public void TestExplicitOperator()
{
var rad = new Radian(1.0f);
Assert.AreEqual((Radian)1.0f, rad);
Assert.AreEqual(1.0f, (float)rad);
}
/**
* @param margin Collision margin
* @param switchingMode Determine the state of the camera when switching to this camera mode from another
*/
public FreeCameraMode(CameraControlSystem cam
, Vector3 initialPosition
, Degree initialRotationX
, Degree initialRotationY
, SwitchingMode switchingMode = SwitchingMode.CurrentState
, float margin = 0.1f)
: base(cam)
{
CameraCS = cam;
Margin = margin;
_fixedAxis = Vector3.UNIT_Y;
_moveFactor = 1;
_rotationFactor = 0.13f;
_rotX = initialRotationX;
_rotY = initialRotationY;
_initialPosition = initialPosition;
_initialRotationX = initialRotationX;
_initialRotationY = initialRotationY;
_lastRotationX = initialRotationX;
_lastRotationY = initialRotationY;
_lastPosition = initialPosition;
_switchingMode = switchingMode;
CameraPosition = initialPosition;
this.CollisionFunc = this.DefaultCollisionDetectionFunction;
}
/**
* @param relativePositionToCameraTarget Default camera position with respecto to camera target
* @param autoResetTime If greater than zero the camera will be resetted to its initial position after the amount of seconds specified.
* @param resetDistance true for correcting the camera distance to the target when resetting. If false, the camera will maintaing the current distance to target.
* @param resetRotationFactor Speed factor for correcting the camera rotation when resetting.
* @param offset Offset applied to the center of the sphere.
*/
public SphericCameraMode(CameraControlSystem cam
, Vector3 relativePositionToCameraTarget
, float outerSphereRadius
, Vector3 offset
, Vector3 fixedAxis, float innerSphereRadius = 0.0f
, float autoResetTime = 3.0f
, bool resetDistance = true
, float resetRotationFactor = 1.0f)
: base(cam)
{
_relativePositionToCameraTarget = relativePositionToCameraTarget;
_outerSphereRadius = outerSphereRadius;
_innerSphereRadius = innerSphereRadius;
_autoResetTime = autoResetTime;
_resetDistance = resetDistance;
_resetRotationFactor = resetRotationFactor;
_offset = offset;
_fixedAxis = fixedAxis;
_resseting = false;
_LastRessetingDiff = new Radian(2.0f * Mogre.Math.PI);
if (innerSphereRadius > outerSphereRadius) { throw new Exception("Inner radious greater than outer radious"); }
if (innerSphereRadius > relativePositionToCameraTarget.Length
|| outerSphereRadius < relativePositionToCameraTarget.Length) {
throw new Exception("relativePositionToCameraTarget param value not valid.");
}
}
public virtual void SetCameraOrientation(Radian roll, Radian yaw, Radian pitch)
{
_lastOrientation = new Quaternion(roll, Vector3.UNIT_Z)
* new Quaternion(yaw, Vector3.UNIT_Y)
* new Quaternion(pitch, Vector3.UNIT_X);
CameraOrientation = _lastOrientation;
}
public override void MakeOrthoMatrix(Radian fov, Real aspectRatio, Real near, Real far, out Matrix4 dest, bool forGpuPrograms)
{
float thetaY = Utility.DegreesToRadians(fov / 2.0f);
float tanThetaY = Utility.Tan(thetaY);
float tanThetaX = tanThetaY * aspectRatio;
float halfW = tanThetaX * near;
float halfH = tanThetaY * near;
var w = 1.0f / (halfW);
var h = 1.0f / (halfH);
var q = 0.0f;
if (far != 0)
{
q = 1.0f / (far - near);
}
dest = Matrix4.Zero;
dest.m00 = w;
dest.m11 = h;
dest.m22 = q;
dest.m23 = -near / (far - near);
dest.m33 = 1;
if (forGpuPrograms)
{
dest.m22 = -dest.m22;
}
}
public override void MakeOrthoMatrix( Radian fovy, Real aspectRatio, Real near, Real far, out Matrix4 dest,
bool forGpuPrograms )
{
var thetaY = fovy/2.0f;
var tanThetaY = Utility.Tan( thetaY );
var tanThetaX = tanThetaY*aspectRatio;
var half_w = tanThetaX*near;
var half_h = tanThetaY*near;
var iw = 1.0f/( half_w );
var ih = 1.0f/( half_h );
Real q = 0.0f;
if ( far != 0 )
{
q = 1.0/( far - near );
}
dest = Matrix4.Zero;
dest.m00 = iw;
dest.m11 = ih;
dest.m22 = q;
dest.m23 = -near/( far - near );
dest.m33 = 1;
if ( forGpuPrograms )
{
dest.m22 = -dest.m22;
}
}
/// <summary>
/// Creates a Rotater. This removes any existing nlerpers and rotaters attached to the lthing.
/// </summary>
/// <param name="owner">What lthing are we affecting?</param>
/// <param name="duration">How long as we going to rotate?</param>
/// <param name="angle">Rotation angle</param>
/// <param name="mode">Rotation axis mode</param>
/// <returns>The new rotater</returns>
public Rotater CreateRotater(LThing owner, float duration, Radian angle, RotaterAxisMode mode)
{
RemoveRotater(owner);
Rotater newRotater = new Rotater(owner, duration, angle, mode);
Rotaters.TryAdd(owner, newRotater);
return newRotater;
}
/// <summary>
/// Constructor to create a new Euler Angle struct from angle values.
/// The rotation will be applied in the order Yaw-Pitch- Roll, which are related to the axis order Y-X-Z.
/// </summary>
public Euler(Radian yaw, Radian pitch, Radian roll)
{
mYaw = yaw;
mPitch = pitch;
mRoll = roll;
mChanged = true;
mCachedQuaternion = Quaternion.IDENTITY;
}
public OrbitalWithMouseCameraMode(CameraControlSystem cam
, MOIS.MouseButtonID activateButton
, Radian initialHorizontalRotation
, Radian initialVerticalRotation, float initialZoom = 1)
: base(cam, initialHorizontalRotation, initialVerticalRotation, initialZoom)
{
_activateButton = activateButton;
}
public Sprite(Texture texture)
{
Texture = texture;
Color = Color.White;
Position = Vector2.Zero;
Scale = new Vector2(1.0f, 1.0f);
Rotation = new Radian(0.0f);
SourceRect = new Rectangle(0, 0, Texture.Width, Texture.Height);
}
/// <summary>
/// Creates a Rotater. This removes any existing nlerpers and rotaters attached to the lthing.
/// </summary>
/// <param name="owner">What lthing are we affecting?</param>
/// <param name="duration">How long as we going to rotate?</param>
/// <param name="angle">Rotation angle</param>
/// <param name="axis">Axis of rotation</param>
/// <param name="mode">Rotation axis mode</param>
/// <returns>The new rotater</returns>
public Rotater CreateRotater(LThing owner, float duration, Radian angle, Vector3 axis, RotaterAxisMode mode = RotaterAxisMode.Explicit)
{
RemoveRotater(owner);
RemoveNlerper(owner);
Rotater newRotater = new Rotater(owner, duration, angle, axis, mode);
Rotaters.TryAdd(owner, newRotater);
return newRotater;
}
public void TestEquatable()
{
var rad = new Radian(1.0f);
var f = 1.0f;
Assert.IsTrue(rad.Equals(rad));
Assert.IsTrue(rad.Equals(f));
Assert.IsFalse(rad.Equals(null));
}
public override void SetDesiredVelocity( Radian velocity, float maxTorque )
{
if( joint.jointID == dJointID.Zero )
return;
Ode.dJointSetHingeParam( joint.jointID, Ode.dJointParams.dParamVel,
joint.Body1.Static ? velocity : -velocity );
Ode.dJointSetHingeParam( joint.jointID, Ode.dJointParams.dParamFMax, maxTorque );
}
public override void Update(int elapsed)
{
float rotateFactor = elapsed * 0.125f / 1000.0f;
var yawAmount = new Radian((0.4f + 0.25f * MathUtils.Sin(new Radian(this.game.TotalGameTime / 15040))) * rotateFactor);
Yaw(yawAmount);
var pitchAmount = new Radian((0.35f + 0.212f * MathUtils.Cos(new Radian(this.game.TotalGameTime / 38040))) * rotateFactor);
float moveFactor = elapsed * 27.5f / 1000.0f;
MoveRelative(Vector3.UnitZ * moveFactor);
}
public virtual void SetCameraRelativePosition(Vector3 posRelativeToCameraTarget
, Radian roll, Radian yaw, Radian pitch)
{
RelativePosToTarget = posRelativeToCameraTarget;
_rotationOffset = new Quaternion(roll, Vector3.UNIT_Z)
* new Quaternion(yaw, Vector3.UNIT_Y)
* new Quaternion(pitch, Vector3.UNIT_X);
InstantUpdate();
}
protected override void Rotate(Radian yawAngle, Radian pitchAngle)
{
base.Rotate(yawAngle,pitchAngle);
var debugOverlay = OverlayManager.Singleton.GetByName("Core/DebugOverlay");
debugOverlay.Show();
var myCurr = OverlayManager.Singleton.GetOverlayElement("Core/CurrFps");
myCurr.Caption = State.CameraManager.RenderWindow.LastFPS.ToString();
}
public void Radian_Wrap_Test()
{
var radian = new Radian(MathUtils.PI);
var wrapAngle = new Radian(MathUtils.PI);
Assert.AreEqual(new Radian(0.0f), radian.Wrap(wrapAngle));
radian = new Radian(MathUtils.PI / 4);
Assert.AreEqual(new Radian(MathUtils.PI / 4), radian.Wrap(wrapAngle));
radian = new Radian(-MathUtils.PI / 4);
Assert.AreEqual(new Radian(MathUtils.PI * 3 / 4), radian.Wrap(wrapAngle));
}
/// <summary>
/// USE THE LThingHelperManager FOR THIS!
/// </summary>
public Rotater(LThing thingToRotate, float duration, Radian angle, Vector3 axis, RotaterAxisMode mode = RotaterAxisMode.Explicit)
{
this.thing = thingToRotate;
this.duration = duration;
this.angle = angle;
this.axis = axis;
this.mode = mode;
orient = new Quaternion();
PhysicsMain.PreSimulate += PreSimulate;
}
protected void initLampPost(SceneNode parent, Vector3 position, Radian direction)
{
Entity lamp;
SceneNode lampNode;
int id = LevelView.PropCounter;
lamp = sceneMgr.CreateEntity("Lamp" + id, "LampPost.mesh");
lamp.CastShadows = EngineConfig.ShadowsQuality > 0;
lampNode = parent.CreateChildSceneNode("LampNode" + LevelView.PropCounter, position);
lampNode.Yaw(direction);
lampNode.AttachObject(lamp);
}
public void ToStringTest()
{
Radian angle = new Radian(1.23);
Assert.AreEqual(angle.ToString(), 1.23.ToString());
Assert.AreEqual(angle.ToString("N3"), 1.23.ToString("N3"));
System.Globalization.CultureInfo culture = System.Globalization.CultureInfo.CreateSpecificCulture("de-DE");
Assert.AreEqual(angle.ToString(culture), 1.23.ToString(culture));
Assert.AreEqual(angle.ToString("N3", culture), 1.23.ToString("N3", culture));
}
public void DivisionTest()
{
Radian angle1 = new Radian(6.0);
Radian result = angle1 / 3.0;
double delta = result - 2.0;
if (delta < 0.0)
{
delta *= -1;
}
Assert.IsTrue(delta <= double.Epsilon);
}
/// <summary>
/// Causes a walking animation to occur.
/// </summary>
public void Walking()
{
radius = 0.1f;
direction = Vector3.ZERO;
angle = 0f;
time = new Timer();
///PrintAnimationName();
animationChanged = false;
animationName = "Walk";
LoadAnimation();
Console.WriteLine("Walking Animation!");
}
public override void Rotate(Radian yawAngle, Radian pitchAngle)
{
var xAxis = new Vector3();
var yAxis = new Vector3();
var zAxis = new Vector3();
Body.Orientation.ToAxes(out xAxis, out yAxis, out zAxis);
// var yaw = new Quaternion(yawAngle, Vector3.UNIT_Y);
// var pitch = new Quaternion(pitchAngle, xAxis);
var data = Body.UserData as PhysicsControlData;
data.Torque += (yAxis * yawAngle.ValueRadians + xAxis * pitchAngle.ValueRadians)/5.0f;
}
public void Shooting(FrameEvent evt)
{
radius = 0.01f;
direction = Vector3.ZERO;
angle = 0f;
time = new Timer();
animationChanged = false;
animationName = "Shoot";
LoadAnimation();
AnimationMesh(evt);
}
/// <summary>
/// This method set up all the field needed for animation
/// </summary>
private void AnimationSetup()
{
radius = 0.01f; //f = floating point number
direction = Vector3.ZERO; // 0 0 0
angle = 0f;
time = new Timer();
PrintAnimationNames();
animationChanged = false;
animationName = "Walk"; //animation name in the skeleton file
LoadAnimation();
}
private static void DrawSphericalJoint(SphericalJoint joint)
{
Vector3 target = GetAnchor(joint, JointBody.Target);
Vector3 anchor = GetAnchor(joint, JointBody.Anchor);
Vector3 center = target;
Rigidbody rigidbody = joint.GetBody(JointBody.Target);
if (rigidbody != null)
{
center = rigidbody.SceneObject.Position;
}
Gizmos.Color = Color.White;
Gizmos.DrawSphere(center, 0.05f);
Gizmos.Color = Color.Yellow;
Gizmos.DrawSphere(target, 0.05f);
Gizmos.DrawSphere(anchor, 0.05f);
Gizmos.Color = Color.Green;
Gizmos.DrawLine(target, center);
Gizmos.Color = Color.Green;
if (joint.HasFlag(SphericalJointFlag.Limit))
{
LimitConeRange limit = joint.Limit;
Radian zAngle = MathEx.Min(new Degree(360), limit.zLimitAngle * 2.0f);
Radian yAngle = MathEx.Min(new Degree(360), limit.yLimitAngle * 2.0f);
Gizmos.Transform = joint.SceneObject.WorldTransform;
Gizmos.DrawWireArc(Vector3.Zero, Vector3.ZAxis, 0.25f, zAngle * -0.5f + new Degree(90), zAngle);
Gizmos.DrawWireArc(Vector3.Zero, Vector3.YAxis, 0.25f, yAngle * -0.5f + new Degree(90), yAngle);
Gizmos.Color = Color.Red;
Radian remainingZAngle = new Degree(360) - zAngle;
Radian remainingYAngle = new Degree(360) - yAngle;
Gizmos.DrawWireArc(Vector3.Zero, Vector3.ZAxis, 0.25f, zAngle * 0.5f + new Degree(90), remainingZAngle);
Gizmos.DrawWireArc(Vector3.Zero, Vector3.YAxis, 0.25f, yAngle * 0.5f + new Degree(90), remainingYAngle);
}
else
{
Gizmos.Color = Color.Green;
Gizmos.Transform = joint.SceneObject.WorldTransform;
Gizmos.DrawWireDisc(Vector3.Zero, Vector3.ZAxis, 0.25f);
Gizmos.DrawWireDisc(Vector3.Zero, Vector3.YAxis, 0.25f);
}
}
/// Builds the shape
public Shape realizeShape()
{
Radian alpha = Math.ACos((mLengthB * mLengthB + mLengthC * mLengthC - mLengthA * mLengthA) / (2 * mLengthB * mLengthC));
Shape s = new Shape();
s.addPoint(0.0f, 0.0f);
s.addPoint(Math.Cos(alpha) * mLengthB, Math.Sin(alpha) * mLengthB);
s.addPoint(mLengthC, 0.0f);
s.close();
s.translate((Math.Cos(alpha) * mLengthB + mLengthC) / -3.0f, mLengthB / -3.0f);
return(s);
}
private void AnimationSetup()
{
radius = 0.01f;
direction = Vector3.ZERO;
angle = 0f;
#region Part2: Uncomment for Part 3 of Lab 2
time = new Timer();
PrintAnimationNames();
animationChanged = false;
animationName = "Walk";
LoadAnimation();
#endregion
}
// NH & KEEN - reworked the homing function for better accuracy
private void MomentaryTurnToPositionUpdate(Vec3 turnToPosition)
{
if (targetBody != null)
{
turnToPosition = targetBody.Position;
if (targetShape != null)
{
turnToPosition += (targetShape.Position * targetBody.Rotation);
}
if (Type.HomingPrediction > 0.0f)
{
float flyTime = (turnToPosition - Position).Length() / Type.Velocity;
turnToPosition += targetBody.LinearVelocity * flyTime * Type.HomingPrediction;
}
}
Vec3 diff = (turnToPosition - Position);
Degree horizontalAngle = new Radian(-MathFunctions.ATan(diff.Y, diff.X)).InDegrees();
Degree verticalAngle = new Radian(MathFunctions.ATan(diff.Z, diff.ToVec2().Length())).InDegrees();
Quat collisionRotation = new Angles(0, 0, horizontalAngle).ToQuat();
collisionRotation *= new Angles(0, verticalAngle, 0).ToQuat();
Radian targetAngle = Quat.GetAngle(Rotation, collisionRotation);
float PI = (float)Math.PI;
if (targetAngle > PI)
{
targetAngle = (2 * PI) - targetAngle;
}
Radian maxTurnAbility = Type.HomingCorrection.InRadians() * TickDelta;
if (targetAngle > maxTurnAbility)
{
float relativeCorrection = maxTurnAbility / targetAngle;
Rotation = Quat.Slerp(Rotation, collisionRotation, relativeCorrection);
}
else
{
Rotation = collisionRotation;
}
}
static Quaternion GlobalEulerToQuat(Radian rotX, Radian rotY, Radian rotZ)
{
Quaternion q1 = new Quaternion(),
q2 = new Quaternion(),
q3 = new Quaternion(),
q = new Quaternion();
q1.FromAngleAxis(rotX, Vector3.UNIT_X);
q2.FromAngleAxis(rotY, Vector3.UNIT_Y);
q3.FromAngleAxis(rotZ, Vector3.UNIT_Z);
// global axes
q = q3 * q2 * q1;
return q;
}
public void Radian_Constructor_Test()
{
var r = new Radian();
Assert.AreEqual(0.0f, r.Value);
r = new Radian(3.14f);
Assert.AreEqual(3.14f, r.Value);
var r2 = new Radian(r);
Assert.AreEqual(r.Value, r2.Value);
var r3 = r;
Assert.AreEqual(r.Value, r3.Value);
}
public override void Rotate(Radian yawAngle, Radian pitchAngle)
{
var xAxis = new Vector3();
var yAxis = new Vector3();
var zAxis = new Vector3();
Body.Orientation.ToAxes(out xAxis, out yAxis, out zAxis);
// var yaw = new Quaternion(yawAngle, Vector3.UNIT_Y);
// var pitch = new Quaternion(pitchAngle, xAxis);
var data = Body.UserData as PhysicsControlData;
data.Torque += (yAxis * yawAngle.ValueRadians + xAxis * pitchAngle.ValueRadians) / 5.0f;
}
public void PlaneAngleUnits()
{
Cycles cycles = (Cycles)1.0;
Radian radians = (Radian)cycles;
Degree degrees = (Degree)radians;
Grad grads = (Grad)degrees;
cycles = (Cycles)grads;
Assert.AreEqual((Radian)(2.0 * Math.PI), radians, "Cycles-to-Radian conversion failed");
Assert.AreEqual((Degree)360.0, degrees, "Radian-to-Degree conversion failed");
Assert.AreEqual((Grad)400.0, grads, "Degree-to-Grad conversion failed");
Assert.AreEqual((Cycles)1.0, cycles, "Grad-to-Cycles conversion failed");
}
void Server_TickSendWeaponVerticalAngleToClients()
{
Vec3 diff = TurnToPosition - Position;
float angle = -MathFunctions.ATan(diff.Z, diff.ToVec2().Length());
MathFunctions.Clamp(ref angle, -MathFunctions.PI / 2, MathFunctions.PI / 2);
if (Math.Abs(server_sentWeaponVerticalAngle - angle) > .01f)
{
Server_SendWeaponVerticalAngleToClients(EntitySystemWorld.Instance.RemoteEntityWorlds,
angle);
server_sentWeaponVerticalAngle = angle;
}
}
public void PanGestureDetectorClearAngles()
{
tlog.Debug(tag, $"PanGestureDetectorClearAngles START");
PanGestureDetector a1 = new PanGestureDetector();
Radian angle = new Radian(4);
a1.AddAngle(angle);
a1.ClearAngles();
tlog.Debug(tag, $"PanGestureDetectorClearAngles END (OK)");
Assert.Pass("PanGestureDetectorClearAngles");
}
void SnapAngle(ref Radian angle)
{
//snapping
Degree snapDegree = Owner.GetSnapRotate();
if (snapDegree != 0)
{
Radian snap = snapDegree.InRadians();
angle += snap / 2;
angle /= snap;
angle = (int)angle;
angle *= snap;
}
}
public void PanGestureDetectorRemoveDirection()
{
tlog.Debug(tag, $"PanGestureDetectorRemoveDirection START");
PanGestureDetector a1 = new PanGestureDetector();
Radian angle = new Radian(4);
a1.AddDirection(angle);
a1.RemoveDirection(angle);
tlog.Debug(tag, $"PanGestureDetectorRemoveDirection END (OK)");
Assert.Pass("PanGestureDetectorClearAngles");
}
public NodeAnimation(List <SceneNode> nodes, float animationDuration, string name, Radian cycleLength)
{
if (animationDuration <= 0)
{
animationDuration = 1;
}
this.nodes = nodes;
duration = animationDuration;
this.name = name;
this.cycleLength = cycleLength;
amplitudeAtEnd = animationFunction((float)cycleLength.ValueRadians);
amplitudeAtStart = animationFunction(0);
}
public static PointF2D[] RotateAroundPoint(Radian angle, PointF2D center, PointF2D[] points)
{
double num1 = System.Math.Sin(angle.Value);
double num2 = System.Math.Cos(angle.Value);
PointF2D[] pointF2DArray = new PointF2D[points.Length];
for (int index = 0; index < points.Length; ++index)
{
double x = center[0] + (num2 * (points[index][0] - center[0]) + num1 * (points[index][1] - center[1]));
double y = center[1] + (-num1 * (points[index][0] - center[0]) + num2 * (points[index][1] - center[1]));
pointF2DArray[index] = new PointF2D(x, y);
}
return(pointF2DArray);
}
/// <summary>
/// Converts euler angles to quaternion
/// </summary>
/// <param name="YAngle">Yaw-Angle</param>
/// <param name="XAngle">Pitch-Angle</param>
/// <param name="ZAngle">Roll-Angle</param>
/// <returns>orientation</returns>
private Quaternion EulerAnglesToQuaternion(Degree YAngle, Degree XAngle, Degree ZAngle)
{
Radian radToYaw = new Radian(YAngle);
Radian radToPitch = new Radian(XAngle);
Radian radToRoll = new Radian(ZAngle);
Quaternion orientation = Quaternion.IDENTITY;
orientation *= new Quaternion(radToYaw, Vector3.UNIT_Y);
orientation *= new Quaternion(radToPitch, Vector3.UNIT_X);
orientation *= new Quaternion(radToRoll, Vector3.UNIT_Z);
return(orientation);
}
public void PanGestureDetectorGetAngleCount()
{
tlog.Debug(tag, $"PanGestureDetectorGetAngleCount START");
PanGestureDetector a1 = new PanGestureDetector();
Radian angle = new Radian(4);
a1.AddAngle(angle);
a1.GetAngleCount();
tlog.Debug(tag, $"PanGestureDetectorGetAngleCount END (OK)");
Assert.Pass("PanGestureDetectorAddDirection");
}
public override object ConvertFromInvariantString(string value)
{
// public Rotation(Radian radian(float), Vector3 vector3)
// Default: <View Orientation="45.0,12,13,0" />
// Oritation="D:23, 0, 0, 1"
// Oritation="R:23, 0, 0, 1"
if (value != null)
{
string[] parts = value.Split(',');
if (parts.Length == 4)
{
bool useDefault = true;
Radian radian = null;
string[] head = parts[0].Trim().Split(':');
if (head.Length == 2)
{
useDefault = false;
string radianOrDegree = head[0].Trim().ToUpperInvariant();
if (radianOrDegree == "D" || radianOrDegree == "DEGREE")
{
// Oritation="D:23, 0, 0, 1"
radian = new Radian(new Degree(Single.Parse(head[1].Trim(), CultureInfo.InvariantCulture)));
}
else if (radianOrDegree == "R" || radianOrDegree == "RADIAN")
{
// Oritation="R:23, 0, 0, 1"
radian = new Radian(Single.Parse(head[1].Trim(), CultureInfo.InvariantCulture));
}
else
{
throw new InvalidOperationException($"Cannot convert the first parameter \"{value}\" into Radian of {typeof(Rotation)}");
}
}
if (useDefault)
{
// Default: <View Orientation="45.0,12,13,0" />
radian = new Radian(Single.Parse(parts[0].Trim(), CultureInfo.InvariantCulture));
}
Vector3 vector3 = new Vector3(Single.Parse(parts[1].Trim(), CultureInfo.InvariantCulture),
Single.Parse(parts[2].Trim(), CultureInfo.InvariantCulture),
Single.Parse(parts[3].Trim(), CultureInfo.InvariantCulture));
return(new Rotation(radian, vector3));
}
}
throw new InvalidOperationException($"Cannot convert \"{value}\" into {typeof(Rotation)}");
}
public override Radian GetAngle()
{
if (joint.jointID == IntPtr.Zero)
{
return(0);
}
Radian value = Ode.dJointGetAMotorAngle(joint.aMotorID, index - 1);
if (joint.Body1.Static)
{
value = -value;
}
return(value);
}
public Kart(ThingBlock block, ThingDefinition def)
: base(block, def)
{
DefaultMaxSpeed = MaxSpeed = def.GetFloatProperty("maxspeed", 180f);
MaxReverseSpeed = def.GetFloatProperty("maxreversespeed", 4f);
MaxSpeedSquared = MaxSpeed * MaxSpeed;
MaxReverseSpeedSquared = MaxReverseSpeed * MaxReverseSpeed;
IsInAir = false;
FrontDriftAngle = new Degree(def.GetFloatProperty("FrontDriftAngle", 46)).ValueRadians;
BackDriftAngle = new Degree(def.GetFloatProperty("BackDriftAngle", 55)).ValueRadians;
DriftTransitionAngle = new Degree(def.GetFloatProperty("DriftTransitionAngle", 40));
}
/// <summary>
/// Rotates a set of points around another around point with a given angle clockwise.
/// </summary>
/// <returns>The around point.</returns>
/// <param name="angle">Angle.</param>
/// <param name="center">Center.</param>
/// <param name="points">Points.</param>
public static PointF2D[] RotateAroundPoint(Radian angle, PointF2D center, PointF2D[] points)
{
double sin = System.Math.Sin(angle.Value);
double cos = System.Math.Cos(angle.Value);
PointF2D[] rotated = new PointF2D[points.Length];
for (int idx = 0; idx < points.Length; idx++)
{
double newX = center [0] + (cos * (points[idx] [0] - center[0]) + sin * (points[idx] [1] - center [1]));
double newY = center [1] + (-sin * (points[idx] [0] - center[0]) + cos * (points[idx] [1] - center [1]));
rotated[idx] = new PointF2D(newX, newY);
}
return(rotated);
}
public void DegreeConstructorWithRadian()
{
tlog.Debug(tag, $"DegreeConstructorWithRadian START");
using (Radian radian = new Radian(1.0f))
{
var testingTarget = new Degree(radian);
Assert.IsNotNull(testingTarget, "null handle");
Assert.IsInstanceOf <Degree>(testingTarget, "Should return Degree instance.");
testingTarget.Dispose();
}
tlog.Debug(tag, $"DegreeConstructorWithRadian END (OK)");
}
public void RadianValue()
{
tlog.Debug(tag, $"RadianValue START");
var testingTarget = new Radian(10.0f);
Assert.IsNotNull(testingTarget, "null handle");
Assert.IsInstanceOf <Radian>(testingTarget, "Should return Radian instance.");
testingTarget.Value = 30.0f;
Assert.AreEqual(30.0f, testingTarget.Value, "radian function does not work, return error value");
testingTarget.Dispose();
tlog.Debug(tag, $"RadianValue END (OK)");
}
public Meter DistanceReal(GeoCoordinate point)
{
Meter meter = (Meter)6371000.0;
Radian radian1 = (Radian) new Degree(this.Latitude);
Radian radian2 = (Radian) new Degree(this.Longitude);
Radian radian3 = (Radian) new Degree(point.Latitude);
Radian radian4 = (Radian) new Degree(point.Longitude);
double num1 = (radian3 - radian1).Value;
Radian radian5 = radian2;
double num2 = (radian4 - radian5).Value;
double d = System.Math.Pow(System.Math.Sin(num1 / 2.0), 2.0) + System.Math.Cos(radian1.Value) * System.Math.Cos(radian3.Value) * System.Math.Pow(System.Math.Sin(num2 / 2.0), 2.0);
double num3 = 2.0 * System.Math.Atan2(System.Math.Sqrt(d), System.Math.Sqrt(1.0 - d));
return((Meter)(meter.Value * num3));
}
public void RadianConstructorWithDegree()
{
tlog.Debug(tag, $"RadianConstructorWithDegree START");
using (Degree degree = new Degree())
{
var testingTarget = new Radian(degree);
Assert.IsNotNull(testingTarget, "null handle");
Assert.IsInstanceOf <Radian>(testingTarget, "Should return Radian instance.");
testingTarget.Dispose();
}
tlog.Debug(tag, $"RadianConstructorWithDegree END (OK)");
}
public void SetLookDirection(Vec3 pos)
{
Vec2 diff = pos.ToVec2() - Position.ToVec2();
if (diff == Vec2.Zero)
{
return;
}
Radian dir = MathFunctions.ATan16(diff.Y, diff.X);
float halfAngle = dir * 0.5f;
Quat rot = new Quat(new Vec3(0, 0, MathFunctions.Sin16(halfAngle)), MathFunctions.Cos16(halfAngle));
Rotation = rot;
}
public PolarPoint <TRadius, TAngle> ToPolar <TRadius, TAngle>(AngleRange range)
where TRadius : LinearUnit, new()
where TAngle : AngularUnit, new()
{
TRadius radius = new TRadius();
double tempX = this.X.ChangeTo <TRadius>().Value;
double tempY = this.Y.ChangeTo <TRadius>().Value;
radius.Value = Math.Sqrt(tempX * tempX + tempY * tempY);
Radian angle = new Radian(Math.Atan2(tempY, tempX), range); //use tempX and tempY
return(new PolarPoint <TRadius, TAngle>(radius, angle.ChangeTo <TAngle>())); //do not need to cast!
}
public void PanGestureDetectorAddDirection()
{
tlog.Debug(tag, $"PanGestureDetectorAddDirection START");
PanGestureDetector a1 = new PanGestureDetector();
Radian angle = new Radian(4);
Radian threshold = new Radian(15);
a1.AddDirection(angle);
a1.AddDirection(angle, threshold);
tlog.Debug(tag, $"PanGestureDetectorAddDirection END (OK)");
Assert.Pass("PanGestureDetectorAddDirection");
}
public void Radian_Operators_Test()
{
Assert.AreEqual(new Radian(1.0f), +new Radian(1.0f));
Assert.AreEqual(new Radian(3.0f), new Radian(1.0f) + new Radian(2.0f));
Assert.AreEqual(new Radian(-1.0f), -new Radian(1.0f));
Assert.AreEqual(new Radian(-1.0f), new Radian(1.0f) - new Radian(2.0f));
Assert.AreEqual(new Radian(3.0f), new Radian(1.0f) * 3);
Assert.AreEqual(new Radian(3.0f), 3 * new Radian(1.0f));
Assert.AreEqual(new Radian(3.0f), new Radian(1.0f) * new Radian(3.0f));
Assert.AreEqual(new Radian(1.5f), new Radian(3.0f) / 2);
Radian r1 = new Radian(1.0f);
Assert.AreEqual(new Radian(3.0f), r1 += new Radian(2.0f));
Assert.AreEqual(new Radian(2.0f), r1 -= new Radian(1.0f));
Assert.AreEqual(new Radian(4.0f), r1 *= 2);
Assert.AreEqual(new Radian(2.0f), r1 /= 2);
}
public OrbitalCameraMode(CameraControlSystem cam, Radian initialHorizontalRotation,
Radian initialVerticalRotation, float initialZoom = 1
, bool resetToInitialPosition = true, float collisionmargin = 0.1f)
: base(cam, Vector3.ZERO, new Radian(0), new Radian(0), new Radian(0), collisionmargin)
{
_zoomFactor = 1;
_rotationFactor = 0.13f;
_initialRotHorizontal = initialHorizontalRotation;
_initialRotVertical = initialVerticalRotation;
_initialZoom = initialZoom;
_zoom = initialZoom;
_rotHorizontal = 0;
_rotVertical = 0;
_zoomDisplacement = 0;
_resetToInitialPosition = resetToInitialPosition;
this.CameraTightness = 1;
}
public RTSCameraMode(CameraControlSystem cam, Vector3 initialPosition, Vector3 upAxis, Vector3 leftAxis, Radian cameraPitch, float minZoom = 0, float maxZoom = 0)
: base(cam)
{
_upAxis = upAxis.NormalisedCopy;
_leftAxis = leftAxis.NormalisedCopy;
_moveFactor = 1;
_cameraPitch = cameraPitch;
_minZoom = minZoom;
_maxZoom = maxZoom;
_zoom = 0;
_rotation = new Quaternion(cameraPitch, leftAxis);
_heightAxis = -upAxis.CrossProduct(leftAxis).NormalisedCopy;
CameraPosition = initialPosition;
_heightDisplacement = 0;
_lateralDisplacement = 0;
_verticalDisplacement = 0;
}
/// <summary>
///
/// </summary>
/// <param name="vc"></param>
/// <param name="height"></param>
/// <param name="radius"></param>
/// <param name="alpha"></param>
/// <param name="beta"></param>
/// <param name="numberOfBlocks"></param>
/// <param name="na"></param>
/// <param name="nb"></param>
/// <param name="nc"></param>
public GeometryManager(VClouds vc,
Vector2 height, float radius,
Radian alpha, Radian beta,
int numberOfBlocks, int na, int nb, int nc)
{
_vclouds = vc;
this.IsCreated = false;
_height = height;
_radius = radius;
_alpha = alpha;
_beta = beta;
_phie = Utility.TWO_PI / (float)numberOfBlocks;
_numberOfBlocks = numberOfBlocks;
_na = na;
_nb = nb;
_nc = nc;
_worldOffset = new Vector2(0, 0);
_lastCameraPosition = Vector3.ZERO;
}
public void Sprite_Transform_Test()
{
var sprite = CreateSprite();
Assert.AreEqual(Vector2.Zero, sprite.Position);
var newPos = new Vector2(1.0f, 2.0f);
sprite.Position = newPos;
Assert.AreEqual(newPos, sprite.Position);
Assert.AreEqual(new Vector2(1.0f, 1.0f), sprite.Scale);
var newScale = new Vector2(0.5f, 2.0f);
sprite.Scale = newScale;
Assert.AreEqual(newScale, sprite.Scale);
Assert.AreEqual(new Radian(0.0f), sprite.Rotation);
var newRotation = new Radian(MathUtils.PI);
sprite.Rotation = newRotation;
Assert.AreEqual(newRotation, sprite.Rotation);
}
public void Matrix3_CreateFromYawPitchRoll_Test()
{
Radian yaw = new Radian(MathUtils.PI / 6),
pitch = new Radian(MathUtils.PI / 5),
roll = new Radian(MathUtils.PI / 4);
var actual = Matrix3.CreateFromYawPitchRoll(yaw, pitch, roll);
float cos = MathUtils.Cos(new Radian(yaw));
float sin = MathUtils.Sin(new Radian(yaw));
var yMat = new Matrix3(cos, 0, -sin, 0, 1, 0, sin, 0, cos);
cos = MathUtils.Cos(new Radian(pitch));
sin = MathUtils.Sin(new Radian(pitch));
var xMat = new Matrix3(1, 0, 0, 0, cos, sin, 0, -sin, cos);
cos = MathUtils.Cos(new Radian(roll));
sin = MathUtils.Sin(new Radian(roll));
var zMat = new Matrix3(cos, sin, 0, -sin, cos, 0, 0, 0, 1);
Assert.AreEqual(zMat * xMat * yMat, actual);
}
//indexers
//explicit and implicit conversion
//just for the sake of programming
//Degree to Radian is implicit
//Radian to Degree is explicit
public void execute()
{
ClassA X = new ClassA();
X[3] = 10;
Debug.Log(X);
Radian x = new Radian();
x.value = Math.PI * 2;
Degree degree = (Degree)x;
Debug.Log(degree.value);
Degree degree360 = new Degree();
degree360.value = 360;
Radian radian360 = degree360;//implicit
Debug.Log(radian360.value);//2 Pi
}
public override void MakeProjectionMatrix(Radian fov, Real aspectRatio, Real near, Real far, out Matrix4 dest, bool forGpuProgram)
{
float theta = Utility.DegreesToRadians((float)fov * 0.5f);
float h = 1.0f / Utility.Tan(theta);
float w = h / aspectRatio;
float q, qn;
if (far == 0)
{
q = 1 - Frustum.InfiniteFarPlaneAdjust;
qn = near * (Frustum.InfiniteFarPlaneAdjust - 1);
}
else
{
q = far / (far - near);
qn = -q * near;
}
dest = Matrix4.Zero;
dest.m00 = w;
dest.m11 = h;
if (forGpuProgram)
{
dest.m22 = -q;
dest.m32 = -1.0f;
}
else
{
dest.m22 = q;
dest.m32 = 1.0f;
}
dest.m23 = qn;
}
