Nerfed/Nerfed.Runtime/Util/MathEx.cs

using System.Numerics;

namespace Nerfed.Runtime;

public static class MathEx
{
    public static float ToNearestMultiple(float value, float multiple) {
        return MathF.Round(value / multiple, MidpointRounding.AwayFromZero) * multiple;
    }

    public static float Normalize(float value, float oldMin, float oldMax) {
        return Remap(value, oldMin, oldMax, 0f, 1f);
    }

    public static float Denormalize(float value, float newMin, float newMax) {
        return Remap(value, 0f, 1f, newMin, newMax);
    }

    public static float Remap(float value, float oldMin, float oldMax, float newMin, float newMax) {
        return (value - oldMin) / (oldMax - oldMin) * (newMax - newMin) + newMin;
    }
    
    // https://stackoverflow.com/questions/70462758/c-sharp-how-to-convert-quaternions-to-euler-angles-xyz
    public static Quaternion ToQuaternion(Vector3 v)
    {
        float cy = (float)Math.Cos(v.Z * 0.5);
        float sy = (float)Math.Sin(v.Z * 0.5);
        float cp = (float)Math.Cos(v.Y * 0.5);
        float sp = (float)Math.Sin(v.Y * 0.5);
        float cr = (float)Math.Cos(v.X * 0.5);
        float sr = (float)Math.Sin(v.X * 0.5);

        return new Quaternion
        {
            W = (cr * cp * cy + sr * sp * sy),
            X = (sr * cp * cy - cr * sp * sy),
            Y = (cr * sp * cy + sr * cp * sy),
            Z = (cr * cp * sy - sr * sp * cy),
        };
    }

    public static Vector3 ToEulerAngles(Quaternion q)
    {
        Vector3 angles = new();

        // roll / x
        double sinrCosp = 2 * (q.W * q.X + q.Y * q.Z);
        double cosrCosp = 1 - 2 * (q.X * q.X + q.Y * q.Y);
        angles.X = (float)Math.Atan2(sinrCosp, cosrCosp);

        // pitch / y
        double sinp = 2 * (q.W * q.Y - q.Z * q.X);
        if (Math.Abs(sinp) >= 1)
        {
            angles.Y = (float)Math.CopySign(Math.PI / 2, sinp);
        }
        else
        {
            angles.Y = (float)Math.Asin(sinp);
        }

        // yaw / z
        double sinyCosp = 2 * (q.W * q.Z + q.X * q.Y);
        double cosyCosp = 1 - 2 * (q.Y * q.Y + q.Z * q.Z);
        angles.Z = (float)Math.Atan2(sinyCosp, cosyCosp);

        return angles;
    }
}