C# Quaternion.ToString方法代码示例

        public void Quaternions()
        {
            Quaternion a = new Quaternion(1, 0, 0, 0);
            Quaternion b = new Quaternion(1, 0, 0, 0);

            Assert.IsTrue(a == b, "Quaternion comparison operator failed");

            Quaternion expected = new Quaternion(0, 0, 0, -1);
            Quaternion result = a * b;

            Assert.IsTrue(result == expected, a.ToString() + " * " + b.ToString() + " produced " + result.ToString() +
                " instead of " + expected.ToString());

            a = new Quaternion(1, 0, 0, 0);
            b = new Quaternion(0, 1, 0, 0);
            expected = new Quaternion(0, 0, 1, 0);
            result = a * b;

            Assert.IsTrue(result == expected, a.ToString() + " * " + b.ToString() + " produced " + result.ToString() +
                " instead of " + expected.ToString());

            a = new Quaternion(0, 0, 1, 0);
            b = new Quaternion(0, 1, 0, 0);
            expected = new Quaternion(-1, 0, 0, 0);
            result = a * b;

            Assert.IsTrue(result == expected, a.ToString() + " * " + b.ToString() + " produced " + result.ToString() +
                " instead of " + expected.ToString());
        }

    public Member(string k, Transform t, Vector3 axisA, Vector3 axisB, Vector3 axisC)
    {
        key = k;
        transform = t;
        this.axisA = axisA;
        this.axisB = axisB;
        this.axisC = axisC;

        if (transform == null) {
            Debug.Log("WARNING: " + key + " member is null");
        }

        elapsed = 0;
        time = 5;
        defaultRotation = transform.localRotation;
        initialRotation = defaultRotation;
        goalRotation = defaultRotation;

        Debug.Log("Create member " + key + " with rotation " + defaultRotation.ToString());
    }

	// Update is called once per frame
	void Update () {
		transform.Rotate (new Vector3 (0,Time.deltaTime* rotationSpeed,0));	
		//Debug.Log(Cardboard.SDK.HeadPose.Orientation.ToString());
		//Debug.Log(Cardboard.SDK.Triggered.ToString());

		if (Cardboard.SDK.Triggered) {
			orbFollowsHead = !orbFollowsHead;
			if (orbFollowsHead) {
				cardboardRotationOffset = Cardboard.SDK.HeadPose.Orientation;
				Debug.Log ("Saved Offset:" + cardboardRotationOffset.ToString ());
			} else {
				objectRotationOffset = transform.rotation;
			}
		}

		if (orbFollowsHead) {
			transform.rotation = Cardboard.SDK.HeadPose.Orientation;
			transform.rotation *= Quaternion.Inverse (cardboardRotationOffset);
			transform.rotation *= objectRotationOffset;
			Debug.Log ("ObjectOffset:"+objectRotationOffset);
		}
	}

 public void Quaternion_ToString_Test()
 {
     var q = new Quaternion(0.1f, 0.22f, 0.333f, 0.4444f);
     Assert.AreEqual("Quaternion(0.1, 0.22, 0.333, 0.4444)", q.ToString());
 }

 public void set(string key, Quaternion value)
 {
     debuggers [key] = value.ToString();
 }

        public void TestMemberFn_ToString ()
        {
            Quaternion a = new Quaternion(42, -17, 13, 44);

            String result = a.ToString();

            String expected = "{I:42 J:-17 K:13 U:44}";

            Assert.That(result, Is.EqualTo(expected));
        }

 public Vector3 drive(Quaternion p_current, Quaternion p_goal, float p_dt)
 {
     // To get quaternion "delta", rotate by the inverse of current
     // to get to the origin, then multiply by goal rotation to get "what's left"
     // The resulting quaternion is the "delta".
     Quaternion error = p_goal * Quaternion.Inverse(p_current);
     // Separate angle and axis, so we can feed the axis-wise
     // errors to the PIDs.
     Quaternion ri=Quaternion.identity; ri.w*=-1.0f;
     // If quaternion is not a rotation
     if (error == Quaternion.identity || error == ri)
     {
         m_vec = drive(Vector3.zero, Time.deltaTime);
     }
     else
     {
         float a;
         Vector3 dir;
         //error.ToAngleAxis(out a, out dir);
         angleAxis(error, out dir, out a);
         for (int i = 0; i < m_P.Length; i++)
         {
             bool isnan = false;
             if (float.IsNaN(dir[i]))
             {
                 Debug.Log(" dir is NaN. x" + dir.x + " y" + dir.y + " z" + dir.z);
                 isnan = true;
             }
             if (float.IsNaN(a))
             {
                 Debug.Log(" a is NaN. a" + a);isnan = true;
             }
             float ad = dir[i]*a;
             if (float.IsNaN(dir[i] * a))
             {
                 Debug.Log(" mul is NaN. " + ad);isnan = true;
             }
             if (isnan)
                 Debug.Log("Orig quat="+p_current.ToString()+" inverted="+Quaternion.Inverse(p_current).ToString()+" err="+error.ToString());
         }
         // Get torque
         //m_vec = drive(a * dir, Time.deltaTime);
         m_vec = drive(Mathf.Rad2Deg*a*dir, Time.deltaTime);
     }
     return m_vec; // Note, these are 3 PIDs
 }

    public GameObject SpawnPlayer( Vector3 position, Quaternion rotation )
    {
        Debug.Log( "Spawning player at position " + position.ToString() + rotation.ToString() );

        GameObject playerObject = ( GameObject )Instantiate( playerPrefab, position, rotation );
        return playerObject;
    }

    // Use this for initialization
    void Start()
    {
        knotPositions = new Vector3[pointsNumber];
        shapes = new List<ShapeClass>();
        for (int i = 0; i < pointsNumber; i++ )
        {
            knotPositions[i] = GetPointPositionInSpline(new Vector3(), new Vector3(0, 1, 0), new Vector3(2, 3, 0), new Vector3(3, 3, 0), (float)i / (float)(pointsNumber - 1));
        }
        originalShape = new ShapeClass(new Vector3[]{new Vector3(-1, 0, -1), new Vector3(-1, 0, 1), new Vector3(1, 0, 1), new Vector3(1, 0, -1)});

        shapes.Add(originalShape);

        //startQ = new Quaternion(0, 0, 1, 0);
        startQ = Quaternion.Euler(0, 0, 0);
        startMatrix = Matrix4x4.TRS(new Vector3(), startQ, new Vector3(1, 1, 1));
        endQ = Quaternion.Euler(0, 0, -90);
        //endQ = new Quaternion(0, 1, 0, 0);
        endMatrix = Matrix4x4.TRS(new Vector3(3, 3, 0), endQ, new Vector3(1, 1, 1));
        //endQ = QuaternionFromMatrix(endMatrix);

        print("end Quaternion=" + endQ.ToString() + " start Quaternion=" + startQ.ToString());
        print("startMatrix=" + startMatrix.ToString());

        //calculate angle between quaternions
           // float angle = (180 * Mathf.Acos(Quaternion.Dot(startQ, endQ))) / Mathf.PI;
        float angle = Mathf.Acos(Quaternion.Dot(startQ, endQ) / (GetQuaternionLength(startQ) * GetQuaternionLength(endQ)));
        //print("Angle=" + angle.ToString());

        endShape = new ShapeClass();
        endShape.CopyFrom(originalShape);
        endShape.MapsTo(endMatrix);

        //calculate other shapes
        for (int i = 1; i < pointsNumber-1; i++ )
        {
            //Quaternion middleQ = Quaternion.Lerp(startQ, endQ, (float)i * 100 / (float)(pointsNumber - 1));
            Quaternion middleQ = GetInterpolatedQuaternion(startQ, endQ, angle, (float)i / (float)(pointsNumber - 1));
            print(middleQ.ToString() + " " + ((float)i / (float)(pointsNumber - 1)).ToString());
            Matrix4x4 middleMatrix = Matrix4x4.TRS(knotPositions[i], middleQ, new Vector3(1, 1, 1));

            ShapeClass middleShape = new ShapeClass();
            middleShape.CopyFrom(originalShape);
            middleShape.MapsTo(middleMatrix);

            shapes.Add(middleShape);

        }

        shapes.Add(endShape);
    }

        public void QuaternionToStringTest()
        {
            Quaternion target = new Quaternion(-1.0f, 2.2f, 3.3f, -4.4f);
            string expected = "{X:-1 Y:2.2 Z:3.3 W:-4.4}";
            string actual;

            actual = target.ToString();
            Assert.AreEqual(expected, actual, "Quaternion.ToString did not return the expected value.");
        }

	public static WWWForm Add(this WWWForm form, string key, Quaternion value)
	{
		form.AddField(key, value.ToString());
		return form;
	}

    void RotateBy(float angles, Vector3 axis, float f)
    {
        Quaternion targetX = new Quaternion ();
        //Something like this?
        float upAndDownAngle =  (angles * 0.0174533f) * 0.5f;
        //ToOnGui ("upAngle", upAndDownAngle.ToString ());
        float sinUDAngle = Mathf.Sin (upAndDownAngle);
        Vector3 n = axis;
        targetX.w = Mathf.Cos (upAndDownAngle);
        targetX.x = n.x * sinUDAngle;
        targetX.y = n.y * sinUDAngle;
        targetX.z = n.z * sinUDAngle;

        targetX = targetX * transform.rotation;
        ToOnGui ("angleX:", targetX.ToString ());
        transform.rotation = Quaternion.Slerp (transform.rotation, targetX, f);
    }