/// <summary>
/// Clamps a value between two other values.
/// </summary>
/// <param name="value">Value to clamp.</param>
/// <param name="min">Minimum value of the range to clamp. Must be lower than <paramref name="max"/></param>
/// <param name="max">Maximum value of the range to clamp. Must be higher than <paramref name="min"/></param>
/// <returns>Returns unchanged value if it is in valid range, otherwise returns value clamped to the range
/// extremes. </returns>
public static Radian Clamp(Radian value, Radian min, Radian max)
{
if (value < min)
{
value = min;
}
else if (value > max)
{
value = max;
}
return(value);
}
/// <inheritdoc/>
public override bool Equals(object other)
{
if (!(other is Radian))
{
return(false);
}
Radian radian = (Radian)other;
if (value.Equals(radian.value))
{
return(true);
}
return(false);
}
/// <summary>
/// Constructs a soft limit. Once the limit is reached the bodies will bounce back according to the resitution
/// parameter and will be pulled back towards the limit by the provided spring.
/// </summary>
/// <param name="lower"><see cref="Lower"/></param>
/// <param name="upper"><see cref="Upper"/></param>
/// <param name="spring"><see cref="LimitCommon.Spring"/></param>
/// <param name="restitution"><see cref="LimitCommon.Restitution"/></param>
public LimitAngularRange(Radian lower, Radian upper, Spring spring, float restitution = 0.0f)
: base(spring, restitution)
{
data.lower = lower;
data.upper = upper;
}
private static extern void Internal_getHorzFOV(IntPtr thisPtr, out Radian __output);
/// <summary>
/// Converts an orthonormal matrix to axis angle representation.
/// </summary>
/// <param name="axis">Axis around which the rotation is performed.</param>
/// <param name="angle">Amount of rotation.</param>
public void ToAxisAngle(out Vector3 axis, out Degree angle)
{
float trace = m00 + m11 + m22;
float cos = 0.5f * (trace - 1.0f);
Radian radians = (Radian)MathEx.Acos(cos); // In [0, PI]
angle = radians;
if (radians > (Radian)0.0f)
{
if (radians < MathEx.Pi)
{
axis.x = m21 - m12;
axis.y = m02 - m20;
axis.z = m10 - m01;
axis.Normalize();
}
else
{
// Angle is PI
float halfInverse;
if (m00 >= m11)
{
// r00 >= r11
if (m00 >= m22)
{
// r00 is maximum diagonal term
axis.x = 0.5f * MathEx.Sqrt(m00 - m11 - m22 + 1.0f);
halfInverse = 0.5f / axis.x;
axis.y = halfInverse * m01;
axis.z = halfInverse * m02;
}
else
{
// r22 is maximum diagonal term
axis.z = 0.5f * MathEx.Sqrt(m22 - m00 - m11 + 1.0f);
halfInverse = 0.5f / axis.z;
axis.x = halfInverse * m02;
axis.y = halfInverse * m12;
}
}
else
{
// r11 > r00
if (m11 >= m22)
{
// r11 is maximum diagonal term
axis.y = 0.5f * MathEx.Sqrt(m11 - m00 - m22 + 1.0f);
halfInverse = 0.5f / axis.y;
axis.x = halfInverse * m01;
axis.z = halfInverse * m12;
}
else
{
// r22 is maximum diagonal term
axis.z = 0.5f * MathEx.Sqrt(m22 - m00 - m11 + 1.0f);
halfInverse = 0.5f / axis.z;
axis.x = halfInverse * m02;
axis.y = halfInverse * m12;
}
}
}
}
else
{
// The angle is 0 and the matrix is the identity. Any axis will
// work, so just use the x-axis.
axis.x = 1.0f;
axis.y = 0.0f;
axis.z = 0.0f;
}
}
/// <summary>
/// Rotates around local X axis.
/// </summary>
/// <param name="angle">Angle to rotate by.</param>
public void Pitch(Degree angle)
{
Radian radianAngle = angle;
Internal_Pitch(mCachedPtr, ref radianAngle);
}
/// <summary>
/// Rotates around local Z axis.
/// </summary>
/// <param name="angle">Angle to rotate by.</param>
public void Roll(Degree angle)
{
Radian radianAngle = angle;
Internal_Roll(mCachedPtr, ref radianAngle);
}
/// <summary>
/// Creates a new degree value.
/// </summary>
/// <param name="r">Value in radians.</param>
public Degree(Radian r)
{
this.value = r.Degrees;
}
private static extern void Internal_getSlopeLimit(IntPtr thisPtr, out Radian __output);
/// <summary>
/// Constructs a hard limit. Once the limit is reached the movement of the attached bodies will come to a stop.
/// </summary>
/// <param name="yLimitAngle"><see cref="YLimitAngle"/></param>
/// <param name="zLimitAngle"><see cref="ZLimitAngle"/></param>
/// <param name="contactDist"><see cref="LimitCommon.ContactDist"/></param>
public LimitConeRange(Radian yLimitAngle, Radian zLimitAngle, float contactDist = -1.0f)
: base(contactDist)
{
data.yLimitAngle = yLimitAngle;
data.zLimitAngle = zLimitAngle;
}
/// <summary>
/// Constructs a soft limit. Once the limit is reached the bodies will bounce back according to the resitution
/// parameter and will be pulled back towards the limit by the provided spring.
/// </summary>
/// <param name="lower"><see cref="Lower"/></param>
/// <param name="upper"><see cref="Upper"/></param>
/// <param name="spring"><see cref="LimitCommon.Spring"/></param>
/// <param name="restitution"><see cref="LimitCommon.Restitution"/></param>
public LimitAngularRange(Radian lower, Radian upper, Spring spring, float restitution = 0.0f)
: base(spring, restitution)
{
data.lower = lower;
data.upper = upper;
}
/// <summary>
/// Constructs a hard limit. Once the limit is reached the movement of the attached bodies will come to a stop.
/// </summary>
/// <param name="lower"><see cref="Lower"/></param>
/// <param name="upper"><see cref="Upper"/></param>
/// <param name="contactDist"><see cref="LimitCommon.ContactDist"/></param>
public LimitAngularRange(Radian lower, Radian upper, float contactDist = -1.0f)
: base(contactDist)
{
data.lower = lower;
data.upper = upper;
}
/// <summary>
/// Constructs a soft limit. Once the limit is reached the bodies will bounce back according to the resitution
/// parameter and will be pulled back towards the limit by the provided spring.
/// </summary>
/// <param name="yLimitAngle"><see cref="YLimitAngle"/></param>
/// <param name="zLimitAngle"><see cref="ZLimitAngle"/></param>
/// <param name="spring"><see cref="LimitCommon.Spring"/></param>
/// <param name="restitution"><see cref="LimitCommon.Restitution"/></param>
public LimitConeRange(Radian yLimitAngle, Radian zLimitAngle, Spring spring, float restitution = 0.0f)
: base(spring, restitution)
{
data.yLimitAngle = yLimitAngle;
data.zLimitAngle = zLimitAngle;
}
/// <summary>
/// Constructs a hard limit. Once the limit is reached the movement of the attached bodies will come to a stop.
/// </summary>
/// <param name="yLimitAngle"><see cref="YLimitAngle"/></param>
/// <param name="zLimitAngle"><see cref="ZLimitAngle"/></param>
/// <param name="contactDist"><see cref="LimitCommon.ContactDist"/></param>
public LimitConeRange(Radian yLimitAngle, Radian zLimitAngle, float contactDist = -1.0f)
: base(contactDist)
{
data.yLimitAngle = yLimitAngle;
data.zLimitAngle = zLimitAngle;
}
/// <summary>
/// Returns an angle of a point.
/// </summary>
/// <param name="y">Y coordinate of the point.</param>
/// <param name="x">X coordinate of the point.</param>
/// <returns>Angle in radians in range [Pi, -Pi].</returns>
public static Radian Atan2(Radian y, Radian x)
{
return((Radian)Math.Atan2(y.Radians, x.Radians));
}
/// <summary>
/// Constructs a soft limit. Once the limit is reached the bodies will bounce back according to the resitution
/// parameter and will be pulled back towards the limit by the provided spring.
/// </summary>
/// <param name="yLimitAngle"><see cref="YLimitAngle"/></param>
/// <param name="zLimitAngle"><see cref="ZLimitAngle"/></param>
/// <param name="spring"><see cref="LimitCommon.Spring"/></param>
/// <param name="restitution"><see cref="LimitCommon.Restitution"/></param>
public LimitConeRange(Radian yLimitAngle, Radian zLimitAngle, Spring spring, float restitution = 0.0f)
: base(spring, restitution)
{
data.yLimitAngle = yLimitAngle;
data.zLimitAngle = zLimitAngle;
}
/// <summary>
/// Returns the angle whose sine is the specified number.
/// </summary>
/// <param name="f">Sine of an angle.</param>
/// <returns>Angle in radians.</returns>
public static float Asin(Radian f)
{
return((float)Math.Asin(f.Radians));
}
private static extern void Internal_setSlopeLimit(IntPtr thisPtr, ref Radian value);
/// <summary>
/// Returns an angle of a point.
/// </summary>
/// <param name="y">Y coordinate of the point.</param>
/// <param name="x">X coordinate of the point.</param>
/// <returns>Angle in radians in range [Pi, -Pi].</returns>
public static float Atan2(Radian y, Radian x)
{
return((float)Math.Atan2(y.Radians, x.Radians));
}
private static extern void Internal_getAngle(IntPtr thisPtr, out Radian __output);
/// <summary>
/// Returns the cosine of the provided value.
/// </summary>
/// <param name="f">Angle in radians.</param>
/// <returns>Cosine of the angle.</returns>
public static float Cos(Radian f)
{
return((float)Math.Cos(f.Radians));
}
/// <summary>
/// Rotates around local Y axis.
/// </summary>
/// <param name="angle">Angle to rotate by.</param>
public void Yaw(Degree angle)
{
Radian radianAngle = angle;
Internal_Yaw(mCachedPtr, ref radianAngle);
}
/// <summary>
/// Returns the tangent of the provided value.
/// </summary>
/// <param name="f">Angle in radians.</param>
/// <returns>Tangent of the angle.</returns>
public static float Tan(Radian f)
{
return((float)Math.Tan(f.Radians));
}
private static extern void Internal_Pitch(IntPtr nativeInstance, ref Radian value);
/// <summary>
/// Returns the angle whose cosine is the specified number.
/// </summary>
/// <param name="f">Cosine of an angle.</param>
/// <returns>Angle in radians.</returns>
public static Radian Acos(Radian f)
{
return((Radian)Math.Acos(f.Radians));
}
private static extern void Internal_setHorzFOV(IntPtr thisPtr, ref Radian fovy);
/// <summary>
/// Returns the angle whose tangent is the specified number.
/// </summary>
/// <param name="f">Tangent of an angle.</param>
/// <returns>Angle in radians.</returns>
public static Radian Atan(Radian f)
{
return((Radian)Math.Atan(f.Radians));
}
/// <summary>
/// Creates a new degree value.
/// </summary>
/// <param name="r">Value in radians.</param>
public Degree(Radian r)
{
this.value = r.Degrees;
}
/// <summary>
/// Constructs a hard limit. Once the limit is reached the movement of the attached bodies will come to a stop.
/// </summary>
/// <param name="lower"><see cref="Lower"/></param>
/// <param name="upper"><see cref="Upper"/></param>
/// <param name="contactDist"><see cref="LimitCommon.ContactDist"/></param>
public LimitAngularRange(Radian lower, Radian upper, float contactDist = -1.0f)
: base(contactDist)
{
data.lower = lower;
data.upper = upper;
}
