| public static Normalize ( quaternion ) : Quaternion | ||
| quaternion | Quaternion to normalize. | |
| 리턴 | Quaternion | |
/// <summary>
/// Lerps a rotation by time.
/// </summary>
/// <param name="aTime">The time.</param>
/// <returns>The rotation.</returns>
public BEPUutilities.Quaternion LerpRotate(double aTime)
{
if (Rotations.Count == 0)
{
return(BEPUutilities.Quaternion.Identity);
}
if (Rotations.Count == 1)
{
return(Rotations[0]);
}
int index = FindRotate(aTime);
int nextIndex = index + 1;
if (nextIndex >= Rotations.Count)
{
return(Rotations[0]);
}
double deltaT = RotTimes[nextIndex] - RotTimes[index];
double factor = (aTime - RotTimes[index]) / deltaT;
if (factor < 0 || factor > 1)
{
return(Rotations[0]);
}
BEPUutilities.Quaternion start = Rotations[index];
BEPUutilities.Quaternion end = Rotations[nextIndex];
BEPUutilities.Quaternion res = BEPUutilities.Quaternion.Slerp(start, end, (double)factor);
res.Normalize();
return(res);
}
/// <summary>
/// Get the angle around an axis for a specific quaternion.
/// </summary>
/// <param name="rotation">The quaternion.</param>
/// <param name="axis">The relative axis.</param>
/// <returns>The angle.</returns>
public static double AxisAngleFor(this BEPUutilities.Quaternion rotation, Vector3 axis)
{
Vector3 ra = new Vector3(rotation.X, rotation.Y, rotation.Z);
Vector3 p = Utilities.Project(ra, axis);
BEPUutilities.Quaternion twist = new BEPUutilities.Quaternion(p.X, p.Y, p.Z, rotation.W);
twist.Normalize();
Vector3 new_forward = BEPUutilities.Quaternion.Transform(Vector3.UnitX, twist);
return(Utilities.VectorToAngles(new Location(new_forward)).Yaw *Math.PI / 180.0);
}
public override void ExclusiveUpdate()
{
if (Plane.PlanePilot == null)
{
return; // Don't fly when there's nobody driving this!
}
// TODO: Special case for motion on land: only push forward if W key is pressed? Or maybe apply that rule in general?
// Collect the plane's relative vectors
BEPUutilities.Vector3 forward = BEPUutilities.Quaternion.Transform(BEPUutilities.Vector3.UnitY, Entity.Orientation);
BEPUutilities.Vector3 side = BEPUutilities.Quaternion.Transform(BEPUutilities.Vector3.UnitX, Entity.Orientation);
BEPUutilities.Vector3 up = BEPUutilities.Quaternion.Transform(BEPUutilities.Vector3.UnitZ, Entity.Orientation);
// Engines!
if (Plane.PlanePilot.SprintOrWalk >= 0.0)
{
BEPUutilities.Vector3 force = forward * (Plane.PlaneRegularStrength + Plane.PlaneFastStrength) * Delta;
entity.ApplyLinearImpulse(ref force);
}
double dotforw = BEPUutilities.Vector3.Dot(entity.LinearVelocity, forward);
entity.ApplyImpulse(side * 5 + entity.Position, up * -Plane.PlanePilot.XMove * entity.Mass * dotforw * 0.5 * Delta);
entity.ApplyImpulse(forward * 5 + entity.Position, side * ((Plane.PlanePilot.ItemRight ? 1 : 0) + (Plane.PlanePilot.ItemLeft ? -1 : 0)) * entity.Mass * dotforw * 0.5 * Delta);
entity.ApplyImpulse(forward * 5 + entity.Position, up * Plane.PlanePilot.YMove * entity.Mass * 0.5 * Delta * dotforw);
// Rotate the entity pre-emptively, and re-apply the movement velocity in this new direction!
double vellen = entity.LinearVelocity.Length();
BEPUutilities.Vector3 normvel = entity.LinearVelocity / vellen;
BEPUutilities.Vector3 norm_vel_transf = BEPUutilities.Quaternion.Transform(normvel, BEPUutilities.Quaternion.Inverse(entity.Orientation)); // Probably just 1,0,0 on whichever axis... can be simplified!
BEPUutilities.Vector3 inc = entity.AngularVelocity * Delta * 0.5;
BEPUutilities.Quaternion quat = new BEPUutilities.Quaternion(inc.X, inc.Y, inc.Z, 0);
quat = quat * entity.Orientation;
BEPUutilities.Quaternion orient = entity.Orientation;
BEPUutilities.Quaternion.Add(ref orient, ref quat, out orient);
orient.Normalize();
entity.Orientation = orient;
entity.LinearVelocity = BEPUutilities.Quaternion.Transform(norm_vel_transf, orient) * vellen;
entity.AngularVelocity *= 0.1;
// Apply air drag
Entity.ModifyLinearDamping(Plane.PlanePilot.SprintOrWalk < 0.0 ? 0.6 : 0.1); // TODO: arbitrary constant
Entity.ModifyAngularDamping(0.5); // TODO: arbitrary constant
// Ensure we're active if flying!
Entity.ActivityInformation.Activate();
}
