/// <summary>
/// 矩阵转欧拉角
/// </summary>
/// <param name="m"></param>
/// <param name="angles">3个角度</param>
/// <returns></returns>
public static FixedVector3 MatrixAngle(this FixedMatrix4x4 m, FixedVector3 angles)
{
Fixed c;
Fixed tx, ty;
angles = new FixedVector3();
angles.y = FixedMathf.Asin(m.m02);
c = FixedMathf.Cos(angles.y);
if (FixedMathf.Abs(c) > 0.005f)
{
tx = m.m22 / c;
ty = -m.m12 / c;
angles.x = FixedMathf.Atan2(ty, tx);
tx = m.m00 / c;
ty = -m.m01 / c;
angles.z = FixedMathf.Atan2(ty, tx);
}
else
{
angles.x = 0;
tx = m.m11;
ty = m.m10;
angles.z = FixedMathf.Atan2(ty, tx);
}
return(angles);
}
/// <summary>
/// 是否在三角形内
/// </summary>
/// <param name="point"></param>
/// <param name="v0"></param>
/// <param name="v1"></param>
/// <param name="v2"></param>
/// <returns></returns>
public static bool isINTriangle(Vector3 point, Vector3 v0, Vector3 v1, Vector3 v2)
{
float x = point.x;
float y = point.z;
float v0x = v0.x;
float v0y = v0.z;
float v1x = v1.x;
float v1y = v1.z;
float v2x = v2.x;
float v2y = v2.z;
float t = triangleArea(v0x, v0y, v1x, v1y, v2x, v2y);
float a = triangleArea(v0x, v0y, v1x, v1y, x, y) + triangleArea(v0x, v0y, x, y, v2x, v2y) + triangleArea(x, y, v1x, v1y, v2x, v2y);
if (FixedMathf.Abs(t - a) <= 0.01f)
{
return(true);
}
else
{
return(false);
}
}
public static Fixed Angle(FixedQuaternion a, FixedQuaternion b)
{
Fixed f = Dot(a, b);
return(FixedMathf.Acos(FixedMathf.Min(FixedMathf.Abs(f), Fixed.One).AsFloat()) * new Fixed(2) * Fixed.Rad2Deg);
}
