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initial euler3 class.

Ben Houston 12 anos atrás
pai
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ba92385abf
1 arquivos alterados com 250 adições e 0 exclusões
  1. 250 0
      src/math/Euler3.js

+ 250 - 0
src/math/Euler3.js

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+/**
+ * @author bhouston / http://exocortex.com
+ */
+
+THREE.Euler3 = function ( x, y, z, order ) {
+
+	this.x = x || 0;
+	this.y = y || 0;
+	this.z = z || 0;
+	this.order = order || "XYZ";
+
+};
+
+THREE.Euler3.RotationOrders = [ 'XYZ', 'YZX', 'ZXY', 'XZY', 'YXZ', 'ZYX' ];
+
+THREE.Euler3.prototype = {
+
+	constructor: THREE.Euler3,
+
+	set: function ( x, y, z, order ) {
+
+		this.x = x;
+		this.y = y;
+		this.z = z;
+		this.order = order;
+
+		return this;
+
+	},
+
+	copy: function ( e ) {
+
+		this.x = e.x;
+		this.y = e.y;
+		this.z = e.z;
+		this.order = e.order;
+
+		return this;
+
+	},
+
+	setFromRotationMatrix: function ( m, order ) {
+
+		// assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)
+
+		// clamp, to handle numerical problems
+
+		function clamp( x ) {
+
+			return Math.min( Math.max( x, -1 ), 1 );
+
+		}
+
+		var te = m.elements;
+		var m11 = te[0], m12 = te[4], m13 = te[8];
+		var m21 = te[1], m22 = te[5], m23 = te[9];
+		var m31 = te[2], m32 = te[6], m33 = te[10];
+
+		if ( order === undefined || order === 'XYZ' ) {
+
+			this.y = Math.asin( clamp( m13 ) );
+
+			if ( Math.abs( m13 ) < 0.99999 ) {
+
+				this.x = Math.atan2( - m23, m33 );
+				this.z = Math.atan2( - m12, m11 );
+
+			} else {
+
+				this.x = Math.atan2( m32, m22 );
+				this.z = 0;
+
+			}
+
+		} else if ( order === 'YXZ' ) {
+
+			this.x = Math.asin( - clamp( m23 ) );
+
+			if ( Math.abs( m23 ) < 0.99999 ) {
+
+				this.y = Math.atan2( m13, m33 );
+				this.z = Math.atan2( m21, m22 );
+
+			} else {
+
+				this.y = Math.atan2( - m31, m11 );
+				this.z = 0;
+
+			}
+
+		} else if ( order === 'ZXY' ) {
+
+			this.x = Math.asin( clamp( m32 ) );
+
+			if ( Math.abs( m32 ) < 0.99999 ) {
+
+				this.y = Math.atan2( - m31, m33 );
+				this.z = Math.atan2( - m12, m22 );
+
+			} else {
+
+				this.y = 0;
+				this.z = Math.atan2( m21, m11 );
+
+			}
+
+		} else if ( order === 'ZYX' ) {
+
+			this.y = Math.asin( - clamp( m31 ) );
+
+			if ( Math.abs( m31 ) < 0.99999 ) {
+
+				this.x = Math.atan2( m32, m33 );
+				this.z = Math.atan2( m21, m11 );
+
+			} else {
+
+				this.x = 0;
+				this.z = Math.atan2( - m12, m22 );
+
+			}
+
+		} else if ( order === 'YZX' ) {
+
+			this.z = Math.asin( clamp( m21 ) );
+
+			if ( Math.abs( m21 ) < 0.99999 ) {
+
+				this.x = Math.atan2( - m23, m22 );
+				this.y = Math.atan2( - m31, m11 );
+
+			} else {
+
+				this.x = 0;
+				this.y = Math.atan2( m13, m33 );
+
+			}
+
+		} else if ( order === 'XZY' ) {
+
+			this.z = Math.asin( - clamp( m12 ) );
+
+			if ( Math.abs( m12 ) < 0.99999 ) {
+
+				this.x = Math.atan2( m32, m22 );
+				this.y = Math.atan2( m13, m11 );
+
+			} else {
+
+				this.x = Math.atan2( - m23, m33 );
+				this.y = 0;
+
+			}
+
+		}
+
+		this.order = order;
+
+		return this;
+
+	},
+
+	setFromQuaternion: function ( q, order ) {
+
+		// q is assumed to be normalized
+
+		// clamp, to handle numerical problems
+
+		function clamp( x ) {
+
+			return Math.min( Math.max( x, -1 ), 1 );
+
+		}
+
+		// http://www.mathworks.com/matlabcentral/fileexchange/20696-function-to-convert-between-dcm-euler-angles-quaternions-and-euler-vectors/content/SpinCalc.m
+
+		var sqx = q.x * q.x;
+		var sqy = q.y * q.y;
+		var sqz = q.z * q.z;
+		var sqw = q.w * q.w;
+
+		if ( order === undefined || order === 'XYZ' ) {
+
+			this.x = Math.atan2( 2 * ( q.x * q.w - q.y * q.z ), ( sqw - sqx - sqy + sqz ) );
+			this.y = Math.asin(  clamp( 2 * ( q.x * q.z + q.y * q.w ) ) );
+			this.z = Math.atan2( 2 * ( q.z * q.w - q.x * q.y ), ( sqw + sqx - sqy - sqz ) );
+
+		} else if ( order ===  'YXZ' ) {
+
+			this.x = Math.asin(  clamp( 2 * ( q.x * q.w - q.y * q.z ) ) );
+			this.y = Math.atan2( 2 * ( q.x * q.z + q.y * q.w ), ( sqw - sqx - sqy + sqz ) );
+			this.z = Math.atan2( 2 * ( q.x * q.y + q.z * q.w ), ( sqw - sqx + sqy - sqz ) );
+
+		} else if ( order === 'ZXY' ) {
+
+			this.x = Math.asin(  clamp( 2 * ( q.x * q.w + q.y * q.z ) ) );
+			this.y = Math.atan2( 2 * ( q.y * q.w - q.z * q.x ), ( sqw - sqx - sqy + sqz ) );
+			this.z = Math.atan2( 2 * ( q.z * q.w - q.x * q.y ), ( sqw - sqx + sqy - sqz ) );
+
+		} else if ( order === 'ZYX' ) {
+
+			this.x = Math.atan2( 2 * ( q.x * q.w + q.z * q.y ), ( sqw - sqx - sqy + sqz ) );
+			this.y = Math.asin(  clamp( 2 * ( q.y * q.w - q.x * q.z ) ) );
+			this.z = Math.atan2( 2 * ( q.x * q.y + q.z * q.w ), ( sqw + sqx - sqy - sqz ) );
+
+		} else if ( order === 'YZX' ) {
+
+			this.x = Math.atan2( 2 * ( q.x * q.w - q.z * q.y ), ( sqw - sqx + sqy - sqz ) );
+			this.y = Math.atan2( 2 * ( q.y * q.w - q.x * q.z ), ( sqw + sqx - sqy - sqz ) );
+			this.z = Math.asin(  clamp( 2 * ( q.x * q.y + q.z * q.w ) ) );
+
+		} else if ( order === 'XZY' ) {
+
+			this.x = Math.atan2( 2 * ( q.x * q.w + q.y * q.z ), ( sqw - sqx + sqy - sqz ) );
+			this.y = Math.atan2( 2 * ( q.x * q.z + q.y * q.w ), ( sqw + sqx - sqy - sqz ) );
+			this.z = Math.asin(  clamp( 2 * ( q.z * q.w - q.x * q.y ) ) );
+
+		}
+
+		this.order = order;
+
+		return this;
+
+	},
+
+	reorder: function( newOrder ) {
+
+		// todo.
+
+	},
+
+	alternativeSolution: function() {
+
+		// todo.
+		
+	},
+
+	equals: function ( e ) {
+
+		return ( ( e.x === this.x ) && ( e.y === this.y ) && ( e.z === this.z ) && ( e.order === this.order ) );
+
+	},
+
+	clone: function () {
+
+		return new THREE.Euler3( this.x, this.y, this.z, this.order );
+
+	}
+
+};