Axiom.Math.Quaternion.ToAngleAxis C# (CSharp) Method

ToAngleAxis() public method

public ToAngleAxis ( Real &angle, Vector3 &axis ) : void
angle Real
axis Vector3
return void
		public void ToAngleAxis( ref Real angle, ref Vector3 axis )
		{
			// The quaternion representing the rotation is
			//   q = cos(A/2)+sin(A/2)*(x*i+y*j+z*k)

			Real sqrLength = x * x + y * y + z * z;

			if ( sqrLength > 0.0f )
			{
				angle = 2.0f * (Real)Utility.ACos( w );
				Real invLength = Utility.InvSqrt( sqrLength );
				axis.x = x * invLength;
				axis.y = y * invLength;
				axis.z = z * invLength;
			}
			else
			{
				angle = 0.0f;
				axis.x = 1.0f;
				axis.y = 0.0f;
				axis.z = 0.0f;
			}
		}

Usage Example

Example #1
0
		/// <summary>
		///
		/// </summary>
		/// <param name="fileName"></param>
		public void DumpContents( string fileName )
		{
			var fs = File.Open( fileName, FileMode.Create );
			var writer = new StreamWriter( fs );
			writer.AutoFlush = true;

			writer.WriteLine( "-= Debug output of skeleton  {0} =-", Name );
			writer.WriteLine( "" );
			writer.WriteLine( "== Bones ==" );
			writer.WriteLine( "Number of bones: {0}", this.boneList.Count );

			var q = new Quaternion();
			Real angle = 0;
			var axis = new Vector3();

			// write each bone out
			foreach ( var bone in this.boneList.Values )
			{
				writer.WriteLine( "-- Bone {0} --", bone.Handle );
				writer.Write( "Position: {0}", bone.Position );
				q = bone.Orientation;
				writer.Write( "Rotation: {0}", q );
				q.ToAngleAxis( ref angle, ref axis );
				writer.Write( " = {0} radians around axis {1}", angle, axis );
				writer.WriteLine( "" );
				writer.WriteLine( "" );
			}

			writer.WriteLine( "== Animations ==" );
			writer.WriteLine( "Number of animations: {0}", this.animationList.Count );

			// animations
			foreach ( var anim in this.animationList.Values )
			{
				writer.WriteLine( "-- Animation '{0}' (length {1}) --", anim.Name, anim.Length );
				writer.WriteLine( "Number of tracks: {0}", anim.NodeTracks.Count );

				// tracks
				foreach ( var track in anim.NodeTracks.Values )
				{
					writer.WriteLine( "  -- AnimationTrack {0} --", track.Handle );
					writer.WriteLine( "  Affects bone: {0}", ( (Bone)track.TargetNode ).Handle );
					writer.WriteLine( "  Number of keyframes: {0}", track.KeyFrames.Count );

					// key frames
					var kf = 0;
					for ( ushort i = 0; i < track.KeyFrames.Count; i++ )
					{
						var keyFrame = track.GetNodeKeyFrame( i );
						writer.WriteLine( "    -- KeyFrame {0} --", kf++ );
						writer.Write( "    Time index: {0}", keyFrame.Time );
						writer.WriteLine( "    Translation: {0}", keyFrame.Translate );
						q = keyFrame.Rotation;
						writer.Write( "    Rotation: {0}", q );
						q.ToAngleAxis( ref angle, ref axis );
						writer.WriteLine( " = {0} radians around axis {1}", angle, axis );
					}
				}
			}

			writer.Close();
			fs.Close();
		}