public Angles(zMat4 matrix)
{
Vec3f right = new Vec3f(matrix[0], matrix[8], matrix[4]).Normalise();
Vec3f up = new Vec3f(matrix[1], matrix[9], matrix[5]).Normalise();
Vec3f at = new Vec3f(matrix[2], matrix[10], matrix[6]).Normalise();
Pitch = -(float)Math.Atan2(up.Z, at.Z) + PI / 2; // +PI/2 so the default value is 0 and not -90
Pitch = ClampToPI(Pitch);
Yaw = (float)Math.Atan2(right.Y, right.X);
Roll = -(float)Math.Asin(right.Z);
/*const float oneminusepsilon = 0.99999f;
* if (right.Z < -oneminusepsilon)
* { // singularity
* Roll = PI / 2f;
* Yaw = 0;
* Pitch = (float)Math.Atan2(up.X, at.X);
* }
* else if (right.Z > oneminusepsilon)
* { // singularity
* Roll = -PI / 2f;
* Yaw = 0;
* Pitch = (float)Math.Atan2(-up.X, -at.X);
* }
* else
* {
* Roll = -(float)Math.Asin(right.Z);
* float c = (float)Math.Cos(Roll);
*
* Yaw = (float)Math.Atan2(right.Y / c, right.X / c);
* Pitch = -(float)Math.Atan2(up.Z / c, at.Z / c) + PI/2; // +PI/2 so the default is 0 and not 90
* }*/
}
public void SetMatrix(zMat4 matrix)
{
float rollSin = (float)Math.Sin(Roll);
float rollCos = (float)Math.Cos(Roll);
float yawSin = (float)Math.Sin(Yaw);
float yawCos = (float)Math.Cos(Yaw);
float pitchSin = -(float)Math.Cos(Pitch); // (float)Math.Sin(Pitch - PI/2); // -PI/2 so the default value can be 0 and not -90
float pitchCos = (float)Math.Sin(Pitch); // (float)Math.Cos(Pitch - PI/2);
matrix[0] = rollCos * yawCos;
matrix[8] = rollCos * yawSin;
matrix[4] = -rollSin;
matrix[1] = -pitchSin * rollSin * yawCos + pitchCos * yawSin;
matrix[9] = -pitchSin * rollSin * yawSin - pitchCos * yawCos;
matrix[5] = -pitchSin * rollCos;
matrix[2] = pitchCos * rollSin * yawCos + pitchSin * yawSin;
matrix[10] = pitchCos * rollSin * yawSin - pitchSin * yawCos;
matrix[6] = pitchCos * rollCos;
}
public void GetTrafoNodeToModel(int nodePtr, zMat4 matrix)
{
Process.THISCALL <NullReturnCall>(Address, 0x57A9C0, matrix, (IntArg)nodePtr);
}
public void Init(zCVob self, zCVob owner, zVec3 start, float angle, float force, zMat4 trafo)
{
Process.THISCALL <NullReturnCall>(Address, 0x69F540, self, owner, start, (FloatArg)angle, (FloatArg)force, trafo);
}
public static Angles FromMatrix(zMat4 matrix)
{
return(new Angles(matrix));
}
public void GetTrafoModelNodeToWorld(zString nodeName, zMat4 matrix)
{
Process.THISCALL <NullReturnCall>(Address, 0x604960, matrix, nodeName);
}
