static void rotateAroundAxis(DoubleTransform dtr, DVec3 localAxis, double angle)
{
var axis = (dtr.localRotation * localAxis).normalized;
var rot = DQuat.fromAxisAngle(axis, angle).normalized;
dtr.localRotation = (rot * dtr.localRotation).normalized;
}
protected bool _Walk(ref double current, ref DVec3 pos)
{
var sd = param.sd;
var rand = BoxMuller.Gaussian() * sd;
DVec3 posNext;
posNext.x = pos.x + rand.x;
posNext.y = pos.y + rand.y;
rand = BoxMuller.Gaussian() * sd;
posNext.z = pos.z + rand.x;
posNext.x -= _size.x * Math.Floor((posNext.x - _min.x) / _size.x);
posNext.y -= _size.y * Math.Floor((posNext.y - _min.y) / _size.y);
posNext.z -= _size.z * Math.Floor((posNext.z - _min.z) / _size.z);
var next = Height(posNext);
var change = (float)(new System.Random()).NextDouble() < (next / current);
if (change)
{
pos = posNext;
current = next;
}
return(change);
}
public Vector3 getLocalPos(DVec3 pos, int level)
{
var diff = pos - origin;
var scaleFactor = getScaleFactor(level);
var localDPos = diff / scaleFactor;
return(localDPos.toVector3());
}
protected (double, DVec3) Init(Bounds bounds)
{
DVec3 pos = bounds.randomInside();
var current = Height(pos);
//Walk(ref current, ref pos);
return(current, pos);
}
public override bool Equals(object other)
{
if (!(other is DVec3))
{
return(false);
}
DVec3 v = (DVec3)other;
return(v.x.Equals(x) && v.y.Equals(y) && v.z.Equals(z));
}
protected void Walk(ref double current, ref DVec3 pos)
{
for (var i = 0; i < param.walkMax; ++i)
{
if (_Walk(ref current, ref pos))
{
break;
}
}
}
public static DQuat fromAxisAngleRad(DVec3 axis, double radAngle)
{
axis.normalize();
double halfAngle = radAngle * 0.5;
double sin = Math.Sin(halfAngle);
double cos = Math.Cos(halfAngle);
return(new DQuat(axis.x * sin, axis.y * sin, axis.z * sin, cos));
}
// Use this for initialization
void Start()
{
Debug.Log("InitScript::Start");
Ellipsoid e = new Ellipsoid();
// double sx = 0, sy = 0, sz = 0;
foreach (GnomeObject creature in Creatures)
{
DVec3 v = e.ToVector(creature.lon * 3.14 / 180.0, creature.lat * 3.14 / 180.0, 0);
Debug.Log(creature.lon + " " + creature.lat + " " + v.x + " " + v.y + " " + v.z);
// sx += v.x; sy += v.y; sz += v.z;
}
// int n = Creatures.Length;
// Debug.Log("Centre: " + (sx / n) + " " + (sy / n) + " " + (sz / n));
}
public void updatePositions(double deltaT)
{
var a = getAcceleration();
lastAcceleration = a;
lastLinearVel = velocity.magnitude;
lastLinearAccel = a.magnitude;
lastLinearForce = accumulatedForce.magnitude;
var dtr = GetComponent <DoubleTransform>();
var nextPos = dtr.position + a * deltaT * deltaT * 0.5 + velocity * deltaT;
var nextVelocity = velocity + a * deltaT;
velocity = nextVelocity;
dtr.position = nextPos;
}
public static DVec3 computeGravity(DoublePhysicsBody src, DoublePhysicsBody dst)
{
var srcComp = src.GetComponent <DoubleTransform>();
var dstComp = dst.GetComponent <DoubleTransform>();
var srcPos = srcComp.position;
var dstPos = dstComp.position;
var diff = dstPos - srcPos;
var r2 = DVec3.dot(diff, diff);
double fMagnitude = gravitationalConstant * src.mass * dst.mass / r2;
var result = diff.normalized * fMagnitude;
return(result);
}
public bool Equals(DVec3 other)
{
return(X == other.X && Y == other.Y && Z == other.Z);
}
public double distanceTo(DVec3 arg)
{
return(distance(this, arg));
}
void updateObject(SpaceBody obj)
{
var diff = obj.position - originPosition;
var dist = diff.magnitude;
int numLayers = layerMasks.Length;
if (numLayers != obj.spawnedObjects.Length)
{
obj.destroyObjects();
obj.spawnedObjects = new GameObject[numLayers];
}
var radius = 1.0;
if (obj.prefab)
{
radius = obj.radius;
}
var minDist = dist - radius;
var maxDist = dist - radius;
var absDiff = DVec3.abs(diff);
var absMin = absDiff - new DVec3(radius, radius, radius);
var absMax = absDiff + new DVec3(radius, radius, radius);
double currentScale = 1.0;
double farClip = scaleFactor;
double nearClip = 0.0;
for (int curIndex = 0; curIndex < layerMasks.Length; curIndex++)
{
var curLayer = layerIndexes[curIndex];
var curLayerMask = layerMasks[curIndex];
var clipped = ((absMax.x < nearClip) && (absMax.y < nearClip) && (absMax.z < nearClip));
if (curIndex < (layerMasks.Length - 1))
{
clipped = clipped || (absMin.x > farClip) || (absMin.y > farClip) || (absMin.z > farClip);
}
if (obj.hidden)
{
clipped = true;
}
if (clipped)
{
if (obj.spawnedObjects[curIndex])
{
Destroy(obj.spawnedObjects[curIndex]);
obj.spawnedObjects[curIndex] = null;
}
}
else
{
if (obj.prefab)
{
var prefab = obj.prefab;
double scale = obj.radius / (prefab.prefabRadius * currentScale);
var localPos = diff / currentScale;
if (!obj.spawnedObjects[curIndex])
{
var displayObj = Instantiate <GameObject>(obj.prefab.gameObject);
moveToLayer(displayObj, curLayer);
obj.spawnedObjects[curIndex] = displayObj;
var lights = displayObj.GetComponentsInChildren <Light>();
for (int i = 0; i < lights.Length; i++)
{
var curLight = lights[i];
if (!curLight)
{
continue;
}
curLight.cullingMask = curLayerMask;
curLight.range *= (float)scale;
}
displayObj.name = string.Format("{0}: layer {1}", prefab.gameObject.name, curIndex);
}
var displayObject = obj.spawnedObjects[curIndex];
var spawnedData = displayObject.GetComponent <SpawnedSpaceObjectData>();
if (!spawnedData)
{
spawnedData = displayObject.AddComponent <SpawnedSpaceObjectData>();
}
spawnedData.modelScale = scale;
spawnedData.layerIndex = curIndex;
spawnedData.scaleFactor = currentScale;
spawnedData.radius = obj.radius;
displayObject.transform.localScale = new Vector3((float)scale, (float)scale, (float)scale);
displayObject.transform.position = new Vector3((float)localPos.x, (float)localPos.y, (float)localPos.z);
}
}
currentScale *= scaleFactor;
nearClip = farClip;
farClip *= scaleFactor;
}
}
public static DVec3 scale(DVec3 arg, double factor)
{
return(new DVec3(arg.x * factor, arg.y * factor, arg.z * factor));
}
public static DVec3 subtract(DVec3 a, DVec3 b)
{
return(new DVec3(a.x - b.x, a.y - b.y, a.z - b.z));
}
public static DVec3 add(DVec3 a, DVec3 b)
{
return(new DVec3(a.x + b.x, a.y + b.y, a.z + b.z));
}
public static double dot(DVec3 a, DVec3 b)
{
return(a.x * b.x + a.y * b.y + a.z * b.z);
}
public void resetForces()
{
accumulatedForce = DVec3.zero;
}
static public DVec3 abs(DVec3 arg)
{
return(new DVec3(System.Math.Abs(arg.x), System.Math.Abs(arg.y), System.Math.Abs(arg.z)));
}
public void addForce(DVec3 force)
{
accumulatedForce += force;
}
public static DVec3 scale(DVec3 a, DVec3 b)
{
return(new DVec3(a.x * b.x, a.y * b.y, a.z * b.z));
}
public static DQuat fromAxisAngle(DVec3 axis, double angle)
{
return(fromAxisAngleRad(axis, angle * Math.PI / 180.0));
}
public static double distance(DVec3 a, DVec3 b)
{
return((b - a).magnitude);
}
void runTests()
{
sb.Length = 0;
var d1 = new DVec3(1.0, 2.0, 3.0);
var d2 = new DVec3(4.0, 5.0, 6.0);
var f1 = d1.toVector3();
var f2 = d2.toVector3();
Quaternion[] q =
{
new Quaternion(1.0f, 0.0f, 0.0f, 0.0f),
new Quaternion(0.0f, 1.0f, 0.0f, 0.0f),
new Quaternion(0.0f, 0.0f, 1.0f, 0.0f),
new Quaternion(0.0f, 0.0f, 0.0f, 1.0f)
};
DQuat[] dq =
{
new DQuat(1.0, 0.0, 0.0, 0.0),
new DQuat(0.0, 1.0, 0.0, 0.0),
new DQuat(0.0, 0.0, 1.0, 0.0),
new DQuat(0.0, 0.0, 0.0, 1.0)
};
Vector3[] v =
{
Vector3.left,
Vector3.right,
Vector3.up,
Vector3.down,
Vector3.forward,
Vector3.back
};
DVec3[] dv =
{
DVec3.left,
DVec3.right,
DVec3.up,
DVec3.down,
DVec3.forward,
DVec3.back
};
for (int i = 0; i < q.Length; i++)
{
for (int j = 0; j < dq.Length; j++)
{
sb.AppendFormat("{0} * {1} = {2}\n", q[i], q[j], q[i] * q[j]);
sb.AppendFormat("{0} * {1} = {2}\n\n", dq[i], dq[j], dq[i] * dq[j]);
}
}
sb.AppendFormat("\n\n");
for (int i = 0; i < q.Length; i++)
{
for (int j = 0; j < v.Length; j++)
{
sb.AppendFormat("{0} * {1} = {2}\n", q[i], v[j], q[i] * v[j]);
sb.AppendFormat("{0} * {1} = {2}\n\n", dq[i], dv[j], dq[i] * dv[j]);
}
}
/*
* for(int i = 0; i < dq.Length; i++){
* for (int j = 0; j < dv.Length; j++){
* }
* }
*/
Debug.Log(sb);
}
protected double Height(DVec3 pos)
{
var h = SimplexNoise.noise(pos.x * _invNoiseSize, pos.y * _invNoiseSize, pos.z * _invNoiseSize);
return((h < blackLevel) ? blackLevel : h);
}
void setPosition(DVec3 position)
{
localPosition = getParentRotation().conjugate *(position - getParentPosition());
}
public void updateProxies(DoubleTransformManager manager)
{
var origin = manager.origin;
var dtr = GetComponent <DoubleTransform>();
if (!dtr)
{
Debug.LogWarningFormat("Double precision transform not present on: {0}", gameObject.name);
return;
}
var position = dtr.position;
var rotation = dtr.rotation;
var diff = position - origin;
var dist = diff.magnitude;
int numLayers = manager.numLevels;
setNumProxies(numLayers);
var minDist = dist - radius;
var maxDist = dist - radius;
var absDiff = DVec3.abs(diff);
var absMin = absDiff - new DVec3(radius, radius, radius);
var absMax = absDiff + new DVec3(radius, radius, radius);
int numLevels = manager.numLevels;
for (int levelIndex = 0; levelIndex < numLevels; levelIndex++)
{
double nearClip = manager.getNearClip(levelIndex);
double farClip = manager.getFarClip(levelIndex);
double levelScale = manager.getScaleFactor(levelIndex);
var curLayer = manager.getLayerIndex(levelIndex);
var curLayerMask = manager.getLayerMask(levelIndex);
var clipped = ((absMax.x < nearClip) && (absMax.y < nearClip) && (absMax.z < nearClip));
if (levelIndex < (numLevels - 1))
{
clipped = clipped || (absMin.x > farClip) || (absMin.y > farClip) || (absMin.z > farClip);
}
if (!gameObject.activeInHierarchy)
{
clipped = true;
}
if (clipped)
{
if (proxies[levelIndex])
{
Destroy(proxies[levelIndex]);
proxies[levelIndex] = null;
}
}
else
{
if (proxyPrefab)
{
var prefab = proxyPrefab;
double scale = radius / (prefabRadius * levelScale);
var localPos = diff / levelScale;
var localRot = dtr.rotation;
if (!proxies[levelIndex])
{
var displayObj = Instantiate <GameObject>(prefab);
moveToLayer(displayObj, curLayer);
proxies[levelIndex] = displayObj;
var lights = displayObj.GetComponentsInChildren <Light>();
for (int i = 0; i < lights.Length; i++)
{
var curLight = lights[i];
if (!curLight)
{
continue;
}
curLight.cullingMask = curLayerMask;
curLight.range *= (float)scale;
}
displayObj.name = string.Format("{0}: layer {1}", prefab.gameObject.name, levelIndex);
displayObj.transform.SetParent(manager.gameObject.transform, false);
}
var displayObject = proxies[levelIndex];
displayObject.transform.localScale = new Vector3((float)scale, (float)scale, (float)scale);
displayObject.transform.localPosition = localPos.toVector3();
displayObject.transform.localRotation = localRot.normalized.toQuaternion();
}
}
}
}