/// <summary>
/// Creates a list of ColladaRotate elements describing a rotation defined by three floats (YPR)
/// </summary>
/// <param name="y">Yaw</param>
/// <param name="p">Pitch</param>
/// <param name="r">Roll</param>
/// <returns></returns>
public static List <ColladaElement> CreateRotationSet(float y, float p, float r, LowLevel.Math.real_vector3d vector_y,
LowLevel.Math.real_vector3d vector_p, LowLevel.Math.real_vector3d vector_r)
{
List <ColladaElement> return_array = new List <ColladaElement>();
return_array.Add(new Core.ColladaRotate(vector_y.I, vector_y.J, vector_y.K, y));
return_array.Add(new Core.ColladaRotate(vector_p.I, vector_p.J, vector_p.K, p));
return_array.Add(new Core.ColladaRotate(vector_r.I, vector_r.J, vector_r.K, r));
(return_array[0] as Core.ColladaRotate).sID = "rotateY";
(return_array[1] as Core.ColladaRotate).sID = "rotateP";
(return_array[2] as Core.ColladaRotate).sID = "rotateR";
return(return_array);
}
////////////////////////////////////////////////////////////////////////////////////////////////////
/// <summary>
/// Creates a list of ColladaRotate elements describing a rotation defined by three floats
/// (XYZ)
/// </summary>
///
/// <param name="x"> The x angle. </param>
/// <param name="y"> The y angle. </param>
/// <param name="z"> The z angle. </param>
/// <param name="xColumnVector"> The x column vector. </param>
/// <param name="yColumnVector"> The y column vector. </param>
/// <param name="zColumnVector"> The z column vector. </param>
/// <param name="order"> The rotation order. </param>
///
/// <returns> The new rotation set. </returns>
public static List <ColladaElement> CreateRotationSet(float x,
float y,
float z,
LowLevel.Math.real_vector3d xColumnVector,
LowLevel.Math.real_vector3d yColumnVector,
LowLevel.Math.real_vector3d zColumnVector,
ColladaRotationOrder order)
{
List <ColladaElement> return_array = new List <ColladaElement>();
Dictionary <ColladaRotationOrder, byte[]> rotation_indices = new Dictionary <ColladaRotationOrder, byte[]>()
{
{ ColladaRotationOrder.XYZ, new byte[] { 0, 1, 2 } },
{ ColladaRotationOrder.YZX, new byte[] { 1, 2, 0 } },
{ ColladaRotationOrder.ZXY, new byte[] { 2, 0, 1 } },
{ ColladaRotationOrder.XZY, new byte[] { 0, 2, 1 } },
{ ColladaRotationOrder.ZYX, new byte[] { 2, 1, 0 } },
{ ColladaRotationOrder.YXZ, new byte[] { 1, 0, 2 } },
{ ColladaRotationOrder.ZXZ, new byte[] { 2, 0, 2 } },
{ ColladaRotationOrder.XYX, new byte[] { 0, 1, 0 } },
{ ColladaRotationOrder.YZY, new byte[] { 1, 2, 1 } },
{ ColladaRotationOrder.ZYZ, new byte[] { 2, 1, 2 } },
{ ColladaRotationOrder.XZX, new byte[] { 0, 2, 0 } },
{ ColladaRotationOrder.YXY, new byte[] { 1, 0, 1 } }
};
var values = new[] {
new { SID = "rotateX", Column = xColumnVector, Value = x },
new { SID = "rotateY", Column = yColumnVector, Value = y },
new { SID = "rotateZ", Column = zColumnVector, Value = z }
};
foreach (var index in rotation_indices[order])
{
var axis = values[index];
return_array.Add(
new Core.ColladaRotate(axis.Column.I, axis.Column.J, axis.Column.K, axis.Value)
{
sID = axis.SID
}
);
}
return(return_array);
}
public static void Add(this ColladaValueArray <float> array, LowLevel.Math.real_vector3d v)
{
array.Add(v.I, v.J, v.K);
}
/// <summary>
/// Creates a list of ColladaRotate elements describing a rotation defined a RealEulerAngles3D field
/// </summary>
/// <param name="rotation">A RealEulerAngles3D field</param>
/// <returns></returns>
public static List <ColladaElement> CreateRotationSet(LowLevel.Math.real_euler_angles3d rotation, LowLevel.Math.real_vector3d vector_y,
LowLevel.Math.real_vector3d vector_p, LowLevel.Math.real_vector3d vector_r)
{
return(CreateRotationSet(rotation.Yaw, rotation.Pitch, rotation.Roll, vector_y, vector_p, vector_r));
}
public LowLevel.Math.real_vector3d ToVector3D()
{
var v = new LowLevel.Math.real_vector3d();
v.I = I;
v.J = J;
v.K = K;
return v;
}
