Unity 利用Quaternion.LookRotation API 将旋转矩阵转换成四元数

Quaternion.LookRotation

 

1. private static Quaternion QuaternionLookRotation(Vector3 forward, Vector3 up)
2. {
3.     forward.Normalize();
5.     Vector3 vector = Vector3.Normalize(forward);
6.     Vector3 vector2 = Vector3.Normalize(Vector3.Cross(up, vector));
7.     Vector3 vector3 = Vector3.Cross(vector, vector2);
8.     var m00 = vector2.x;
9.     var m01 = vector2.y;
10.     var m02 = vector2.z;
11.     var m10 = vector3.x;
12.     var m11 = vector3.y;
13.     var m12 = vector3.z;
14.     var m20 = vector.x;
15.     var m21 = vector.y;
16.     var m22 = vector.z;
19.     float num8 = (m00 + m11) + m22;
20.     var quaternion = new Quaternion();
21.     if (num8 > 0f)
22.     {
23.         var num = (float)Math.Sqrt(num8 + 1f);
24.         quaternion.w = num * 0.5f;
25.         num = 0.5f / num;
26.         quaternion.x = (m12 - m21) * num;
27.         quaternion.y = (m20 - m02) * num;
28.         quaternion.z = (m01 - m10) * num;
29.         return quaternion;
30.     }
31.     if ((m00 >= m11) && (m00 >= m22))
32.     {
33.         var num7 = (float)Math.Sqrt(((1f + m00) - m11) - m22);
34.         var num4 = 0.5f / num7;
35.         quaternion.x = 0.5f * num7;
36.         quaternion.y = (m01 + m10) * num4;
37.         quaternion.z = (m02 + m20) * num4;
38.         quaternion.w = (m12 - m21) * num4;
39.         return quaternion;
40.     }
41.     if (m11 > m22)
42.     {
43.         var num6 = (float)Math.Sqrt(((1f + m11) - m00) - m22);
44.         var num3 = 0.5f / num6;
45.         quaternion.x = (m10+ m01) * num3;
46.         quaternion.y = 0.5f * num6;
47.         quaternion.z = (m21 + m12) * num3;
48.         quaternion.w = (m20 - m02) * num3;
49.         return quaternion;
50.     }
51.     var num5 = (float)Math.Sqrt(((1f + m22) - m00) - m11);
52.     var num2 = 0.5f / num5;
53.     quaternion.x = (m20 + m02) * num2;
54.     quaternion.y = (m21 + m12) * num2;
55.     quaternion.z = 0.5f * num5;
56.     quaternion.w = (m01 - m10) * num2;
57.     return quaternion;
58. }