public static void Transform(ref Vector2 position, ref Quaternion quat, out Vector2 result)
{
Quaternion result1 = new Quaternion(position.X, position.Y, 0.0f, 0.0f);
Quaternion result2;
Quaternion.Inverse(ref quat, out result2);
Quaternion result3;
Quaternion.Multiply(ref quat, ref result1, out result3);
Quaternion.Multiply(ref result3, ref result2, out result1);
result = new Vector2(result1.X, result1.Y);
}
/// <summary>
/// Creates a new <see cref="Vector2"/> that contains a transformation of 2d-vector by the specified <see cref="Quaternion"/>, representing the rotation.
/// </summary>
/// <param name="value">Source <see cref="Vector2"/>.</param>
/// <param name="rotation">The <see cref="Quaternion"/> which contains rotation transformation.</param>
/// <param name="result">Transformed <see cref="Vector2"/> as an output parameter.</param>
public static void Transform(
ref Vector2 value,
ref Quaternion rotation,
out Vector2 result
)
{
Quaternion v = new Quaternion(value.X, value.Y, 0, 0), i, t;
Quaternion.Inverse(ref rotation, out i);
Quaternion.Multiply(ref rotation, ref v, out t);
Quaternion.Multiply(ref t, ref i, out v);
result.X = v.X;
result.Y = v.Y;
}
public static void Transform(
ref Vector2 position,
ref Quaternion quat,
out Vector2 result
)
{
Quaternion v = new Quaternion(position.X, position.Y, 0, 0), i, t;
Quaternion.Inverse(ref quat, out i);
Quaternion.Multiply(ref quat, ref v, out t);
Quaternion.Multiply(ref t, ref i, out v);
result.X = v.X;
result.Y = v.Y;
}
protected override void Execute(List <CommandEntity> entities)
{
foreach (var e in entities)
{
var playerEntities = m_contexts.game.GetEntitiesWithPlayerId(e.commandOwner.value);
if (playerEntities.Count == 0)
{
continue;
}
var playerEntity = playerEntities.SingleEntity();
if (e.moveCommand.value.LengthSquared() > 0.1f)
{
float angularSpeed = playerEntity.angularSpeed.value;
Vector3 dir = playerEntity.direction.value;
Vector3 targetDir = e.moveCommand.value;
// dot(dir, rot90CCW(targetDir))
float angle = 0f;
float dot = dir.X * -targetDir.Y + dir.Y * targetDir.X;
// parallel/antiparallel
if (Math.Abs(dot) <= ANGLE_TOLERANCE)
{
Services.Get <ILogService>().LogInfo("parallel/antiparallel");
if (Vector3.Dot(dir, targetDir) < 0f)
{
angle = angularSpeed * m_timeService.FrameInterval;
}
}
// targetDir is in right of dir,
else if (dot > float.Epsilon)
{
Services.Get <ILogService>().LogInfo("targetDir is in right of dir " + dot.ToString());
angle = -angularSpeed * m_timeService.FrameInterval;
float d = MathHelper.ToDegrees((float)Math.Acos(dot)) - 90f;
// over rotation
if (Math.Abs(angle) > Math.Abs(d))
{
angle = d;
}
}
// targetDir is in left of dir
else
{
Services.Get <ILogService>().LogInfo("targetDir is in left of dir" + dot.ToString());
angle = angularSpeed * m_timeService.FrameInterval;
float d = MathHelper.ToDegrees((float)Math.Acos(dot)) - 90f;
// over rotate
if (Math.Abs(angle) > Math.Abs(d))
{
angle = d;
}
}
var quat = Quaternion.CreateFromAxisAngle(Vector3.Backward, MathHelper.ToRadians(angle));
var targetQuat = Quaternion.Multiply(playerEntity.rotation.value, quat);
playerEntity.ReplaceRotation(targetQuat);
playerEntity.ReplaceDirection(Vector3.Normalize(Vector3.Transform(Vector3.Right, targetQuat)));
playerEntity.ReplaceSpeed(playerEntity.speed.maxValue, playerEntity.speed.maxValue);
}
else
{
playerEntity.ReplaceSpeed(0f, playerEntity.speed.maxValue);
}
}
}
