Atan2() public static method

public static Atan2 ( Fix y, Fix x ) : Fix
y Fix
x Fix
return Fix
コード例 #1
0
        //https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
        public static FixVec3 ToEuler(FixQuaternion q)
        {
            FixVec3 result;

            Fix t0 = 2 * (q.w * q.z + q.x * q.y);
            Fix t1 = Fix.One - (2 * (q.y * q.y + q.z * q.z));

            result._z = FixMath.Atan2(t0, t1);

            Fix t2 = 2 * (q.w * q.y - q.z * q.x);

            if (t2 >= Fix.One)
            {
                result._y = FixMath.PI / 2;
            }
            else if (t2 <= -Fix.One)
            {
                result._y = -(FixMath.PI / 2);
            }
            else
            {
                result._y = FixMath.Asin(t2);
            }

            Fix t3 = 2 * (q.w * q.x + q.y * q.z);
            Fix t4 = Fix.One - (2 * (q.x * q.x + q.y * q.y));

            result._x = FixMath.Atan2(t3, t4);
            return(result);
        }
コード例 #2
0
        //https://math.stackexchange.com/questions/2975109/how-to-convert-euler-angles-to-quaternions-and-get-the-same-euler-angles-back-fr
        public static FixVec3 ToEuler(FixQuaternion q)
        {
            FixVec3 result;

            Fix t0 = 2 * (q.w * q.z + q.x * q.y);
            Fix t1 = 1 - 2 * (q.y * q.y + q.z * q.z);

            result.z = FixMath.Atan2(t0, t1);

            Fix t2 = 2 * (q.w * q.y - q.z * q.x);

            if (FixMath.Abs(t2) >= Fix.one)
            {
                result.y = FixMath.PI / 2;
                //t2 = 1;
            }
            else if (t2 <= -Fix.one)
            {
                result.y = -(FixMath.PI / 2);
                //t2 = -1;
            }
            else
            {
                result.y = FixMath.Asin(t2);
            }

            Fix t3 = 2 * (q.w * q.x + q.y * q.z);
            Fix t4 = 1 - 2 * (q.x * q.x + q.y * q.y);

            result.x = FixMath.Atan2(t3, t4);
            return(result);
        }
コード例 #3
0
ファイル: FixTrans3.cs プロジェクト: Dream222222/2DFPhysics
        //https://gamedev.stackexchange.com/questions/50963/how-to-extract-euler-angles-from-transformation-matrix
        public FixVec3 EulerAngle()
        {
            FixVec3 ea = new FixVec3();

            ea.x = FixMath.Atan2(-m[1, 2], m[2, 2]);

            Fix cosYangle = FixMath.Sqrt(FixMath.Pow(m[0, 0], 2) + FixMath.Pow(m[0, 1], 2));

            ea.y = FixMath.Atan2(m[0, 2], cosYangle);

            Fix sinXangle = FixMath.Sin(ea.x);
            Fix cosXangle = FixMath.Cos(ea.x);

            ea.z = FixMath.Atan2((cosXangle * m[1, 0]) + (sinXangle * m[2, 0]), (cosXangle * m[1, 1]) + (sinXangle * m[2, 1]));
            return(ea);
        }