.XYZ, q2.XYZ); float cosHalfAngle = q1.W * q2.W + Vector3.Dot(q1.Xyz, q2.Xyz);
if (cosHalfAngle >= 1.0f || cosHalfAngle <= -1.0f) if (cosHalfAngle >= 1.0f || cosHalfAngle <= -1.0f)
{ {
@ -445,7 +441,7 @@ namespace OpenTK.Math
} }
else if (cosHalfAngle < 0.0f) else if (cosHalfAngle < 0.0f)
{ {
q2.XYZ = -q2.XYZ; q2.Xyz = -q2.Xyz;
q2.W = -q2.W; q2.W = -q2.W;
cosHalfAngle = -cosHalfAngle; cosHalfAngle = -cosHalfAngle;
} }
@ -468,7 +464,7 @@ namespace OpenTK.Math
blendB = blend; blendB = blend;
} }
Quaternion result = new Quaternion(blendA * q1.XYZ + blendB * q2.XYZ, blendA * q1.W + blendB * q2.W); Quaternion result = new Quaternion(blendA * q1.Xyz + blendB * q2.Xyz, blendA * q1.W + blendB * q2.W);
if (result.LengthSquared > 0.0f) if (result.LengthSquared > 0.0f)
return Normalize(result); return Normalize(result);
else else
@ -483,22 +479,22 @@ namespace OpenTK.Math
public static Quaternion operator +(Quaternion left, Quaternion right) public static Quaternion operator +(Quaternion left, Quaternion right)
{ {
left.XYZ += right.XYZ; left.Xyz += right.Xyz;
left.W += right.W; left.W += right.W;
return left; return left;
} }
public static Quaternion operator -(Quaternion left, Quaternion right) public static Quaternion operator -(Quaternion left, Quaternion right)
{ {
left.XYZ -= right.XYZ; left.Xyz -= right.Xyz;
left.W -= right.W; left.W -= right.W;
return left; return left;
} }
public static Quaternion operator *(Quaternion left, Quaternion right) public static Quaternion operator *(Quaternion left, Quaternion right)
{ {
float w = left.W * right.W - Vector3.Dot(left.XYZ, right.XYZ); float w = left.W * right.W - Vector3.Dot(left.Xyz, right.Xyz);
left.XYZ = right.W * left.XYZ + left.W * right.XYZ + Vector3.Cross(left.XYZ, right.XYZ); left.Xyz = right.W * left.Xyz + left.W * right.Xyz + Vector3.Cross(left.Xyz, right.Xyz);
left.W = w; left.W = w;
return left; return left;
} }
@ -525,7 +521,7 @@ namespace OpenTK.Math
/// <returns></returns> /// <returns></returns>
public override string ToString() public override string ToString()
{ {
return String.Format("V: {0}, W: {1}", XYZ, W); return String.Format("V: {0}, W: {1}", Xyz, W);
} }
#endregion #endregion
@ -553,7 +549,7 @@ namespace OpenTK.Math
/// <returns>A hash code formed from the bitwise XOR of this objects members.</returns> /// <returns>A hash code formed from the bitwise XOR of this objects members.</returns>
public override int GetHashCode() public override int GetHashCode()
{ {
return XYZ.GetHashCode() ^ W.GetHashCode(); return Xyz.GetHashCode() ^ W.GetHashCode();
} }
#endregion #endregion
@ -571,7 +567,7 @@ namespace OpenTK.Math
/// <returns>True if both instances are equal; false otherwise.</returns> /// <returns>True if both instances are equal; false otherwise.</returns>
public bool Equals(Quaternion other) public bool Equals(Quaternion other)
{ {
return XYZ == other.XYZ && W == other.W; return Xyz == other.Xyz && W == other.W;
} }
#endregion #endregion

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Source/OpenTK/Math/Quaterniond.cs
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