public static void GetCalibrationAxesOrder(Axis axisUp, out ECoordinateAxes reNewX, out ECoordinateAxes reNewY, out ECoordinateAxes reNewZ)
{
switch (axisUp)
{
case Axis.XAxisUpwards:
reNewX = ECoordinateAxes.AxisZpositive;
reNewY = ECoordinateAxes.AxisXpositive;
reNewZ = ECoordinateAxes.AxisYpositive;
break;
case Axis.YAxisUpwards:
reNewX = ECoordinateAxes.AxisXpositive;
reNewY = ECoordinateAxes.AxisYpositive;
reNewZ = ECoordinateAxes.AxisZpositive;
break;
case Axis.ZAxisUpwards:
reNewX = ECoordinateAxes.AxisYpositive;
reNewY = ECoordinateAxes.AxisZpositive;
reNewZ = ECoordinateAxes.AxisXpositive;
break;
case Axis.XAxisDownwards:
reNewX = ECoordinateAxes.AxisZnegative;
reNewY = ECoordinateAxes.AxisXnegative;
reNewZ = ECoordinateAxes.AxisYnegative;
break;
case Axis.YAxisDownwards:
reNewX = ECoordinateAxes.AxisXnegative;
reNewY = ECoordinateAxes.AxisYnegative;
reNewZ = ECoordinateAxes.AxisZnegative;
break;
case Axis.ZAxisDownwards:
reNewX = ECoordinateAxes.AxisYnegative;
reNewY = ECoordinateAxes.AxisZnegative;
reNewZ = ECoordinateAxes.AxisXnegative;
break;
default:
reNewX = ECoordinateAxes.AxisXpositive;
reNewY = ECoordinateAxes.AxisYpositive;
reNewZ = ECoordinateAxes.AxisZpositive;
break;
}
}
public static Quaternion GetAxesOrderRotation(ECoordinateAxes eNewX, ECoordinateAxes eNewY, ECoordinateAxes eNewZ)
{
Quaternion oRotation = Quaternion.identity;
switch (eNewY)
{
case ECoordinateAxes.AxisXpositive:
{
oRotation *= QuaternionHelper.RotationZ(90 * Mathf.PI / 180);
switch (eNewX)
{
case ECoordinateAxes.AxisYpositive:
{
oRotation *= QuaternionHelper.RotationX(180 * Mathf.PI / 180);
break;
}
case ECoordinateAxes.AxisZpositive:
{
oRotation *= QuaternionHelper.RotationX(90 * Mathf.PI / 180);
break;
}
case ECoordinateAxes.AxisZnegative:
{
oRotation *= QuaternionHelper.RotationX(-90 * Mathf.PI / 180);
break;
}
}
break;
}
case ECoordinateAxes.AxisXnegative:
{
oRotation *= QuaternionHelper.RotationZ(-90 * Mathf.PI / 180);
switch (eNewX)
{
case ECoordinateAxes.AxisYnegative:
{
oRotation *= QuaternionHelper.RotationX(180 * Mathf.PI / 180);
break;
}
case ECoordinateAxes.AxisZpositive:
{
oRotation *= QuaternionHelper.RotationX(-90 * Mathf.PI / 180);
break;
}
case ECoordinateAxes.AxisZnegative:
{
oRotation *= QuaternionHelper.RotationX(90 * Mathf.PI / 180);
break;
}
}
break;
}
case ECoordinateAxes.AxisYpositive:
{
// Retain Y axis.
switch (eNewX)
{
case ECoordinateAxes.AxisXnegative:
{
oRotation *= QuaternionHelper.RotationY(180 * Mathf.PI / 180);
break;
}
case ECoordinateAxes.AxisZpositive:
{
oRotation *= QuaternionHelper.RotationY(90 * Mathf.PI / 180);
break;
}
case ECoordinateAxes.AxisZnegative:
{
oRotation *= QuaternionHelper.RotationY(-90 * Mathf.PI / 180);
break;
}
}
break;
}
case ECoordinateAxes.AxisYnegative:
{
oRotation *= QuaternionHelper.RotationX(180 * Mathf.PI / 180);
switch (eNewX)
{
case ECoordinateAxes.AxisXnegative:
{
oRotation *= QuaternionHelper.RotationY(180 * Mathf.PI / 180);
break;
}
case ECoordinateAxes.AxisZpositive:
{
oRotation *= QuaternionHelper.RotationY(90 * Mathf.PI / 180);
break;
}
case ECoordinateAxes.AxisZnegative:
{
oRotation *= QuaternionHelper.RotationY(-90 * Mathf.PI / 180);
break;
}
}
break;
}
case ECoordinateAxes.AxisZpositive:
{
oRotation *= QuaternionHelper.RotationX(-90 * Mathf.PI / 180);
switch (eNewX)
{
case ECoordinateAxes.AxisXnegative:
{
oRotation *= QuaternionHelper.RotationZ(180 * Mathf.PI / 180);
break;
}
case ECoordinateAxes.AxisYpositive:
{
oRotation *= QuaternionHelper.RotationZ(-90 * Mathf.PI / 180);
break;
}
case ECoordinateAxes.AxisYnegative:
{
oRotation *= QuaternionHelper.RotationZ(90 * Mathf.PI / 180);
break;
}
}
break;
}
case ECoordinateAxes.AxisZnegative:
{
oRotation *= QuaternionHelper.RotationX(90 * Mathf.PI / 180);
switch (eNewX)
{
case ECoordinateAxes.AxisXnegative:
{
oRotation *= QuaternionHelper.RotationZ(180 * Mathf.PI / 180);
break;
}
case ECoordinateAxes.AxisYpositive:
{
oRotation *= QuaternionHelper.RotationZ(180 * Mathf.PI / 180);
break;
}
case ECoordinateAxes.AxisYnegative:
{
oRotation *= QuaternionHelper.RotationZ(180 * Mathf.PI / 180);
break;
}
}
break;
}
}
//oRotation.normalize();
return(oRotation);
}
public static Quaternion GetAxesOrderRotation(ECoordinateAxes eNewX, ECoordinateAxes eNewY, ECoordinateAxes eNewZ)
{
Quaternion oRotation = Quaternion.identity;
switch (eNewY)
{
case ECoordinateAxes.AxisXpositive:
{
oRotation *= QuaternionHelper.RotationZ(90 * Mathf.PI / 180);
switch (eNewX)
{
case ECoordinateAxes.AxisYpositive:
{
oRotation *= QuaternionHelper.RotationX(180 * Mathf.PI / 180);
break;
}
case ECoordinateAxes.AxisZpositive:
{
oRotation *= QuaternionHelper.RotationX(90 * Mathf.PI / 180);
break;
}
case ECoordinateAxes.AxisZnegative:
{
oRotation *= QuaternionHelper.RotationX(-90 * Mathf.PI / 180);
break;
}
}
break;
}
case ECoordinateAxes.AxisXnegative:
{
oRotation *= QuaternionHelper.RotationZ(-90 * Mathf.PI / 180);
switch (eNewX)
{
case ECoordinateAxes.AxisYnegative:
{
oRotation *= QuaternionHelper.RotationX(180 * Mathf.PI / 180);
break;
}
case ECoordinateAxes.AxisZpositive:
{
oRotation *= QuaternionHelper.RotationX(-90 * Mathf.PI / 180);
break;
}
case ECoordinateAxes.AxisZnegative:
{
oRotation *= QuaternionHelper.RotationX(90 * Mathf.PI / 180);
break;
}
}
break;
}
case ECoordinateAxes.AxisYpositive:
{
// Retain Y axis.
switch (eNewX)
{
case ECoordinateAxes.AxisXnegative:
{
oRotation *= QuaternionHelper.RotationY(180 * Mathf.PI / 180);
break;
}
case ECoordinateAxes.AxisZpositive:
{
oRotation *= QuaternionHelper.RotationY(90 * Mathf.PI / 180);
break;
}
case ECoordinateAxes.AxisZnegative:
{
oRotation *= QuaternionHelper.RotationY(-90 * Mathf.PI / 180);
break;
}
}
break;
}
case ECoordinateAxes.AxisYnegative:
{
oRotation *= QuaternionHelper.RotationX(180 * Mathf.PI / 180);
switch (eNewX)
{
case ECoordinateAxes.AxisXnegative:
{
oRotation *= QuaternionHelper.RotationY(180 * Mathf.PI / 180);
break;
}
case ECoordinateAxes.AxisZpositive:
{
oRotation *= QuaternionHelper.RotationY(90 * Mathf.PI / 180);
break;
}
case ECoordinateAxes.AxisZnegative:
{
oRotation *= QuaternionHelper.RotationY(-90 * Mathf.PI / 180);
break;
}
}
break;
}
case ECoordinateAxes.AxisZpositive:
{
oRotation *= QuaternionHelper.RotationX(-90 * Mathf.PI / 180);
switch (eNewX)
{
case ECoordinateAxes.AxisXnegative:
{
oRotation *= QuaternionHelper.RotationZ(180 * Mathf.PI / 180);
break;
}
case ECoordinateAxes.AxisYpositive:
{
oRotation *= QuaternionHelper.RotationZ(-90 * Mathf.PI / 180);
break;
}
case ECoordinateAxes.AxisYnegative:
{
oRotation *= QuaternionHelper.RotationZ(90 * Mathf.PI / 180);
break;
}
}
break;
}
case ECoordinateAxes.AxisZnegative:
{
oRotation *= QuaternionHelper.RotationX(90 * Mathf.PI / 180);
switch (eNewX)
{
case ECoordinateAxes.AxisXnegative:
{
oRotation *= QuaternionHelper.RotationZ(180 * Mathf.PI / 180);
break;
}
case ECoordinateAxes.AxisYpositive:
{
oRotation *= QuaternionHelper.RotationZ(180 * Mathf.PI / 180);
break;
}
case ECoordinateAxes.AxisYnegative:
{
oRotation *= QuaternionHelper.RotationZ(180 * Mathf.PI / 180);
break;
}
}
break;
}
}
//oRotation.normalize();
return oRotation;
}
public static void GetCalibrationAxesOrder(Axis axisUp, out ECoordinateAxes reNewX, out ECoordinateAxes reNewY, out ECoordinateAxes reNewZ)
{
switch (axisUp)
{
case Axis.XAxisUpwards:
reNewX = ECoordinateAxes.AxisZpositive;
reNewY = ECoordinateAxes.AxisXpositive;
reNewZ = ECoordinateAxes.AxisYpositive;
break;
case Axis.YAxisUpwards:
reNewX = ECoordinateAxes.AxisXpositive;
reNewY = ECoordinateAxes.AxisYpositive;
reNewZ = ECoordinateAxes.AxisZpositive;
break;
case Axis.ZAxisUpwards:
reNewX = ECoordinateAxes.AxisYpositive;
reNewY = ECoordinateAxes.AxisZpositive;
reNewZ = ECoordinateAxes.AxisXpositive;
break;
case Axis.XAxisDownwards:
reNewX = ECoordinateAxes.AxisZnegative;
reNewY = ECoordinateAxes.AxisXnegative;
reNewZ = ECoordinateAxes.AxisYnegative;
break;
case Axis.YAxisDownwards:
reNewX = ECoordinateAxes.AxisXnegative;
reNewY = ECoordinateAxes.AxisYnegative;
reNewZ = ECoordinateAxes.AxisZnegative;
break;
case Axis.ZAxisDownwards:
reNewX = ECoordinateAxes.AxisYnegative;
reNewY = ECoordinateAxes.AxisZnegative;
reNewZ = ECoordinateAxes.AxisXnegative;
break;
default:
reNewX = ECoordinateAxes.AxisXpositive;
reNewY = ECoordinateAxes.AxisYpositive;
reNewZ = ECoordinateAxes.AxisZpositive;
break;
}
}
