C++ idAngles::ToMat3方法代码示例

/*
================
sdClientScriptEntity::Event_SetAngles
================
*/
void sdClientScriptEntity::Event_SetAngles( const idAngles& ang ) {
	idMat3 axis = ang.ToMat3();

	SetAxis( axis );

	if ( GetPhysics() != NULL ) {
		GetPhysics()->SetAxis( axis );
	}
}

//.........这里部分代码省略.........
	// calculate what acceleration we are undergoing
	idVec3 velAccel = ( newVelocity - velocity ) / frameTime;
	
	// calculate a component due to air resistance
	float speed = InchesToMetres( velLength );
	float rho = 1.2f;
	float sideArea = InchesToMetres( 650.0f ) * InchesToMetres( 650.0f );
	float Cd = 0.6f;
	float dragForceMagnitude = MetresToInches( 0.5 *  Cd * sideArea * rho * speed * speed );
	// assume mass is 10,000 -> I know this works nicely
	idVec3 dragAccel = ( dragForceMagnitude / 10000.f ) * velDir;
	
	idVec3 desiredAccel = velAccel + dragAccel;
	desiredAccel *= 0.4f;
	desiredAccel.z += MetresToInches( 9.8f );
	
	// ok, so we desire to be looking at the target
	idVec3 forwards = endPoint - origin;
	forwards.z = 0.0f;
	forwards.Normalize();
			
	if ( orientToEnd ) {
		idAngles targetAngles = ang_zero;
		targetAngles.yaw = idMath::AngleNormalize180( itemRotation );
		forwards = targetAngles.ToForward();
	}
	
	// figure out the axes corresponding to this orientation
	idVec3 up = desiredAccel;
	up.Normalize();
	idVec3 right = up.Cross( forwards );
	right.Normalize();
	forwards = right.Cross( up );
	forwards.Normalize();
	
	// convert that to an angles
	idAngles desiredAngles = ( idMat3( forwards, right, up ) ).ToAngles();
	if ( clampRoll ) {
		desiredAngles.roll = idMath::ClampFloat( -9.0f, 9.0f, desiredAngles.roll );
	} else {
		desiredAngles.roll = idMath::ClampFloat( -30.0f, 30.0f, desiredAngles.roll );
	}
	desiredAngles.pitch = idMath::ClampFloat( -30.0f, 30.0f, desiredAngles.pitch );

	// find the diff between that and what we currently have
	idAngles diffAngles = ( desiredAngles - angles ).Normalize180();
	diffAngles = diffAngles * 0.1f;
	diffAngles = diffAngles / frameTime;
	diffAngles *= 0.1f;

	
	// translate the old angular velocity back to an angle diff style value
	idAngles oldDiffAngles;
	oldDiffAngles.pitch = angVel * currentRight;
	oldDiffAngles.yaw = angVel * currentUp;
	oldDiffAngles.roll = angVel * currentFwd;
	
	// blend the old and the new to soften the quick changes
	diffAngles = oldDiffAngles * 0.9f + diffAngles * 0.1f;
	
	// figure out how much we're trying to change by in a single frame
	idAngles angleAccel = diffAngles - oldDiffAngles;
	float maxAngleAccel = 45.0f * frameTime;
	float maxYawAccel = maxAngleAccel * maxYawScale;
	
	angleAccel.pitch = idMath::ClampFloat( -maxAngleAccel, maxAngleAccel, angleAccel.pitch );
	angleAccel.yaw = idMath::ClampFloat( -maxYawAccel, maxYawAccel, angleAccel.yaw );
	angleAccel.roll = idMath::ClampFloat( -maxAngleAccel, maxAngleAccel, angleAccel.roll );

	diffAngles = oldDiffAngles + angleAccel;	
	idVec3 newAngVel = diffAngles.pitch * currentRight + 
						diffAngles.yaw * currentUp + 
						diffAngles.roll * currentFwd;

	// HACK: ensure it never gets below the minimum height
	if ( currentHeight < HOVER_HEIGHT_MIN ) {
		idVec3 newOrigin = origin;
		newOrigin.z = origin.z - currentHeight + HOVER_HEIGHT_MIN;
		GetPhysics()->SetOrigin( newOrigin );			
	} else if ( currentHeight < HOVER_HEIGHT_RESCUE ) {
		float oldNewVelLength = newVelocity.Length();
	
		float scale = ( HOVER_HEIGHT_RESCUE - currentHeight ) / ( HOVER_HEIGHT_RESCUE - HOVER_HEIGHT_MIN );
		scale = idMath::Sqrt( scale );
		float rescueVelocity = scale * ( HOVER_HEIGHT_RESCUE - HOVER_HEIGHT_MIN ) / 0.5f;
		float rescueAcceleration = ( rescueVelocity - velocity.z ) / frameTime;
		rescueAcceleration = idMath::ClampFloat( 0.0f, 1800.0f, rescueAcceleration );
		rescueVelocity = velocity.z + rescueAcceleration * frameTime;
		if ( rescueVelocity > newVelocity.z ) {
			newVelocity.z = rescueVelocity;
		}
		
		newVelocity.Normalize();
		newVelocity *= oldNewVelLength;
	}
			
	GetPhysics()->SetLinearVelocity( newVelocity );
	GetPhysics()->SetAxis( angles.ToMat3() );
	GetPhysics()->SetAngularVelocity( newAngVel );
}

/*
================
sdClientAnimated::Event_SetJointAngle
================
*/
void sdClientAnimated::Event_SetJointAngle( jointHandle_t joint, jointModTransform_t transformType, const idAngles& angles ) {
	animator.SetJointAxis( joint, transformType, angles.ToMat3() );
}

/*
================
hhCameraInterpolator::UpdateViewAngles
================
*/
idAngles hhCameraInterpolator::UpdateViewAngles( const idAngles& viewAngles ) {
	return (viewAngles.ToMat3() * GetCurrentAxis()).ToAngles();
}