WSHCommon/Common/CommonLang/Geometry/Quaternion.cs

// MIT License - Copyright (C) The Mono.Xna Team
// This file is subject to the terms and conditions defined in
// file 'LICENSE.txt', which is part of this source code package.

using System;
using System.Diagnostics;
using System.Runtime.Serialization;

namespace CommonLang.Geometry
{
    
    
    public struct Quaternion : IEquatable<Quaternion>
    {
        
        public float X;

        
        public float Y;
      
        
        public float Z;
      
        
        public float W;

        static Quaternion identity = new Quaternion(0, 0, 0, 1);

        
        public Quaternion(float x, float y, float z, float w)
        {
            this.X = x;
            this.Y = y;
            this.Z = z;
            this.W = w;
        }
        
        
        public Quaternion(Vector3 vectorPart, float scalarPart)
        {
            this.X = vectorPart.X;
            this.Y = vectorPart.Y;
            this.Z = vectorPart.Z;
            this.W = scalarPart;
        }

        public static Quaternion Identity
        {
            get{ return identity; }
        }


        public static Quaternion Add(Quaternion quaternion1, Quaternion quaternion2)
        {
            //Syderis
			Quaternion quaternion;
			quaternion.X = quaternion1.X + quaternion2.X;
			quaternion.Y = quaternion1.Y + quaternion2.Y;
			quaternion.Z = quaternion1.Z + quaternion2.Z;
			quaternion.W = quaternion1.W + quaternion2.W;
			return quaternion;
        }


        public static void Add(ref Quaternion quaternion1, ref Quaternion quaternion2, out Quaternion result)
        {
            //Syderis
			result.X = quaternion1.X + quaternion2.X;
			result.Y = quaternion1.Y + quaternion2.Y;
			result.Z = quaternion1.Z + quaternion2.Z;
			result.W = quaternion1.W + quaternion2.W;
        }
		
		//Funcion añadida Syderis
		public static Quaternion Concatenate(Quaternion value1, Quaternion value2)
		{
			 Quaternion quaternion;
		    float x = value2.X;
		    float y = value2.Y;
		    float z = value2.Z;
		    float w = value2.W;
		    float num4 = value1.X;
		    float num3 = value1.Y;
		    float num2 = value1.Z;
		    float num = value1.W;
		    float num12 = (y * num2) - (z * num3);
		    float num11 = (z * num4) - (x * num2);
		    float num10 = (x * num3) - (y * num4);
		    float num9 = ((x * num4) + (y * num3)) + (z * num2);
		    quaternion.X = ((x * num) + (num4 * w)) + num12;
		    quaternion.Y = ((y * num) + (num3 * w)) + num11;
		    quaternion.Z = ((z * num) + (num2 * w)) + num10;
		    quaternion.W = (w * num) - num9;
		    return quaternion;

		}
		
		//Añadida por Syderis
		public static void Concatenate(ref Quaternion value1, ref Quaternion value2, out Quaternion result)
		{
		    float x = value2.X;
		    float y = value2.Y;
		    float z = value2.Z;
		    float w = value2.W;
		    float num4 = value1.X;
		    float num3 = value1.Y;
		    float num2 = value1.Z;
		    float num = value1.W;
		    float num12 = (y * num2) - (z * num3);
		    float num11 = (z * num4) - (x * num2);
		    float num10 = (x * num3) - (y * num4);
		    float num9 = ((x * num4) + (y * num3)) + (z * num2);
		    result.X = ((x * num) + (num4 * w)) + num12;
		    result.Y = ((y * num) + (num3 * w)) + num11;
		    result.Z = ((z * num) + (num2 * w)) + num10;
		    result.W = (w * num) - num9;
		}
		
		//Añadida por Syderis
		public void Conjugate()
		{
			this.X = -this.X;
			this.Y = -this.Y;
			this.Z = -this.Z;
		}
		
		//Añadida por Syderis
		public static Quaternion Conjugate(Quaternion value)
		{
			Quaternion quaternion;
			quaternion.X = -value.X;
			quaternion.Y = -value.Y;
			quaternion.Z = -value.Z;
			quaternion.W = value.W;
			return quaternion;
		}
		
		//Añadida por Syderis
		public static void Conjugate(ref Quaternion value, out Quaternion result)
		{
			result.X = -value.X;
			result.Y = -value.Y;
			result.Z = -value.Z;
			result.W = value.W;
		}
 
        public static Quaternion CreateFromAxisAngle(Vector3 axis, float angle)
        {
			
            Quaternion quaternion;
		    float num2 = angle * 0.5f;
		    float num = (float) Math.Sin((double) num2);
		    float num3 = (float) Math.Cos((double) num2);
		    quaternion.X = axis.X * num;
		    quaternion.Y = axis.Y * num;
		    quaternion.Z = axis.Z * num;
		    quaternion.W = num3;
		    return quaternion;

        }


        public static void CreateFromAxisAngle(ref Vector3 axis, float angle, out Quaternion result)
        {
            float num2 = angle * 0.5f;
		    float num = (float) Math.Sin((double) num2);
		    float num3 = (float) Math.Cos((double) num2);
		    result.X = axis.X * num;
		    result.Y = axis.Y * num;
		    result.Z = axis.Z * num;
		    result.W = num3;

        }


        public static Quaternion CreateFromRotationMatrix(Matrix matrix)
        {
            float num8 = (matrix.M11 + matrix.M22) + matrix.M33;
		    Quaternion quaternion = new Quaternion();
		    if (num8 > 0f)
		    {
		        float num = (float) Math.Sqrt((double) (num8 + 1f));
		        quaternion.W = num * 0.5f;
		        num = 0.5f / num;
		        quaternion.X = (matrix.M23 - matrix.M32) * num;
		        quaternion.Y = (matrix.M31 - matrix.M13) * num;
		        quaternion.Z = (matrix.M12 - matrix.M21) * num;
		        return quaternion;
		    }
		    if ((matrix.M11 >= matrix.M22) && (matrix.M11 >= matrix.M33))
		    {
		        float num7 = (float) Math.Sqrt((double) (((1f + matrix.M11) - matrix.M22) - matrix.M33));
		        float num4 = 0.5f / num7;
		        quaternion.X = 0.5f * num7;
		        quaternion.Y = (matrix.M12 + matrix.M21) * num4;
		        quaternion.Z = (matrix.M13 + matrix.M31) * num4;
		        quaternion.W = (matrix.M23 - matrix.M32) * num4;
		        return quaternion;
		    }
		    if (matrix.M22 > matrix.M33)
		    {
		        float num6 = (float) Math.Sqrt((double) (((1f + matrix.M22) - matrix.M11) - matrix.M33));
		        float num3 = 0.5f / num6;
		        quaternion.X = (matrix.M21 + matrix.M12) * num3;
		        quaternion.Y = 0.5f * num6;
		        quaternion.Z = (matrix.M32 + matrix.M23) * num3;
		        quaternion.W = (matrix.M31 - matrix.M13) * num3;
		        return quaternion;
		    }
		    float num5 = (float) Math.Sqrt((double) (((1f + matrix.M33) - matrix.M11) - matrix.M22));
		    float num2 = 0.5f / num5;
		    quaternion.X = (matrix.M31 + matrix.M13) * num2;
		    quaternion.Y = (matrix.M32 + matrix.M23) * num2;
		    quaternion.Z = 0.5f * num5;
		    quaternion.W = (matrix.M12 - matrix.M21) * num2;
			
		    return quaternion;

        }


        public static void CreateFromRotationMatrix(ref Matrix matrix, out Quaternion result)
        {
            float num8 = (matrix.M11 + matrix.M22) + matrix.M33;
		    if (num8 > 0f)
		    {
		        float num = (float) Math.Sqrt((double) (num8 + 1f));
		        result.W = num * 0.5f;
		        num = 0.5f / num;
		        result.X = (matrix.M23 - matrix.M32) * num;
		        result.Y = (matrix.M31 - matrix.M13) * num;
		        result.Z = (matrix.M12 - matrix.M21) * num;
		    }
		    else if ((matrix.M11 >= matrix.M22) && (matrix.M11 >= matrix.M33))
		    {
		        float num7 = (float) Math.Sqrt((double) (((1f + matrix.M11) - matrix.M22) - matrix.M33));
		        float num4 = 0.5f / num7;
		        result.X = 0.5f * num7;
		        result.Y = (matrix.M12 + matrix.M21) * num4;
		        result.Z = (matrix.M13 + matrix.M31) * num4;
		        result.W = (matrix.M23 - matrix.M32) * num4;
		    }
		    else if (matrix.M22 > matrix.M33)
		    {
		        float num6 = (float) Math.Sqrt((double) (((1f + matrix.M22) - matrix.M11) - matrix.M33));
		        float num3 = 0.5f / num6;
		        result.X = (matrix.M21 + matrix.M12) * num3;
		        result.Y = 0.5f * num6;
		        result.Z = (matrix.M32 + matrix.M23) * num3;
		        result.W = (matrix.M31 - matrix.M13) * num3;
		    }
		    else
		    {
		        float num5 = (float) Math.Sqrt((double) (((1f + matrix.M33) - matrix.M11) - matrix.M22));
		        float num2 = 0.5f / num5;
		        result.X = (matrix.M31 + matrix.M13) * num2;
		        result.Y = (matrix.M32 + matrix.M23) * num2;
		        result.Z = 0.5f * num5;
		        result.W = (matrix.M12 - matrix.M21) * num2;
		    }

        }
		
		public static Quaternion CreateFromYawPitchRoll(float yaw, float pitch, float roll)
		{
		    Quaternion quaternion;
		    float num9 = roll * 0.5f;
		    float num6 = (float) Math.Sin((double) num9);
		    float num5 = (float) Math.Cos((double) num9);
		    float num8 = pitch * 0.5f;
		    float num4 = (float) Math.Sin((double) num8);
		    float num3 = (float) Math.Cos((double) num8);
		    float num7 = yaw * 0.5f;
		    float num2 = (float) Math.Sin((double) num7);
		    float num = (float) Math.Cos((double) num7);
		    quaternion.X = ((num * num4) * num5) + ((num2 * num3) * num6);
		    quaternion.Y = ((num2 * num3) * num5) - ((num * num4) * num6);
		    quaternion.Z = ((num * num3) * num6) - ((num2 * num4) * num5);
		    quaternion.W = ((num * num3) * num5) + ((num2 * num4) * num6);
		    return quaternion;
		}

 		public static void CreateFromYawPitchRoll(float yaw, float pitch, float roll, out Quaternion result)
		{
		    float num9 = roll * 0.5f;
		    float num6 = (float) Math.Sin((double) num9);
		    float num5 = (float) Math.Cos((double) num9);
		    float num8 = pitch * 0.5f;
		    float num4 = (float) Math.Sin((double) num8);
		    float num3 = (float) Math.Cos((double) num8);
		    float num7 = yaw * 0.5f;
		    float num2 = (float) Math.Sin((double) num7);
		    float num = (float) Math.Cos((double) num7);
		    result.X = ((num * num4) * num5) + ((num2 * num3) * num6);
		    result.Y = ((num2 * num3) * num5) - ((num * num4) * num6);
		    result.Z = ((num * num3) * num6) - ((num2 * num4) * num5);
		    result.W = ((num * num3) * num5) + ((num2 * num4) * num6);
		}

        public static Quaternion Divide(Quaternion quaternion1, Quaternion quaternion2)
        {
            Quaternion quaternion;
		    float x = quaternion1.X;
		    float y = quaternion1.Y;
		    float z = quaternion1.Z;
		    float w = quaternion1.W;
		    float num14 = (((quaternion2.X * quaternion2.X) + (quaternion2.Y * quaternion2.Y)) + (quaternion2.Z * quaternion2.Z)) + (quaternion2.W * quaternion2.W);
		    float num5 = 1f / num14;
		    float num4 = -quaternion2.X * num5;
		    float num3 = -quaternion2.Y * num5;
		    float num2 = -quaternion2.Z * num5;
		    float num = quaternion2.W * num5;
		    float num13 = (y * num2) - (z * num3);
		    float num12 = (z * num4) - (x * num2);
		    float num11 = (x * num3) - (y * num4);
		    float num10 = ((x * num4) + (y * num3)) + (z * num2);
		    quaternion.X = ((x * num) + (num4 * w)) + num13;
		    quaternion.Y = ((y * num) + (num3 * w)) + num12;
		    quaternion.Z = ((z * num) + (num2 * w)) + num11;
		    quaternion.W = (w * num) - num10;
		    return quaternion;

        }

        public static void Divide(ref Quaternion quaternion1, ref Quaternion quaternion2, out Quaternion result)
        {
            float x = quaternion1.X;
		    float y = quaternion1.Y;
		    float z = quaternion1.Z;
		    float w = quaternion1.W;
		    float num14 = (((quaternion2.X * quaternion2.X) + (quaternion2.Y * quaternion2.Y)) + (quaternion2.Z * quaternion2.Z)) + (quaternion2.W * quaternion2.W);
		    float num5 = 1f / num14;
		    float num4 = -quaternion2.X * num5;
		    float num3 = -quaternion2.Y * num5;
		    float num2 = -quaternion2.Z * num5;
		    float num = quaternion2.W * num5;
		    float num13 = (y * num2) - (z * num3);
		    float num12 = (z * num4) - (x * num2);
		    float num11 = (x * num3) - (y * num4);
		    float num10 = ((x * num4) + (y * num3)) + (z * num2);
		    result.X = ((x * num) + (num4 * w)) + num13;
		    result.Y = ((y * num) + (num3 * w)) + num12;
		    result.Z = ((z * num) + (num2 * w)) + num11;
		    result.W = (w * num) - num10;

        }


        public static float Dot(Quaternion quaternion1, Quaternion quaternion2)
        {
            return ((((quaternion1.X * quaternion2.X) + (quaternion1.Y * quaternion2.Y)) + (quaternion1.Z * quaternion2.Z)) + (quaternion1.W * quaternion2.W));
        }


        public static void Dot(ref Quaternion quaternion1, ref Quaternion quaternion2, out float result)
        {
            result = (((quaternion1.X * quaternion2.X) + (quaternion1.Y * quaternion2.Y)) + (quaternion1.Z * quaternion2.Z)) + (quaternion1.W * quaternion2.W);
        }


        public override bool Equals(object obj)
        {
             bool flag = false;
		    if (obj is Quaternion)
		    {
		        flag = this.Equals((Quaternion) obj);
		    }
		    return flag;
        }


        public bool Equals(Quaternion other)
        {
			return ((((this.X == other.X) && (this.Y == other.Y)) && (this.Z == other.Z)) && (this.W == other.W));
        }


        public override int GetHashCode()
        {
            return (((this.X.GetHashCode() + this.Y.GetHashCode()) + this.Z.GetHashCode()) + this.W.GetHashCode());
        }


        public static Quaternion Inverse(Quaternion quaternion)
        {
            Quaternion quaternion2;
		    float num2 = (((quaternion.X * quaternion.X) + (quaternion.Y * quaternion.Y)) + (quaternion.Z * quaternion.Z)) + (quaternion.W * quaternion.W);
		    float num = 1f / num2;
		    quaternion2.X = -quaternion.X * num;
		    quaternion2.Y = -quaternion.Y * num;
		    quaternion2.Z = -quaternion.Z * num;
		    quaternion2.W = quaternion.W * num;
		    return quaternion2;

        }

        public static void Inverse(ref Quaternion quaternion, out Quaternion result)
        {
            float num2 = (((quaternion.X * quaternion.X) + (quaternion.Y * quaternion.Y)) + (quaternion.Z * quaternion.Z)) + (quaternion.W * quaternion.W);
		    float num = 1f / num2;
		    result.X = -quaternion.X * num;
		    result.Y = -quaternion.Y * num;
		    result.Z = -quaternion.Z * num;
		    result.W = quaternion.W * num;
        }

        public float Length()
        {
            float num = (((this.X * this.X) + (this.Y * this.Y)) + (this.Z * this.Z)) + (this.W * this.W);
    		return (float) Math.Sqrt((double) num);
        }


        public float LengthSquared()
        {
            return ((((this.X * this.X) + (this.Y * this.Y)) + (this.Z * this.Z)) + (this.W * this.W));
        }


        public static Quaternion Lerp(Quaternion quaternion1, Quaternion quaternion2, float amount)
        {
            float num = amount;
		    float num2 = 1f - num;
		    Quaternion quaternion = new Quaternion();
		    float num5 = (((quaternion1.X * quaternion2.X) + (quaternion1.Y * quaternion2.Y)) + (quaternion1.Z * quaternion2.Z)) + (quaternion1.W * quaternion2.W);
		    if (num5 >= 0f)
		    {
		        quaternion.X = (num2 * quaternion1.X) + (num * quaternion2.X);
		        quaternion.Y = (num2 * quaternion1.Y) + (num * quaternion2.Y);
		        quaternion.Z = (num2 * quaternion1.Z) + (num * quaternion2.Z);
		        quaternion.W = (num2 * quaternion1.W) + (num * quaternion2.W);
		    }
		    else
		    {
		        quaternion.X = (num2 * quaternion1.X) - (num * quaternion2.X);
		        quaternion.Y = (num2 * quaternion1.Y) - (num * quaternion2.Y);
		        quaternion.Z = (num2 * quaternion1.Z) - (num * quaternion2.Z);
		        quaternion.W = (num2 * quaternion1.W) - (num * quaternion2.W);
		    }
		    float num4 = (((quaternion.X * quaternion.X) + (quaternion.Y * quaternion.Y)) + (quaternion.Z * quaternion.Z)) + (quaternion.W * quaternion.W);
		    float num3 = 1f / ((float) Math.Sqrt((double) num4));
		    quaternion.X *= num3;
		    quaternion.Y *= num3;
		    quaternion.Z *= num3;
		    quaternion.W *= num3;
		    return quaternion;
        }


        public static void Lerp(ref Quaternion quaternion1, ref Quaternion quaternion2, float amount, out Quaternion result)
        {
            float num = amount;
		    float num2 = 1f - num;
		    float num5 = (((quaternion1.X * quaternion2.X) + (quaternion1.Y * quaternion2.Y)) + (quaternion1.Z * quaternion2.Z)) + (quaternion1.W * quaternion2.W);
		    if (num5 >= 0f)
		    {
		        result.X = (num2 * quaternion1.X) + (num * quaternion2.X);
		        result.Y = (num2 * quaternion1.Y) + (num * quaternion2.Y);
		        result.Z = (num2 * quaternion1.Z) + (num * quaternion2.Z);
		        result.W = (num2 * quaternion1.W) + (num * quaternion2.W);
		    }
		    else
		    {
		        result.X = (num2 * quaternion1.X) - (num * quaternion2.X);
		        result.Y = (num2 * quaternion1.Y) - (num * quaternion2.Y);
		        result.Z = (num2 * quaternion1.Z) - (num * quaternion2.Z);
		        result.W = (num2 * quaternion1.W) - (num * quaternion2.W);
		    }
		    float num4 = (((result.X * result.X) + (result.Y * result.Y)) + (result.Z * result.Z)) + (result.W * result.W);
		    float num3 = 1f / ((float) Math.Sqrt((double) num4));
		    result.X *= num3;
		    result.Y *= num3;
		    result.Z *= num3;
		    result.W *= num3;

        }


        public static Quaternion Slerp(Quaternion quaternion1, Quaternion quaternion2, float amount)
        {
            float num2;
		    float num3;
		    Quaternion quaternion;
		    float num = amount;
		    float num4 = (((quaternion1.X * quaternion2.X) + (quaternion1.Y * quaternion2.Y)) + (quaternion1.Z * quaternion2.Z)) + (quaternion1.W * quaternion2.W);
		    bool flag = false;
		    if (num4 < 0f)
		    {
		        flag = true;
		        num4 = -num4;
		    }
		    if (num4 > 0.999999f)
		    {
		        num3 = 1f - num;
		        num2 = flag ? -num : num;
		    }
		    else
		    {
		        float num5 = (float) Math.Acos((double) num4);
		        float num6 = (float) (1.0 / Math.Sin((double) num5));
		        num3 = ((float) Math.Sin((double) ((1f - num) * num5))) * num6;
		        num2 = flag ? (((float) -Math.Sin((double) (num * num5))) * num6) : (((float) Math.Sin((double) (num * num5))) * num6);
		    }
		    quaternion.X = (num3 * quaternion1.X) + (num2 * quaternion2.X);
		    quaternion.Y = (num3 * quaternion1.Y) + (num2 * quaternion2.Y);
		    quaternion.Z = (num3 * quaternion1.Z) + (num2 * quaternion2.Z);
		    quaternion.W = (num3 * quaternion1.W) + (num2 * quaternion2.W);
		    return quaternion;
        }


        public static void Slerp(ref Quaternion quaternion1, ref Quaternion quaternion2, float amount, out Quaternion result)
        {
            float num2;
		    float num3;
		    float num = amount;
		    float num4 = (((quaternion1.X * quaternion2.X) + (quaternion1.Y * quaternion2.Y)) + (quaternion1.Z * quaternion2.Z)) + (quaternion1.W * quaternion2.W);
		    bool flag = false;
		    if (num4 < 0f)
		    {
		        flag = true;
		        num4 = -num4;
		    }
		    if (num4 > 0.999999f)
		    {
		        num3 = 1f - num;
		        num2 = flag ? -num : num;
		    }
		    else
		    {
		        float num5 = (float) Math.Acos((double) num4);
		        float num6 = (float) (1.0 / Math.Sin((double) num5));
		        num3 = ((float) Math.Sin((double) ((1f - num) * num5))) * num6;
		        num2 = flag ? (((float) -Math.Sin((double) (num * num5))) * num6) : (((float) Math.Sin((double) (num * num5))) * num6);
		    }
		    result.X = (num3 * quaternion1.X) + (num2 * quaternion2.X);
		    result.Y = (num3 * quaternion1.Y) + (num2 * quaternion2.Y);
		    result.Z = (num3 * quaternion1.Z) + (num2 * quaternion2.Z);
		    result.W = (num3 * quaternion1.W) + (num2 * quaternion2.W);
        }


        public static Quaternion Subtract(Quaternion quaternion1, Quaternion quaternion2)
        {
            Quaternion quaternion;
		    quaternion.X = quaternion1.X - quaternion2.X;
		    quaternion.Y = quaternion1.Y - quaternion2.Y;
		    quaternion.Z = quaternion1.Z - quaternion2.Z;
		    quaternion.W = quaternion1.W - quaternion2.W;
		    return quaternion;
        }


        public static void Subtract(ref Quaternion quaternion1, ref Quaternion quaternion2, out Quaternion result)
        {
            result.X = quaternion1.X - quaternion2.X;
		    result.Y = quaternion1.Y - quaternion2.Y;
		    result.Z = quaternion1.Z - quaternion2.Z;
		    result.W = quaternion1.W - quaternion2.W;
        }


        public static Quaternion Multiply(Quaternion quaternion1, Quaternion quaternion2)
        {
            Quaternion quaternion;
		    float x = quaternion1.X;
		    float y = quaternion1.Y;
		    float z = quaternion1.Z;
		    float w = quaternion1.W;
		    float num4 = quaternion2.X;
		    float num3 = quaternion2.Y;
		    float num2 = quaternion2.Z;
		    float num = quaternion2.W;
		    float num12 = (y * num2) - (z * num3);
		    float num11 = (z * num4) - (x * num2);
		    float num10 = (x * num3) - (y * num4);
		    float num9 = ((x * num4) + (y * num3)) + (z * num2);
		    quaternion.X = ((x * num) + (num4 * w)) + num12;
		    quaternion.Y = ((y * num) + (num3 * w)) + num11;
		    quaternion.Z = ((z * num) + (num2 * w)) + num10;
		    quaternion.W = (w * num) - num9;
		    return quaternion;
        }


        public static Quaternion Multiply(Quaternion quaternion1, float scaleFactor)
        {
            Quaternion quaternion;
		    quaternion.X = quaternion1.X * scaleFactor;
		    quaternion.Y = quaternion1.Y * scaleFactor;
		    quaternion.Z = quaternion1.Z * scaleFactor;
		    quaternion.W = quaternion1.W * scaleFactor;
		    return quaternion;
        }


        public static void Multiply(ref Quaternion quaternion1, float scaleFactor, out Quaternion result)
        {
            result.X = quaternion1.X * scaleFactor;
		    result.Y = quaternion1.Y * scaleFactor;
		    result.Z = quaternion1.Z * scaleFactor;
		    result.W = quaternion1.W * scaleFactor;
        }


        public static void Multiply(ref Quaternion quaternion1, ref Quaternion quaternion2, out Quaternion result)
        {
            float x = quaternion1.X;
		    float y = quaternion1.Y;
		    float z = quaternion1.Z;
		    float w = quaternion1.W;
		    float num4 = quaternion2.X;
		    float num3 = quaternion2.Y;
		    float num2 = quaternion2.Z;
		    float num = quaternion2.W;
		    float num12 = (y * num2) - (z * num3);
		    float num11 = (z * num4) - (x * num2);
		    float num10 = (x * num3) - (y * num4);
		    float num9 = ((x * num4) + (y * num3)) + (z * num2);
		    result.X = ((x * num) + (num4 * w)) + num12;
		    result.Y = ((y * num) + (num3 * w)) + num11;
		    result.Z = ((z * num) + (num2 * w)) + num10;
		    result.W = (w * num) - num9;
        }


        public static Quaternion Negate(Quaternion quaternion)
        {
            Quaternion quaternion2;
		    quaternion2.X = -quaternion.X;
		    quaternion2.Y = -quaternion.Y;
		    quaternion2.Z = -quaternion.Z;
		    quaternion2.W = -quaternion.W;
		    return quaternion2;
        }


        public static void Negate(ref Quaternion quaternion, out Quaternion result)
        {
            result.X = -quaternion.X;
		    result.Y = -quaternion.Y;
		    result.Z = -quaternion.Z;
		    result.W = -quaternion.W;
        }


        public void Normalize()
        {
            float num2 = (((this.X * this.X) + (this.Y * this.Y)) + (this.Z * this.Z)) + (this.W * this.W);
		    float num = 1f / ((float) Math.Sqrt((double) num2));
		    this.X *= num;
		    this.Y *= num;
		    this.Z *= num;
		    this.W *= num;
        }


        public static Quaternion Normalize(Quaternion quaternion)
        {
            Quaternion quaternion2;
		    float num2 = (((quaternion.X * quaternion.X) + (quaternion.Y * quaternion.Y)) + (quaternion.Z * quaternion.Z)) + (quaternion.W * quaternion.W);
		    float num = 1f / ((float) Math.Sqrt((double) num2));
		    quaternion2.X = quaternion.X * num;
		    quaternion2.Y = quaternion.Y * num;
		    quaternion2.Z = quaternion.Z * num;
		    quaternion2.W = quaternion.W * num;
		    return quaternion2;
        }


        public static void Normalize(ref Quaternion quaternion, out Quaternion result)
        {
            float num2 = (((quaternion.X * quaternion.X) + (quaternion.Y * quaternion.Y)) + (quaternion.Z * quaternion.Z)) + (quaternion.W * quaternion.W);
		    float num = 1f / ((float) Math.Sqrt((double) num2));
		    result.X = quaternion.X * num;
		    result.Y = quaternion.Y * num;
		    result.Z = quaternion.Z * num;
		    result.W = quaternion.W * num;
        }


        public static Quaternion operator +(Quaternion quaternion1, Quaternion quaternion2)
        {
            Quaternion quaternion;
		    quaternion.X = quaternion1.X + quaternion2.X;
		    quaternion.Y = quaternion1.Y + quaternion2.Y;
		    quaternion.Z = quaternion1.Z + quaternion2.Z;
		    quaternion.W = quaternion1.W + quaternion2.W;
		    return quaternion;
        }


        public static Quaternion operator /(Quaternion quaternion1, Quaternion quaternion2)
        {
            Quaternion quaternion;
		    float x = quaternion1.X;
		    float y = quaternion1.Y;
		    float z = quaternion1.Z;
		    float w = quaternion1.W;
		    float num14 = (((quaternion2.X * quaternion2.X) + (quaternion2.Y * quaternion2.Y)) + (quaternion2.Z * quaternion2.Z)) + (quaternion2.W * quaternion2.W);
		    float num5 = 1f / num14;
		    float num4 = -quaternion2.X * num5;
		    float num3 = -quaternion2.Y * num5;
		    float num2 = -quaternion2.Z * num5;
		    float num = quaternion2.W * num5;
		    float num13 = (y * num2) - (z * num3);
		    float num12 = (z * num4) - (x * num2);
		    float num11 = (x * num3) - (y * num4);
		    float num10 = ((x * num4) + (y * num3)) + (z * num2);
		    quaternion.X = ((x * num) + (num4 * w)) + num13;
		    quaternion.Y = ((y * num) + (num3 * w)) + num12;
		    quaternion.Z = ((z * num) + (num2 * w)) + num11;
		    quaternion.W = (w * num) - num10;
		    return quaternion;
        }


        public static bool operator ==(Quaternion quaternion1, Quaternion quaternion2)
        {
            return ((((quaternion1.X == quaternion2.X) && (quaternion1.Y == quaternion2.Y)) && (quaternion1.Z == quaternion2.Z)) && (quaternion1.W == quaternion2.W));
        }


        public static bool operator !=(Quaternion quaternion1, Quaternion quaternion2)
        {
            if (((quaternion1.X == quaternion2.X) && (quaternion1.Y == quaternion2.Y)) && (quaternion1.Z == quaternion2.Z))
		    {
		        return (quaternion1.W != quaternion2.W);
		    }
		    return true;
        }


        public static Quaternion operator *(Quaternion quaternion1, Quaternion quaternion2)
        {
            Quaternion quaternion;
		    float x = quaternion1.X;
		    float y = quaternion1.Y;
		    float z = quaternion1.Z;
		    float w = quaternion1.W;
		    float num4 = quaternion2.X;
		    float num3 = quaternion2.Y;
		    float num2 = quaternion2.Z;
		    float num = quaternion2.W;
		    float num12 = (y * num2) - (z * num3);
		    float num11 = (z * num4) - (x * num2);
		    float num10 = (x * num3) - (y * num4);
		    float num9 = ((x * num4) + (y * num3)) + (z * num2);
		    quaternion.X = ((x * num) + (num4 * w)) + num12;
		    quaternion.Y = ((y * num) + (num3 * w)) + num11;
		    quaternion.Z = ((z * num) + (num2 * w)) + num10;
		    quaternion.W = (w * num) - num9;
		    return quaternion;
        }


        public static Quaternion operator *(Quaternion quaternion1, float scaleFactor)
        {
            Quaternion quaternion;
		    quaternion.X = quaternion1.X * scaleFactor;
		    quaternion.Y = quaternion1.Y * scaleFactor;
		    quaternion.Z = quaternion1.Z * scaleFactor;
		    quaternion.W = quaternion1.W * scaleFactor;
		    return quaternion;
        }


        public static Quaternion operator -(Quaternion quaternion1, Quaternion quaternion2)
        {
            Quaternion quaternion;
		    quaternion.X = quaternion1.X - quaternion2.X;
		    quaternion.Y = quaternion1.Y - quaternion2.Y;
		    quaternion.Z = quaternion1.Z - quaternion2.Z;
		    quaternion.W = quaternion1.W - quaternion2.W;
		    return quaternion;

        }


        public static Quaternion operator -(Quaternion quaternion)
        {
            Quaternion quaternion2;
		    quaternion2.X = -quaternion.X;
		    quaternion2.Y = -quaternion.Y;
		    quaternion2.Z = -quaternion.Z;
		    quaternion2.W = -quaternion.W;
		    return quaternion2;
        }

        internal string DebugDisplayString
        {
            get
            {
                if (this == Quaternion.identity)
                {
                    return "Identity";
                }

                return string.Concat(
                    this.X.ToString(), " ",
                    this.Y.ToString(), " ",
                    this.Z.ToString(), " ",
                    this.W.ToString()
                );
            }
        }

        public override string ToString()
        {
            System.Text.StringBuilder sb = new System.Text.StringBuilder(32);
            sb.Append("{X:");
            sb.Append(this.X);
            sb.Append(" Y:");
            sb.Append(this.Y);
            sb.Append(" Z:");
            sb.Append(this.Z);
            sb.Append(" W:");
            sb.Append(this.W);
            sb.Append("}");
            return sb.ToString();
        }

		internal Matrix ToMatrix ()
		{
			Matrix matrix = Matrix.Identity;
			ToMatrix(out matrix);
			return matrix;
		}

		internal void ToMatrix (out Matrix matrix)
		{
			Quaternion.ToMatrix(this, out matrix);
		}

		internal static void ToMatrix(Quaternion quaternion, out Matrix matrix)
		{

			// source -> http://content.gpwiki.org/index.php/OpenGL:Tutorials:Using_Quaternions_to_represent_rotation#Quaternion_to_Matrix
			float x2 = quaternion.X * quaternion.X;
			float y2 = quaternion.Y * quaternion.Y;
			float z2 = quaternion.Z * quaternion.Z;
			float xy = quaternion.X * quaternion.Y;
			float xz = quaternion.X * quaternion.Z;
			float yz = quaternion.Y * quaternion.Z;
			float wx = quaternion.W * quaternion.X;
			float wy = quaternion.W * quaternion.Y;
			float wz = quaternion.W * quaternion.Z;

			// This calculation would be a lot more complicated for non-unit length quaternions
			// Note: The constructor of Matrix4 expects the Matrix in column-major format like expected by
			//   OpenGL
			matrix.M11 = 1.0f - 2.0f * (y2 + z2);
			matrix.M12 = 2.0f * (xy - wz);
			matrix.M13 = 2.0f * (xz + wy);
			matrix.M14 = 0.0f;

			matrix.M21 = 2.0f * (xy + wz);
			matrix.M22 = 1.0f - 2.0f * (x2 + z2);
			matrix.M23 = 2.0f * (yz - wx);
			matrix.M24 = 0.0f;

			matrix.M31 = 2.0f * (xz - wy);
			matrix.M32 = 2.0f * (yz + wx);
			matrix.M33 = 1.0f - 2.0f * (x2 + y2);
			matrix.M34 = 0.0f;

			matrix.M41 = 2.0f * (xz - wy);
			matrix.M42 = 2.0f * (yz + wx);
			matrix.M43 = 1.0f - 2.0f * (x2 + y2);
			matrix.M44 = 0.0f;

			//return Matrix4( 1.0f - 2.0f * (y2 + z2), 2.0f * (xy - wz), 2.0f * (xz + wy), 0.0f,
			//		2.0f * (xy + wz), 1.0f - 2.0f * (x2 + z2), 2.0f * (yz - wx), 0.0f,
			//		2.0f * (xz - wy), 2.0f * (yz + wx), 1.0f - 2.0f * (x2 + y2), 0.0f,
			//		0.0f, 0.0f, 0.0f, 1.0f)
			//	}
		}

		internal Vector3 Xyz
		{
			get {
				return new Vector3(X, Y, Z);
			}

			set {
				X = value.X;
				Y = value.Y;
				Z = value.Z;
			}
		}


    }
}