|
public FromAxisAngle ( |
||
| axis | Axis of rotation | |
| angle | float | Angle of rotation |
| return | void | |
public void Rotate(float angle, Vector3f rotationAxis)
{
Quaternionf q = new Quaternionf();
q.FromAxisAngle(rotationAxis, angle);
Rotate(q);
}
public void Yaw(float angle)
{
Quaternionf q = new Quaternionf();
q.FromAxisAngle(zAxis, angle);
Matrix4f m = new Matrix4f();
m.FromQuaternion(q);
Rotate(m);
if (!xAxis.IsFinite() || !yAxis.IsFinite())
throw new Exception("Non-finite in CoordinateFrame.Yaw()");
}
protected void InterpolationTimer_Elapsed(object obj)
{
if (Client.Network.Connected)
{
int interval = Environment.TickCount - Client.Self.lastInterpolation;
float seconds = (float)interval / 1000f;
// Iterate through all of the simulators
lock (Client.Network.Simulators)
{
for (int i = 0; i < Client.Network.Simulators.Count; i++)
{
float adjSeconds = seconds * Client.Network.Simulators[i].Stats.Dilation;
// Iterate through all of this sims avatars
Client.Network.Simulators[i].ObjectsAvatars.ForEach(
delegate(Avatar avatar)
{
#region Linear Motion
// Only do movement interpolation (extrapolation) when there is a non-zero velocity but
// no acceleration
if (avatar.Acceleration != Vector3f.Zero && avatar.Velocity == Vector3f.Zero)
{
avatar.Position += (avatar.Velocity + avatar.Acceleration *
(0.5f * (adjSeconds - HAVOK_TIMESTEP))) * adjSeconds;
avatar.Velocity += avatar.Acceleration * adjSeconds;
}
#endregion Linear Motion
}
);
// Iterate through all of this sims primitives
Client.Network.Simulators[i].ObjectsPrimitives.ForEach(
delegate(Primitive prim)
{
if (prim.Joint == JointType.Invalid)
{
#region Angular Velocity
Vector3f angVel = prim.AngularVelocity;
float omega = angVel.LengthSquared();
if (omega > 0.00001f)
{
omega = (float)Math.Sqrt(omega);
float angle = omega * adjSeconds;
angVel *= 1.0f / omega;
Quaternionf dQ = new Quaternionf();
dQ.FromAxisAngle(angVel, angle);
prim.Rotation *= dQ;
}
#endregion Angular Velocity
#region Linear Motion
// Only do movement interpolation (extrapolation) when there is a non-zero velocity but
// no acceleration
if (prim.Acceleration != Vector3f.Zero && prim.Velocity == Vector3f.Zero)
{
prim.Position += (prim.Velocity + prim.Acceleration *
(0.5f * (adjSeconds - HAVOK_TIMESTEP))) * adjSeconds;
prim.Velocity += prim.Acceleration * adjSeconds;
}
#endregion Linear Motion
}
else if (prim.Joint == JointType.Hinge)
{
//FIXME: Hinge movement extrapolation
}
else if (prim.Joint == JointType.Point)
{
//FIXME: Point movement extrapolation
}
else
{
Logger.Log("Unhandled joint type " + prim.Joint, Helpers.LogLevel.Warning, Client);
}
}
);
}
}
// Make sure the last interpolated time is always updated
Client.Self.lastInterpolation = Environment.TickCount;
}
}
