Table of Contents

Class MathsLibrary

Namespace
NominalSystems.Maths
Assembly
NominalSystems.Maths.dll

[Nominal] A library of mathematical functions that can be used by components and testing functions.

public static class MathsLibrary
Inheritance
MathsLibrary

Methods

AcosTest(double, double, double)

Calculates an angle using an 'Acos' operation and then perform a quadrant check. This will return zero if the adjacent is equal to the hypotenuse.

public static double AcosTest(double adjacent, double hypotenuse, double test)

Parameters

adjacent double

[-] The length of the adjacent

hypotenuse double

[-] The length of the hypotenuse

test double

[rad] The test angle

Returns

double

The value of the Acos function with safety

CubicInterpolate(Vector2, Vector2, Vector2, Vector2, double)

Cubic interpolation between 4 vectors

public static Vector2 CubicInterpolate(Vector2 a, Vector2 b, Vector2 c, Vector2 d, double t)

Parameters

a Vector2

1st vector

b Vector2

2nd vector

c Vector2

3rd vector

d Vector2

4th vector

t double

a delta time

Returns

Vector2

a interpolated vector

CubicInterpolate(Vector3, Vector3, Vector3, Vector3, double)

Cubic interpolation between 4 vectors

public static Vector3 CubicInterpolate(Vector3 a, Vector3 b, Vector3 c, Vector3 d, double t)

Parameters

a Vector3

1st vector

b Vector3

2nd vector

c Vector3

3rd vector

d Vector3

4th vector

t double

a delta time

Returns

Vector3

a interpolated vector

CubicInterpolate(double, double, double, double, double)

Cubic interpolation between 4 doubles

public static double CubicInterpolate(double a, double b, double c, double d, double t)

Parameters

a double

1st double

b double

2nd double

c double

3rd double

d double

4th double

t double

A delta time

Returns

double

An interpolated double

LinearInterpolate(Vector2, Vector2, double)

Linear interpolation between 2 vectors

public static Vector2 LinearInterpolate(Vector2 a, Vector2 b, double t)

Parameters

a Vector2

1st vector

b Vector2

2st vector

t double

A delta time

Returns

Vector2

An interpolated vector

LinearInterpolate(Vector3, Vector3, double)

Linear interpolation between 2 vectors

public static Vector3 LinearInterpolate(Vector3 a, Vector3 b, double t)

Parameters

a Vector3

1st vector

b Vector3

2st vector

t double

a delta time

Returns

Vector3

a interpolated vector

LinearInterpolate(Vector4, Vector4, double)

Linearly interpolates between two quaternions, which are in the form of a Vector4 (X, Y, Z, W) and some alpha parameter that is assumed to be between 0 and 1.

public static Vector4 LinearInterpolate(Vector4 q1, Vector4 q2, double alpha)

Parameters

q1 Vector4

[-] The 'from' quaternion

q2 Vector4

[-] The 'to' quaternion

alpha double

[-] The scaling factor between 0 and 1

Returns

Vector4

[-] The quaternion that is interpolated between the two

LinearInterpolate(Vector4, Vector4, double, double, double)

Linearly interpolates between two quaternions, which are in the form of a Vector4 (X, Y, Z, W) and some time varying parameters from the first time to the second time.

public static Vector4 LinearInterpolate(Vector4 q1, Vector4 q2, double t1, double t2, double t)

Parameters

q1 Vector4

[-] The 'from' quaternion

q2 Vector4

[-] The 'to' quaternion

t1 double

[-] The first time that the 'from' quaternion exists at

t2 double

[-] The second time that the 'to' quaternion exists at

t double

[-] The current time of the system

Returns

Vector4

[-] The quaternion that is interpolated between the two

LinearInterpolate(double, double, double)

Linear interpolation between two doubles with some point in time.

public static double LinearInterpolate(double a, double b, double t)

Parameters

a double

1st double

b double

2st double

t double

A delta time

Returns

double

An interpolated value

LinearInterpolate(double, double, double, double, double)

Linear Interpolates between two doubles based on an alpha between 0 and 1.

public static double LinearInterpolate(double a, double b, double t_a, double t_b, double t)

Parameters

a double

The first value

b double

The second value

t_a double

The time of the first value

t_b double

The time of the second value

t double

The current time to interpolate between

Returns

double

The interpolated double

NormaliseAngle(double)

Normalises the angle to between 0 and 2 PI, assuming that it is within the bounds.

public static double NormaliseAngle(double angle)

Parameters

angle double

[rad] The angle

Returns

double

[rad] The normalised angle

NormaliseAngle(double, double, double)

Normalises the angle to between min and min + range, assuming that it is within the bounds.

public static double NormaliseAngle(double angle, double min, double range)

Parameters

angle double

[rad] The angle to normalise

min double

[rad] The minimum angle to check

range double

[rad] The range of the angle to normalise

Returns

double

[rad] The normalised angle

QuadraticInterpolate(Vector2, Vector2, Vector2, double)

Quadratic interpolation between 3 vectors

public static Vector2 QuadraticInterpolate(Vector2 a, Vector2 b, Vector2 c, double t)

Parameters

a Vector2

1st vector

b Vector2

2nd vector

c Vector2

3rd vector

t double

a delta time

Returns

Vector2

An interpolated vector

QuadraticInterpolate(Vector3, Vector3, Vector3, double)

Quadratic interpolation between 3 vectors

public static Vector3 QuadraticInterpolate(Vector3 a, Vector3 b, Vector3 c, double t)

Parameters

a Vector3

1st vector

b Vector3

2nd vector

c Vector3

3rd vector

t double

a delta time

Returns

Vector3

a interpolated vector

QuadraticInterpolate(double, double, double, double)

Quadratic interpolation between 3 doubles

public static double QuadraticInterpolate(double a, double b, double c, double t)

Parameters

a double

1st double

b double

2nd double

c double

3rd double

t double

A delta time

Returns

double

An interpolated double

ShortestAngle(double, double)

Calculate the magnitude of the shortest angle between two angles, assuming they are measured in the same direction from the same reference accounting for the 2 PI -> 0 (4th to 1st) quadrant change.

public static double ShortestAngle(double angle1, double angle2)

Parameters

angle1 double

[rad] The value of the first angle to consider

angle2 double

[rad] The value of the second angle to consider

Returns

double

[rad] The shortest angle

Slerp(Vector4, Vector4, double)

Determines the Spherical LERP between two quaternions based on some scaling factor. This is done by performing an angle rotation and some spherical mathematics.

public static Vector4 Slerp(Vector4 q1, Vector4 q2, double alpha)

Parameters

q1 Vector4

[-] The 'from' quaternion

q2 Vector4

[-] The 'to' quaternion

alpha double

[-] The scaling factor between the two quaternions

Returns

Vector4

[-] The SLERP quaternion based on alpha

Slerp(Vector4, Vector4, double, double, double)

Determines the Spherical LERP between two quaternions based on some scaling factor. This is done by performing an angle rotation and some spherical mathematics.

public static Vector4 Slerp(Vector4 q1, Vector4 q2, double t1, double t2, double t)

Parameters

q1 Vector4

[-] The 'from' quaternion

q2 Vector4

[-] The 'to' quaternion

t1 double

[-] The first time that the 'from' quaternion exists at

t2 double

[-] The second time that the 'to' quaternion exists at

t double

[-] The current time of the system

Returns

Vector4

[-] The SLERP quaternion based on time points