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Added RotationVector extension methods for Matrix and Quaternion
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3 changed files with 41 additions and 4 deletions
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@ -13,6 +13,7 @@ Additions
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- Added GenericFont SplitStringSeparate which differentiates between existing newline characters and splits due to maximum width
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- Added StaticSpriteBatch class
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- Added missing easing functions Quart and Quint to Easings
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- Added RotationVector extension methods for Matrix and Quaternion
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Improvements
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- Cache TokenizedString inner offsets for non-Left text alignments to improve performance
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@ -45,6 +45,11 @@ namespace MLEM.Extensions {
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return Math.Abs(first.X - second.X) <= tolerance && Math.Abs(first.Y - second.Y) <= tolerance && Math.Abs(first.Z - second.Z) <= tolerance && Math.Abs(first.W - second.W) <= tolerance;
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}
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/// <inheritdoc cref="Equals(float,float,float)"/>
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public static bool Equals(this Quaternion first, Quaternion second, float tolerance) {
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return Math.Abs(first.X - second.X) <= tolerance && Math.Abs(first.Y - second.Y) <= tolerance && Math.Abs(first.Z - second.Z) <= tolerance && Math.Abs(first.W - second.W) <= tolerance;
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}
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/// <inheritdoc cref="Math.Floor(decimal)"/>
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public static Vector2 FloorCopy(this Vector2 vec) {
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return new Vector2(vec.X.Floor(), vec.Y.Floor());
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@ -213,7 +218,7 @@ namespace MLEM.Extensions {
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/// <summary>
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/// Returns the rotation that the given matrix represents, as a <see cref="Quaternion"/>.
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/// Returns <see cref="Quaternion.Identity"/> if the matrix does not contain valid rotation information.
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/// Returns <see cref="Quaternion.Identity"/> if the matrix does not contain valid rotation information, or is not rotated.
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/// </summary>
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/// <param name="matrix">The matrix</param>
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/// <returns>The rotation of the matrix</returns>
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@ -228,6 +233,30 @@ namespace MLEM.Extensions {
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0, 0, 0, 1));
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}
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/// <summary>
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/// Returns the rotation that the given matrix represents, as a <see cref="Vector3"/> that contains the x, y and z rotations in radians.
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/// Returns <see cref="Vector3.Zero"/> if the matrix does not contain valid rotation information, or is not rotated.
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/// </summary>
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/// <param name="matrix">The matrix</param>
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/// <returns>The rotation of the matrix</returns>
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public static Vector3 RotationVector(this Matrix matrix) {
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return matrix.Rotation().RotationVector();
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}
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/// <summary>
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/// Returns the rotation that the given quaternion represents, as a <see cref="Vector3"/> that contains the x, y and z rotations in radians.
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/// Returns <see cref="Vector3.Zero"/> if the quaternion does not contain valid rotation information, or is not rotated.
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/// </summary>
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/// <param name="quaternion">The quaternion</param>
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/// <returns>The rotation of the quaternion</returns>
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public static Vector3 RotationVector(this Quaternion quaternion) {
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var (x, y, z, w) = quaternion;
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return new Vector3(
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(float) Math.Atan2(2 * (w * x + y * z), 1 - 2 * (x * x + y * y)),
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(float) Math.Asin(MathHelper.Clamp(2 * (w * y - z * x), -1, 1)),
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(float) Math.Atan2(2 * (w * z + x * y), 1 - 2 * (y * y + z * z)));
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}
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/// <summary>
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/// Calculates the amount that the rectangle <paramref name="rect"/> is penetrating the rectangle <paramref name="other"/> by.
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/// If a penetration on both axes is occuring, the one with the lower value is returned.
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@ -43,10 +43,17 @@ namespace Tests {
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}
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[Test]
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public void TestMatrixOps([Range(0.5F, 2, 0.5F)] float scale, [Range(-1, 1, 1F)] float rotationX) {
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var matrix = Matrix.CreateRotationX(rotationX) * Matrix.CreateScale(scale, scale, scale);
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public void TestMatrixOps([Range(0.5F, 2, 0.5F)] float scale, [Range(-1, 1, 0.5F)] float rotationX, [Range(-1, 1, 0.5F)] float rotationY, [Range(-1, 1, 0.5F)] float rotationZ) {
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var rotation = Matrix.CreateRotationX(rotationX) * Matrix.CreateRotationY(rotationY) * Matrix.CreateRotationZ(rotationZ);
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var matrix = rotation * Matrix.CreateScale(scale, scale, scale);
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Assert.IsTrue(matrix.Scale().Equals(new Vector3(scale), 0.001F), $"{matrix.Scale()} does not equal {new Vector2(scale)}");
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Assert.AreEqual(matrix.Rotation(), Quaternion.CreateFromAxisAngle(Vector3.UnitX, rotationX));
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Assert.IsTrue(matrix.Rotation().Equals(Quaternion.CreateFromRotationMatrix(rotation), 0.001F), $"{matrix.Rotation()} does not equal {Quaternion.CreateFromRotationMatrix(rotation)}");
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Assert.IsTrue(matrix.RotationVector().Equals(new Vector3(rotationX, rotationY, rotationZ), 0.001F), $"{matrix.RotationVector()} does not equal {new Vector3(rotationX, rotationY, rotationZ)}");
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// check against decomposed results
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matrix.Decompose(out var sc, out var rot, out _);
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Assert.AreEqual(matrix.Rotation(), rot);
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Assert.AreEqual(matrix.Scale(), sc);
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}
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[Test]
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