protected override void OnRotationChanged(Quaternion rotation)
{
if (m_physicsMesh != null)
{
Owner.MarkStaticColliderDirty();
}
}
private void SetTransform(float a, float b, float c, float d)
{
if (listBox1.SelectedIndex == -1)
{
return;
}
lock (_Frame)
{
var q = new SharpDX.Quaternion(a, b, c, d);
q.Normalize();
_Frame.Transforms[listBox1.SelectedIndex].Rotation = q;
}
}
public void TrackData(float t, SharpDX.Quaternion quaternion, byte fov)
{
//double rad2deg = 180 / Math.PI;
var v = GraphicTools.QuaternionToYawPitch(quaternion);
// angle from quaternion should be always [-4PI, 4PI], no need for while loop
double yaw = (Math.PI * 9 + v.X) % (2 * Math.PI) - Math.PI; // => [-PI, +PI]
double pitch = -v.Y; // => [-PI/2, PI/2]
double yaw01 = yaw / (2 * Math.PI) + 0.5;
double pitch01 = pitch / Math.PI + 0.5;
TrackData(t, yaw01, pitch01, fov);
Bivrost.Log.LoggerManager.Publish("history.t", t);
Bivrost.Log.LoggerManager.Publish("history.yaw", yaw * 180f / Math.PI);
Bivrost.Log.LoggerManager.Publish("history.pitch", pitch * 180f / Math.PI);
Bivrost.Log.LoggerManager.Publish("history.yaw01", yaw01);
Bivrost.Log.LoggerManager.Publish("history.pitch01", pitch01);
}
public static SharpDX.Vector3 ToEulerAngles(this SharpDX.Quaternion q)
{
//https://github.com/mrdoob/three.js/blob/dev/src/math/Euler.js
//Due to the issue mentioned in EulerToQuaternion, X and Z are negated to compensate.
var matrix = SharpDX.Matrix.RotationQuaternion(q);
var result = new SharpDX.Vector3();
result.Y = (float)Math.Asin(-Clamp(matrix.M31, -1, 1));
if (Math.Abs(matrix.M31) < 0.9999999)
{
result.X = -(float)Math.Atan2(matrix.M21, matrix.M11);
result.Z = -(float)Math.Atan2(matrix.M32, matrix.M33);
}
else
{
result.X = -(float)Math.Atan2(-matrix.M12, matrix.M22);
result.Z = 0f;
}
return(result);
}
/// <summary>
/// Matrix を、拡大ベクトル・回転行列・平行移動ベクトルに分解する。
/// </summary>
/// <remarks>
/// 参考: 「その39 知っていると便利？ワールド変換行列から情報を抜き出そう」
/// http://marupeke296.com/DXG_No39_WorldMatrixInformation.html
/// </remarks>
public static void ToScaleRotationTranslation(this SharpDX.Matrix matrix, out SharpDX.Vector3 scale, out SharpDX.Quaternion rotation, out SharpDX.Vector3 translation)
{
scale = new SharpDX.Vector3(
new SharpDX.Vector3(matrix.M11, matrix.M12, matrix.M13).Length(),
new SharpDX.Vector3(matrix.M21, matrix.M22, matrix.M23).Length(),
new SharpDX.Vector3(matrix.M31, matrix.M32, matrix.M33).Length());
translation = new SharpDX.Vector3(matrix.M41, matrix.M42, matrix.M43);
// matrix を構成する scale と translation が定まれば、rotation も定まる。
// ※参考ページ中段の「WorldMatrix = S・Rx・Ry・Rz・T = ...」の図を参照のこと。
rotation = SharpDX.Quaternion.RotationMatrix(
new SharpDX.Matrix {
Row1 = (scale.X == 0f) ? SharpDX.Vector4.Zero : new SharpDX.Vector4(matrix.M11 / scale.X, matrix.M12 / scale.X, matrix.M13 / scale.X, 0f),
Row2 = (scale.Y == 0f) ? SharpDX.Vector4.Zero : new SharpDX.Vector4(matrix.M21 / scale.Y, matrix.M22 / scale.Y, matrix.M23 / scale.Y, 0f),
Row3 = (scale.Z == 0f) ? SharpDX.Vector4.Zero : new SharpDX.Vector4(matrix.M31 / scale.Z, matrix.M32 / scale.Z, matrix.M33 / scale.Z, 0f),
Row4 = new SharpDX.Vector4(0f, 0f, 0f, 1f),
});
}
protected void ParseDataObjectAnimationKey(AnimBone animBone)
{
ReadHeadOfDataObject();
// read key type
uint keyType = ReadInt();
// read number of keys
uint numKeys = ReadInt();
for (uint a = 0; a < numKeys; a++)
{
// read time
uint time = ReadInt();
// read keys
switch (keyType)
{
case 0:
{
if (ReadInt() != 4)
ThrowException("Invalid number of arguments for quaternion key in animation");
var keyValue = new Quaternion();
keyValue.W = ReadFloat();
keyValue.X = ReadFloat();
keyValue.Y = ReadFloat();
keyValue.Z = ReadFloat();
QuatKey key = new QuatKey((double)time, keyValue);
animBone.RotKeys.Add(key);
CheckForSemicolon();
break;
}
case 1: // scale vector
case 2: // position vector
{
// read count
if (ReadInt() != 3)
{
ThrowException("Invalid number of arguments for vector key in animation");
}
VectorKey key = new VectorKey((double)time, ReadVector3());
if (keyType == 2)
{
animBone.PosKeys.Add(key);
}
else
{
animBone.ScaleKeys.Add(key);
}
break;
}
case 3:
case 4:
{
// read count
if (ReadInt() != 16)
ThrowException("Invalid number of arguments for matrix key in animation");
// read matrix
double key = (double)time;
Matrix4x4 value = new Matrix4x4();
value.M11 = ReadFloat(); value.M21 = ReadFloat();
value.M31 = ReadFloat(); value.M41 = ReadFloat();
value.M12 = ReadFloat(); value.M22 = ReadFloat();
value.M32 = ReadFloat(); value.M42 = ReadFloat();
value.M13 = ReadFloat(); value.M23 = ReadFloat();
value.M33 = ReadFloat(); value.M43 = ReadFloat();
value.M14 = ReadFloat(); value.M24 = ReadFloat();
value.M34 = ReadFloat(); value.M44 = ReadFloat();
animBone.TrafoKeys.Add(new MatrixKey(key, value));
CheckForSemicolon();
break;
}
default:
ThrowException(string.Format("Unknown key type {0} in animation.", keyType));
break;
}
CheckForSeparator();
}
CheckForClosingBrace();
}
//Stopwatch hpls = new Stopwatch();
private void HandleProvideLook(SharpDX.Vector3 position, SharpDX.Quaternion rotation, float fov)
{
history?.TrackData((float)MediaTime, rotation, (byte)fov);
//Info($"{hpls.ElapsedMilliseconds:0000} {_lastMediaTime:000.0000} + {_mediaTimeDelta.Elapsed.TotalSeconds:000.0000} = {_lastMediaTime + _mediaTimeDelta.Elapsed.TotalSeconds:000.0000}");
//hpls.Restart();
}
private GTA.Quaternion fromSharpDX(SharpDX.Quaternion v)
{
return(new GTA.Quaternion(v.X, v.Y, v.Z, v.W));
}
public static RealVector4D ToRealVector4D(this SharpDX.Quaternion q) => new RealVector4D(q.X, q.Y, q.Z, q.W);