public void Rotation()
{
var positionAndOrientation = new MyPositionAndOrientation(
new SerializableVector3D(10.0d, -10.0d, -2.5d),
new SerializableVector3(0.0f, 0.0f, -1.0f),
new SerializableVector3(0.0f, 1.0f, 0.0f));
// -90 around Z
var quaternion = Quaternion.CreateFromYawPitchRoll(0, 0, -VRageMath.MathHelper.PiOver2);
var o = positionAndOrientation.ToQuaternion() * quaternion;
var on = Quaternion.Normalize(o);
Matrix m = on.ToMatrix();
m = Matrix.Round(ref m);
var p = new MyPositionAndOrientation(m);
var quaternion2 = QuaternionD.CreateFromYawPitchRoll(0, 0, -Math.PI / 2);
var o2 = positionAndOrientation.ToQuaternionD() * quaternion2;
var on2 = QuaternionD.Normalize(o2);
var p2 = new MyPositionAndOrientation(on2.ToMatrixD());
var quaternion3 = new System.Windows.Media.Media3D.Quaternion(new System.Windows.Media.Media3D.Vector3D(0, 0, 1), -90d);
var x3 = positionAndOrientation.ToQuaternionD();
var o3 = new System.Windows.Media.Media3D.Quaternion(x3.X, x3.Y, x3.Z, x3.W) * quaternion3;
var on3 = o3;
on3.Normalize();
double num = on3.X * on3.X;
double num3 = on3.Z * on3.Z;
double num4 = on3.X * on3.Y;
double num5 = on3.Z * on3.W;
double num8 = on3.Y * on3.Z;
double num9 = on3.X * on3.W;
var M21 = (2.0d * (num4 - num5));
var M22 = (1.0d - 2.0d * (num3 + num));
var M23 = (2.0d * (num8 + num9));
var up3 = new Vector3D(M21, M22, M23);
var fwd = new SerializableVector3(0.0f, 0.0f, -1.0f);
var up = new SerializableVector3(1.0f, 0.0f, 0.0f);
Assert.AreEqual(fwd.X, p.Forward.X, "Forward.X Should Equal");
Assert.AreEqual(fwd.Y, p.Forward.Y, "Forward.Y Should Equal");
Assert.AreEqual(fwd.Z, p.Forward.Z, "Forward.Z Should Equal");
Assert.AreEqual(up.X, p.Up.X, "Up.X Should Equal");
Assert.AreEqual(up.Y, p.Up.Y, "Up.Y Should Equal");
Assert.AreEqual(up.Z, p.Up.Z, "Up.Z Should Equal");
}
public void CubeRotate()
{
var positionOrientation = new MyPositionAndOrientation(new Vector3D(10, 10, 10), Vector3.Backward, Vector3.Up);
var gridSizeEnum = MyCubeSize.Large;
var cube = (MyObjectBuilder_CubeBlock)MyObjectBuilderSerializer.CreateNewObject(typeof(MyObjectBuilder_CubeBlock), "LargeBlockArmorBlock");
//var cube = (MyObjectBuilder_CubeBlock)MyObjectBuilderSerializer.CreateNewObject(typeof(MyObjectBuilder_Thrust), "LargeBlockLargeThrust");
cube.Min = new SerializableVector3I(10, 10, 10);
cube.BlockOrientation = new SerializableBlockOrientation(Base6Directions.Direction.Forward, Base6Directions.Direction.Up);
cube.BuildPercent = 1;
var quaternion = positionOrientation.ToQuaternionD();
var definition = SpaceEngineersApi.GetCubeDefinition(cube.TypeId, gridSizeEnum, cube.SubtypeName);
var orientSize = definition.Size.Transform(cube.BlockOrientation).Abs();
var min = cube.Min.ToVector3D() * gridSizeEnum.ToLength();
var max = (cube.Min + orientSize).ToVector3D() * gridSizeEnum.ToLength();
var p1 = min.Transform(quaternion) + positionOrientation.Position;
var p2 = max.Transform(quaternion) + positionOrientation.Position;
var nb = new BoundingBoxD(p1, p2);
}
public void Rotation()
{
var positionAndOrientation = new MyPositionAndOrientation(
new SerializableVector3D(10.0d, -10.0d, -2.5d),
new SerializableVector3(0.0f, 0.0f, -1.0f),
new SerializableVector3(0.0f, 1.0f, 0.0f));
// -90 around Z
var quaternion = Quaternion.CreateFromYawPitchRoll(0, 0, -VRageMath.MathHelper.PiOver2);
var o = positionAndOrientation.ToQuaternion() * quaternion;
var on = Quaternion.Normalize(o);
var p = new MyPositionAndOrientation(on.ToMatrix());
var quaternion2 = QuaternionD.CreateFromYawPitchRoll(0, 0, -Math.PI / 2);
var o2 = positionAndOrientation.ToQuaternionD() * quaternion2;
var on2 = QuaternionD.Normalize(o2);
var p2 = new MyPositionAndOrientation(on2.ToMatrixD());
var quaternion3 = new System.Windows.Media.Media3D.Quaternion(new System.Windows.Media.Media3D.Vector3D(0, 0, 1), -90d);
var x3 = positionAndOrientation.ToQuaternionD();
var o3 = new System.Windows.Media.Media3D.Quaternion(x3.X, x3.Y, x3.Z, x3.W)*quaternion3;
var on3 = o3;
on3.Normalize();
double num = on3.X * on3.X;
double num3 = on3.Z * on3.Z;
double num4 = on3.X * on3.Y;
double num5 = on3.Z * on3.W;
double num8 = on3.Y * on3.Z;
double num9 = on3.X * on3.W;
var M21 = (2.0d * (num4 - num5));
var M22 = (1.0d - 2.0d * (num3 + num));
var M23 = (2.0d * (num8 + num9));
var up3 = new Vector3D(M21, M22, M23);
var fwd = new SerializableVector3(0.0f, 0.0f, -1.0f);
var up = new SerializableVector3(1.0f, 0.0f, 0.0f);
Assert.AreEqual(fwd.X, p.Forward.X, "Forward.X Should Equal");
Assert.AreEqual(fwd.Y, p.Forward.Y, "Forward.Y Should Equal");
Assert.AreEqual(fwd.Z, p.Forward.Z, "Forward.Z Should Equal");
Assert.AreEqual(up.X, p.Up.X, "Up.X Should Equal");
Assert.AreEqual(up.Y, p.Up.Y, "Up.Y Should Equal");
Assert.AreEqual(up.Z, p.Up.Z, "Up.Z Should Equal");
}
public void CubeRotate()
{
var positionOrientation = new MyPositionAndOrientation(new Vector3D(10, 10, 10), Vector3.Backward, Vector3.Up);
var gridSizeEnum = MyCubeSize.Large;
var cube = (MyObjectBuilder_CubeBlock)MyObjectBuilderSerializer.CreateNewObject(typeof(MyObjectBuilder_CubeBlock), "LargeBlockArmorBlock");
//var cube = (MyObjectBuilder_CubeBlock)MyObjectBuilderSerializer.CreateNewObject(typeof(MyObjectBuilder_Thrust), "LargeBlockLargeThrust");
cube.Min = new SerializableVector3I(10, 10, 10);
cube.BlockOrientation = new SerializableBlockOrientation(Base6Directions.Direction.Forward, Base6Directions.Direction.Up);
cube.BuildPercent = 1;
var quaternion = positionOrientation.ToQuaternionD();
var definition = SpaceEngineersApi.GetCubeDefinition(cube.TypeId, gridSizeEnum, cube.SubtypeName);
var orientSize = definition.Size.Transform(cube.BlockOrientation).Abs();
var min = cube.Min.ToVector3D() * gridSizeEnum.ToLength();
var max = (cube.Min + orientSize).ToVector3D() * gridSizeEnum.ToLength();
var p1 = min.Transform(quaternion) + positionOrientation.Position;
var p2 = max.Transform(quaternion) + positionOrientation.Position;
var nb = new BoundingBoxD(p1, p2);
}