protected override void CreateSummons(int triggerIndex)
{
BuffData.Summon[][] summonss = this._buff.trigger.summons;
int index = summonss.Length - 1;
index = triggerIndex <= index ? triggerIndex : index;
BuffData.Summon[] summons = summonss[index];
Battle battle = this._buff.battle;
int count = summons.Length;
for (int i = 0; i < count; i++)
{
BuffData.Summon summon = summons[i];
Vec3 buffPos = this._buff.property.position;
float distance = battle.random.NextFloat(this._buff.radius - 0.5f, this._buff.radius + 0.5f);
Quat q = Quat.Euler(0f, battle.random.NextFloat(0f, 360f), 0f);
Vec3 offset = q * Vec3.right * distance;
offset.y = this._buff.caster.size.y * 0.5f;
FoxFire foxFire = battle.CreateBio <FoxFire>(summon.id, buffPos + offset, this._buff.property.direction, this._buff.caster.property.team);
foxFire.Setup(this._buff.property.lvl, this._buff.caster, distance);
}
}
public float angleWithDirection(Vector3 direction)
{
Vector3 myForward = Quat.Euler(rotation) * new Vector3(0, 0, 1);
Vector3 otherForward = direction;
var crossLen = myForward.Cross(otherForward).Length;
var dotVal = myForward.Dot(otherForward);
return(Mathf.Atan2(crossLen, dotVal));
}
public float angleBetweenForwards(NebulaTransform other)
{
Vector3 myForward = Quat.Euler(rotation) * new Vector3(0, 0, 1);
Vector3 otherForward = Quat.Euler(other.rotation) * new Vector3(0, 0, 1);
var crossLen = myForward.Cross(otherForward).Length;
var dotVal = myForward.Dot(otherForward);
return(Mathf.Atan2(crossLen, dotVal));
}
public void Matrix3()
{
FMat3 fm = FMat3.FromQuaternion(FQuat.Euler(( Fix64 )30, ( Fix64 )(-20), ( Fix64 )49.342f));
Mat3 m = Mat3.FromQuaternion(Quat.Euler(30, -20, 49.342f));
FVec3 fv = new FVec3(12.5f, 9, 8);
FVec3 fv2 = new FVec3(4, 6, 9);
Vec3 v = new Vec3(12.5f, 9, 8);
Vec3 v2 = new Vec3(4, 6, 9);
fv = fm.TransformPoint(fv);
fv2 = fm.TransformVector(fv2);
v = m.TransformPoint(v);
v2 = m.TransformVector(v2);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
this._output.WriteLine(fv.ToString());
this._output.WriteLine(fv2.ToString());
this._output.WriteLine(v.ToString());
this._output.WriteLine(v2.ToString());
fm = FMat3.LookAt(fv, fv2);
m = Mat3.LookAt(v, v2);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fv = fm.Euler();
v = m.Euler();
this._output.WriteLine(fv.ToString());
this._output.WriteLine(v.ToString());
fm = FMat3.FromEuler(fv);
m = Mat3.FromEuler(v);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat3.FromScale(fv);
m = Mat3.FromScale(v);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat3.FromCross(fv);
m = Mat3.FromCross(v);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat3.FromOuterProduct(fv, fv2);
m = Mat3.FromOuterProduct(v, v2);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat3.FromRotationAxis(( Fix64 )35, fv);
m = Mat3.FromRotationAxis(35, v);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat3.NonhomogeneousInverse(fm);
m = Mat3.NonhomogeneousInvert(m);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
}
internal void Setup(int lvl, Bio caster, float distance)
{
this.skills[0].ApplyLevel(lvl);
LFoxFireIdle idleAction = this.fsm[FSMStateType.Idle].GetAction <LFoxFireIdle>();
idleAction.caster = caster;
idleAction.distance = distance;
idleAction.angleSpeed = Quat.Euler(0f, this.battle.random.NextFloat(this.angleSpeed, this.angleSpeed2), 0f);
this._caster = caster;
this._caster.AddRef();
}
public void Matrix4()
{
FMat4 fm = FMat4.FromQuaternion(FQuat.Euler(( Fix64 )30, ( Fix64 )(-20), ( Fix64 )49.342f));
Mat4 m = Mat4.FromQuaternion(Quat.Euler(30, -20, 49.342f));
FVec3 fv = new FVec3(12.5f, 9, 8);
FVec3 fv2 = new FVec3(4, 6, 9);
Vec3 v = new Vec3(12.5f, 9, 8);
Vec3 v2 = new Vec3(4, 6, 9);
fv = fm.TransformPoint(fv);
fv2 = fm.TransformVector(fv2);
v = m.TransformPoint(v);
v2 = m.TransformVector(v2);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
this._output.WriteLine(fv.ToString());
this._output.WriteLine(fv2.ToString());
this._output.WriteLine(v.ToString());
this._output.WriteLine(v2.ToString());
fm = FMat4.FromEuler(fv);
m = Mat4.FromEuler(v);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat4.FromScale(fv);
m = Mat4.FromScale(v);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat4.FromRotationAxis(( Fix64 )35, fv);
m = Mat4.FromRotationAxis(35, v);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat4.NonhomogeneousInverse(fm);
m = Mat4.NonhomogeneousInvert(m);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat4.FromTRS(new FVec3(4, 5, 6), FQuat.identity, FVec3.one);
m = Mat4.FromTRS(new Vec3(4, 5, 6), Quat.identity, Vec3.one);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat4.NonhomogeneousInverse(fm);
m = Mat4.NonhomogeneousInvert(m);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fv = fm.TransformPoint(fv);
v = m.TransformPoint(v);
this._output.WriteLine(fv.ToString());
this._output.WriteLine(v.ToString());
}
public void MTest()
{
var m = Mat4.FromTRS(new Vec3(1, -2, 3), Quat.Euler(new Vec3(90, 0, 0)), new Vec3(2, 3, 4));
this.Log(m.ToString());
m.Invert();
this.Log(m);
this.Log(m.TransformPoint(new Vec3(1, 0, -1)));
var m2 = Mat4.FromRotationAxis(-43, Vec3.Normalize(new Vec3(3, 2, 4)));
this.Log(m2);
var m3 = m2 * m;
this.Log(m3);
//var m4 = Mat3.FromOuterProduct( new Vec3( 1, -2, 3 ), new Vec3( 93, 44, 32 ) );
//var m5 = Mat3.FromCross( new Vec3( 2.5f, 3, 4 ) );
//var m6 = m4 * m5;
//m6 = m6.RotateAround( 33, new Vec3( 2, 3, 4 ) );
//this.Log( m6 );
}
public void RotateTowards(Vector3 direction, float rotationValue)
{
rotation = Quat.Slerp(Quat.Euler(rotation), Quat.LookRotation(direction), rotationValue).eulerAngles;
}
public void Quat4()
{
FQuat fq = FQuat.Euler(( Fix64 )45, ( Fix64 )(-23), ( Fix64 )(-48.88));
FQuat fq2 = FQuat.Euler(( Fix64 )23, ( Fix64 )(-78), ( Fix64 )(-132.43f));
Quat q = Quat.Euler(45, -23, -48.88f);
Quat q2 = Quat.Euler(23, -78, -132.43f);
FVec3 fv = new FVec3(12.5f, 9, 8);
FVec3 fv2 = new FVec3(1, 0, 0);
Vec3 v = new Vec3(12.5f, 9, 8);
Vec3 v2 = new Vec3(1, 0, 0);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
this._output.WriteLine(fq2.ToString());
this._output.WriteLine(q2.ToString());
Fix64 fa = FQuat.Angle(fq, fq2);
float a = Quat.Angle(q, q2);
this._output.WriteLine(fa.ToString());
this._output.WriteLine(a.ToString());
fq = FQuat.AngleAxis(( Fix64 )(-123.324), fv);
q = Quat.AngleAxis(-123.324f, v);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fa = FQuat.Dot(fq, fq2);
a = Quat.Dot(q, q2);
this._output.WriteLine(fa.ToString());
this._output.WriteLine(a.ToString());
fq = FQuat.FromToRotation(FVec3.Normalize(fv), fv2);
q = Quat.FromToRotation(Vec3.Normalize(v), v2);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq = FQuat.Lerp(fq, fq2, ( Fix64 )0.66);
q = Quat.Lerp(q, q2, 0.66f);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq = FQuat.Normalize(fq);
q.Normalize();
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq.Inverse();
q = Quat.Inverse(q);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fv = FQuat.Orthogonal(fv);
v = Quat.Orthogonal(v);
this._output.WriteLine(fv.ToString());
this._output.WriteLine(v.ToString());
fq = FQuat.Slerp(fq, fq2, ( Fix64 )0.66);
q = Quat.Slerp(q, q2, 0.66f);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq = FQuat.LookRotation(FVec3.Normalize(fv), fv2);
q = Quat.LookRotation(Vec3.Normalize(v), v2);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq.ToAngleAxis(out fa, out fv);
q.ToAngleAxis(out a, out v);
this._output.WriteLine(fa.ToString());
this._output.WriteLine(a.ToString());
this._output.WriteLine(fv.ToString());
this._output.WriteLine(v.ToString());
fq = fq.Conjugate();
q = q.Conjugate();
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq.SetLookRotation(FVec3.Normalize(fv), fv2);
q.SetLookRotation(Vec3.Normalize(v), v2);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
}
public Quat ComputeRotation(Vector3 direction, float rotationSpeed, float deltaTime)
{
var newRot = Quat.Slerp(Quat.Euler(transform.rotation), Quat.LookRotation(direction), Mathf.Clamp(rotationSpeed * deltaTime, 0, 1.3f));
return(newRot);
}
protected Quat ComputeRotation(Vector3 direction, float rotationSpeed, float deltaTime)
{
var newRot = (mAlignWithForwardDirection) ? Quat.Slerp(Quat.Euler(transform.rotation), Quat.LookRotation(direction), rotationSpeed * deltaTime) : Quat.Euler(transform.rotation);
return(newRot);
}
// ApplyBoneOrientationConstraints and constrain rotations.
public void Constrain(ref Matrix4x4[] jointOrientations, ref bool[] jointTracked)
{
// Constraints are defined as a vector with respect to the parent bone vector, and a constraint angle,
// which is the maximum angle with respect to the constraint axis that the bone can move through.
// Calculate constraint values. 0.0-1.0 means the bone is within the constraint cone. Greater than 1.0 means
// it lies outside the constraint cone.
for (int i = 0; i < this.jointConstraints.Count; i++)
{
BoneOrientationConstraint jc = this.jointConstraints[i];
if (!jointTracked[i] || jc.joint == (int)NuiSkeletonPositionIndex.HipCenter)
{
// End joint is not tracked or Hip Center has no parent to perform this calculation with.
continue;
}
// If the joint has a parent, constrain the bone direction to be within the constraint cone
int parentIdx = GetSkeletonJointParent(jc.joint);
// Local bone orientation relative to parent
Matrix4x4 localOrientationMatrix = Invert(jointOrientations[parentIdx]) * jointOrientations[jc.joint];
Vector3 localOrientationZ = (Vector3)localOrientationMatrix.GetColumn(2);
Vector3 localOrientationY = (Vector3)localOrientationMatrix.GetColumn(1);
if (localOrientationZ == Vector3.zero || localOrientationY == Vector3.zero)
{
continue;
}
Quat localRotation = Quat.LookRotation(localOrientationZ, localOrientationY);
Vector3 eulerAngles = localRotation.eulerAngles;
bool isConstrained = false;
//Matrix4x4 globalOrientationMatrix = jointOrientations[jc.joint];
//Quaternion globalRotation = Quaternion.LookRotation(globalOrientationMatrix.GetColumn(2), globalOrientationMatrix.GetColumn(1));
for (int a = 0; a < jc.axisConstrainrs.Count; a++)
{
AxisOrientationConstraint ac = jc.axisConstrainrs[a];
Quat axisRotation = Quat.AngleAxis(localRotation.eulerAngles[ac.axis], ac.rotateAround);
//Quaternion axisRotation = Quaternion.AngleAxis(globalRotation.eulerAngles[ac.axis], ac.rotateAround);
float angleFromMin = Quat.Angle(axisRotation, quatToQuat2(ac.minQuaternion));
float angleFromMax = Quat.Angle(axisRotation, quatToQuat2(ac.maxQuaternion));
if (!(angleFromMin <= ac.angleRange && angleFromMax <= ac.angleRange))
{
// Keep the current rotations around other axes and only
// correct the axis that has fallen out of range.
//Vector3 euler = globalRotation.eulerAngles;
if (angleFromMin > angleFromMax)
{
eulerAngles[ac.axis] = ac.angleMax;
}
else
{
eulerAngles[ac.axis] = ac.angleMin;
}
isConstrained = true;
}
}
if (isConstrained)
{
Quat constrainedRotation = Quat.Euler(eulerAngles);
// Put it back into the bone orientations
localOrientationMatrix = Transform(localOrientationMatrix, quatToQuat(constrainedRotation));
jointOrientations[jc.joint] = jointOrientations[parentIdx] * localOrientationMatrix;
//globalOrientationMatrix.SetTRS(Vector3.zero, constrainedRotation, Vector3.one);
//jointOrientations[jc.joint] = globalOrientationMatrix;
switch (jc.joint)
{
case (int)NuiSkeletonPositionIndex.ShoulderCenter:
jointOrientations[(int)NuiSkeletonPositionIndex.Head] = jointOrientations[jc.joint];
break;
case (int)NuiSkeletonPositionIndex.WristLeft:
jointOrientations[(int)NuiSkeletonPositionIndex.HandLeft] = jointOrientations[jc.joint];
break;
case (int)NuiSkeletonPositionIndex.WristRight:
jointOrientations[(int)NuiSkeletonPositionIndex.HandRight] = jointOrientations[jc.joint];
break;
case (int)NuiSkeletonPositionIndex.AnkleLeft:
jointOrientations[(int)NuiSkeletonPositionIndex.FootLeft] = jointOrientations[jc.joint];
break;
case (int)NuiSkeletonPositionIndex.AnkleRight:
jointOrientations[(int)NuiSkeletonPositionIndex.FootRight] = jointOrientations[jc.joint];
break;
}
}
// globalRotation = Quaternion.LookRotation(globalOrientationMatrix.GetColumn(2), globalOrientationMatrix.GetColumn(1));
// string stringToDebug = string.Format("{0}, {2}", (KinectWrapper.NuiSkeletonPositionIndex)jc.joint,
// globalRotation.eulerAngles, localRotation.eulerAngles);
// Debug.Log(stringToDebug);
//
// if(debugText != null)
// debugText.guiText.text = stringToDebug;
}
}