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Merge pull request #532 from UnknownShadow200/develop

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Directly expose the xyz and w fields of Quarternion and Quaterniond
This commit is contained in:
varon 2017-06-11 21:04:11 +02:00 committed by GitHub
parent e3d324a9c5 2179625b3b
commit f8ac2565fa
2 changed files with 78 additions and 85 deletions
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82
src/OpenTK/Math/Quaternion.cs
View file

@ -38,8 +38,15 @@ namespace OpenTK
{
#region Fields
Vector3 xyz;
float w;
/// <summary>
/// The X, Y and Z components of this instance.
/// </summary>
public Vector3 Xyz;
/// <summary>
/// The W component of this instance.
/// </summary>
public float W;
#endregion
@ -52,8 +59,8 @@ namespace OpenTK
/// <param name="w">The w part</param>
public Quaternion(Vector3 v, float w)
{
this.xyz = v;
this.w = w;
Xyz = v;
W = w;
}
/// <summary>
@ -86,10 +93,10 @@ namespace OpenTK
float s2 = (float)Math.Sin(pitch);
float s3 = (float)Math.Sin(roll);
this.w = c1 * c2 * c3 - s1 * s2 * s3;
this.xyz.X = s1 * s2 * c3 + c1 * c2 * s3;
this.xyz.Y = s1 * c2 * c3 + c1 * s2 * s3;
this.xyz.Z = c1 * s2 * c3 - s1 * c2 * s3;
W = c1 * c2 * c3 - s1 * s2 * s3;
Xyz.X = s1 * s2 * c3 + c1 * c2 * s3;
Xyz.Y = s1 * c2 * c3 + c1 * s2 * s3;
Xyz.Z = c1 * s2 * c3 - s1 * c2 * s3;
}
/// <summary>
@ -117,36 +124,25 @@ namespace OpenTK
[CLSCompliant(false)]
public Vector3 XYZ { get { return Xyz; } set { Xyz = value; } }
/// <summary>
/// Gets or sets an OpenTK.Vector3 with the X, Y and Z components of this instance.
/// </summary>
[CLSCompliant(false)]
public Vector3 Xyz { get { return xyz; } set { xyz = value; } }
#pragma warning restore 3005
/// <summary>
/// Gets or sets the X component of this instance.
/// </summary>
[XmlIgnore]
public float X { get { return xyz.X; } set { xyz.X = value; } }
public float X { get { return Xyz.X; } set { Xyz.X = value; } }
/// <summary>
/// Gets or sets the Y component of this instance.
/// </summary>
[XmlIgnore]
public float Y { get { return xyz.Y; } set { xyz.Y = value; } }
public float Y { get { return Xyz.Y; } set { Xyz.Y = value; } }
/// <summary>
/// Gets or sets the Z component of this instance.
/// </summary>
[XmlIgnore]
public float Z { 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; } }
public float Z { get { return Xyz.Z; } set { Xyz.Z = value; } }
#endregion
@ -583,10 +579,10 @@ namespace OpenTK
float s2 = (float)Math.Sin(eulerAngles.X * 0.5f);
float s3 = (float)Math.Sin(eulerAngles.Z * 0.5f);
result.w = c1 * c2 * c3 - s1 * s2 * s3;
result.xyz.X = s1 * s2 * c3 + c1 * c2 * s3;
result.xyz.Y = s1 * c2 * c3 + c1 * s2 * s3;
result.xyz.Z = c1 * s2 * c3 - s1 * c2 * s3;
result.W = c1 * c2 * c3 - s1 * s2 * s3;
result.Xyz.X = s1 * s2 * c3 + c1 * c2 * s3;
result.Xyz.Y = s1 * c2 * c3 + c1 * s2 * s3;
result.Xyz.Z = c1 * s2 * c3 - s1 * c2 * s3;
}
#endregion
@ -619,10 +615,10 @@ namespace OpenTK
float s = (float)Math.Sqrt(trace + 1) * 2;
float invS = 1f / s;
result.w = s * 0.25f;
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;
result.W = s * 0.25f;
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
{
@ -633,30 +629,30 @@ namespace OpenTK
float s = (float)Math.Sqrt(1 + m00 - m11 - m22) * 2;
float invS = 1f / s;
result.w = (matrix.Row2.Y - matrix.Row1.Z) * invS;
result.xyz.X = s * 0.25f;
result.xyz.Y = (matrix.Row0.Y + matrix.Row1.X) * invS;
result.xyz.Z = (matrix.Row0.Z + matrix.Row2.X) * invS;
result.W = (matrix.Row2.Y - matrix.Row1.Z) * invS;
result.Xyz.X = s * 0.25f;
result.Xyz.Y = (matrix.Row0.Y + matrix.Row1.X) * invS;
result.Xyz.Z = (matrix.Row0.Z + matrix.Row2.X) * invS;
}
else if (m11 > m22)
{
float s = (float)Math.Sqrt(1 + m11 - m00 - m22) * 2;
float invS = 1f / s;
result.w = (matrix.Row0.Z - matrix.Row2.X) * invS;
result.xyz.X = (matrix.Row0.Y + matrix.Row1.X) * invS;
result.xyz.Y = s * 0.25f;
result.xyz.Z = (matrix.Row1.Z + matrix.Row2.Y) * invS;
result.W = (matrix.Row0.Z - matrix.Row2.X) * invS;
result.Xyz.X = (matrix.Row0.Y + matrix.Row1.X) * invS;
result.Xyz.Y = s * 0.25f;
result.Xyz.Z = (matrix.Row1.Z + matrix.Row2.Y) * invS;
}
else
{
float s = (float)Math.Sqrt(1 + m22 - m00 - m11) * 2;
float invS = 1f / 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 * 0.25f;
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 * 0.25f;
}
}
}
@ -859,7 +855,7 @@ namespace OpenTK
{
unchecked
{
return (this.xyz.GetHashCode() * 397) ^ this.w.GetHashCode();
return (this.Xyz.GetHashCode() * 397) ^ this.W.GetHashCode();
}
}

81
src/OpenTK/Math/Quaterniond.cs
View file

@ -38,8 +38,15 @@ namespace OpenTK
{
#region Fields
Vector3d xyz;
double w;
/// <summary>
/// The X, Y and Z components of this instance.
/// </summary>
public Vector3d Xyz;
/// <summary>
/// The W component of this instance.
/// </summary>
public double W;
#endregion
@ -52,8 +59,8 @@ namespace OpenTK
/// <param name="w">The w part</param>
public Quaterniond(Vector3d v, double w)
{
this.xyz = v;
this.w = w;
Xyz = v;
W = w;
}
/// <summary>
@ -86,10 +93,10 @@ namespace OpenTK
double s2 = Math.Sin(pitch);
double s3 = Math.Sin(roll);
this.w = c1 * c2 * c3 - s1 * s2 * s3;
this.xyz.X = s1 * s2 * c3 + c1 * c2 * s3;
this.xyz.Y = s1 * c2 * c3 + c1 * s2 * s3;
this.xyz.Z = c1 * s2 * c3 - s1 * c2 * s3;
W = c1 * c2 * c3 - s1 * s2 * s3;
Xyz.X = s1 * s2 * c3 + c1 * c2 * s3;
Xyz.Y = s1 * c2 * c3 + c1 * s2 * s3;
Xyz.Z = c1 * s2 * c3 - s1 * c2 * s3;
}
/// <summary>
@ -117,35 +124,25 @@ namespace OpenTK
[XmlIgnore]
public Vector3d XYZ { get { return Xyz; } set { Xyz = value; } }
/// <summary>
/// Gets or sets an OpenTK.Vector3d with the X, Y and Z components of this instance.
/// </summary>
public Vector3d Xyz { get { return xyz; } set { xyz = value; } }
#pragma warning restore 3005
/// <summary>
/// Gets or sets the X component of this instance.
/// </summary>
[XmlIgnore]
public double X { get { return xyz.X; } set { xyz.X = value; } }
public double X { get { return Xyz.X; } set { Xyz.X = value; } }
/// <summary>
/// Gets or sets the Y component of this instance.
/// </summary>
[XmlIgnore]
public double Y { get { return xyz.Y; } set { xyz.Y = value; } }
public double Y { get { return Xyz.Y; } set { Xyz.Y = value; } }
/// <summary>
/// Gets or sets the Z component of this instance.
/// </summary>
[XmlIgnore]
public double Z { get { return xyz.Z; } set { xyz.Z = value; } }
/// <summary>
/// Gets or sets the W component of this instance.
/// </summary>
public double W { get { return w; } set { w = value; } }
public double Z { get { return Xyz.Z; } set { Xyz.Z = value; } }
#endregion
@ -582,10 +579,10 @@ namespace OpenTK
double s2 = Math.Sin(eulerAngles.X * 0.5);
double s3 = Math.Sin(eulerAngles.Z * 0.5);
result.w = c1 * c2 * c3 - s1 * s2 * s3;
result.xyz.X = s1 * s2 * c3 + c1 * c2 * s3;
result.xyz.Y = s1 * c2 * c3 + c1 * s2 * s3;
result.xyz.Z = c1 * s2 * c3 - s1 * c2 * s3;
result.W = c1 * c2 * c3 - s1 * s2 * s3;
result.Xyz.X = s1 * s2 * c3 + c1 * c2 * s3;
result.Xyz.Y = s1 * c2 * c3 + c1 * s2 * s3;
result.Xyz.Z = c1 * s2 * c3 - s1 * c2 * s3;
}
#endregion
@ -618,10 +615,10 @@ namespace OpenTK
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;
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
{
@ -632,30 +629,30 @@ namespace OpenTK
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;
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;
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;
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;
}
}
}
@ -859,7 +856,7 @@ namespace OpenTK
{
unchecked
{
return (this.xyz.GetHashCode() * 397) ^ this.w.GetHashCode();
return (this.Xyz.GetHashCode() * 397) ^ this.W.GetHashCode();
}
}