107 lines
3.2 KiB
C#
107 lines
3.2 KiB
C#
#region Copyright & License Information
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/*
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* Copyright 2007-2013 The OpenRA Developers (see AUTHORS)
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* This file is part of OpenRA, which is free software. It is made
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* available to you under the terms of the GNU General Public License
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* as published by the Free Software Foundation. For more information,
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* see COPYING.
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*/
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#endregion
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namespace OpenRA
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{
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/// <summary>
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/// 3d World rotation.
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/// </summary>
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public struct WRot
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{
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public readonly WAngle Roll, Pitch, Yaw;
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public WRot(WAngle roll, WAngle pitch, WAngle yaw) { Roll = roll; Pitch = pitch; Yaw = yaw; }
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public static readonly WRot Zero = new WRot(WAngle.Zero, WAngle.Zero, WAngle.Zero);
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public static WRot FromFacing(int facing) { return new WRot(WAngle.Zero, WAngle.Zero, WAngle.FromFacing(facing)); }
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public static WRot FromYaw(WAngle yaw) { return new WRot(WAngle.Zero, WAngle.Zero, yaw); }
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public static WRot operator +(WRot a, WRot b) { return new WRot(a.Roll + b.Roll, a.Pitch + b.Pitch, a.Yaw + b.Yaw); }
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public static WRot operator -(WRot a, WRot b) { return new WRot(a.Roll - b.Roll, a.Pitch - b.Pitch, a.Yaw - b.Yaw); }
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public static WRot operator -(WRot a) { return new WRot(-a.Roll, -a.Pitch, -a.Yaw); }
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public static bool operator ==(WRot me, WRot other) { return (me.Roll == other.Roll &&
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me.Pitch == other.Pitch && me.Yaw == other.Yaw); }
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public static bool operator !=(WRot me, WRot other) { return !(me == other); }
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public WRot WithYaw(WAngle yaw)
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{
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return new WRot(Roll, Pitch, yaw);
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}
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public int[] AsQuarternion()
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{
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// Angles increase clockwise
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var r = new WAngle(-Roll.Angle / 2);
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var p = new WAngle(-Pitch.Angle / 2);
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var y = new WAngle(-Yaw.Angle / 2);
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var cr = (long)r.Cos();
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var sr = (long)r.Sin();
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var cp = (long)p.Cos();
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var sp = (long)p.Sin();
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var cy = (long)y.Cos();
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var sy = (long)y.Sin();
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// Normalized to 1024 == 1.0
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return new int[4]
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{
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(int)((sr*cp*cy - cr*sp*sy) / 1048576), // x
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(int)((cr*sp*cy + sr*cp*sy) / 1048576), // y
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(int)((cr*cp*sy - sr*sp*cy) / 1048576), // z
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(int)((cr*cp*cy + sr*sp*sy) / 1048576) // w
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};
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}
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public int[] AsMatrix()
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{
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var q = AsQuarternion();
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// Theoretically 1024**2, but may differ slightly due to rounding
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var lsq = q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3];
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// Quarternion components use 10 bits, so there's no risk of overflow
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var mtx = new int[16];
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mtx[0] = lsq - 2*(q[1]*q[1] + q[2]*q[2]);
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mtx[1] = 2*(q[0]*q[1] + q[2]*q[3]);
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mtx[2] = 2*(q[0]*q[2] - q[1]*q[3]);
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mtx[3] = 0;
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mtx[4] = 2*(q[0]*q[1] - q[2]*q[3]);
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mtx[5] = lsq - 2*(q[0]*q[0] + q[2]*q[2]);
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mtx[6] = 2*(q[1]*q[2] + q[0]*q[3]);
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mtx[7] = 0;
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mtx[8] = 2*(q[0]*q[2] + q[1]*q[3]);
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mtx[9] = 2*(q[1]*q[2] - q[0]*q[3]);
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mtx[10] = lsq - 2*(q[0]*q[0] + q[1]*q[1]);
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mtx[11] = 0;
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mtx[12] = 0;
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mtx[13] = 0;
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mtx[14] = 0;
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mtx[15] = lsq;
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return mtx;
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}
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public override int GetHashCode() { return Roll.GetHashCode() ^ Pitch.GetHashCode() ^ Yaw.GetHashCode(); }
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public override bool Equals(object obj)
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{
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if (obj == null)
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return false;
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WRot o = (WRot)obj;
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return o == this;
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}
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public override string ToString() { return "{0},{1},{2}".F(Roll, Pitch, Yaw); }
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}
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}
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