コード例 #1
0
ファイル: Transform.cpp プロジェクト: nicoawalker/Kiwi-Engine
	void Transform::RotateTowards(const Kiwi::Vector3& target, float maxRotation)
	{

		if(m_position == target) return;

		//calculate the vector between the current position and the target
		Kiwi::Vector3 vectorBetween(target.x - m_position.x, target.y - m_position.y, target.z - m_position.z);
		vectorBetween = vectorBetween.Normalized();

		Kiwi::Vector3 forward = this->GetForward();
		Kiwi::Vector3 up = this->GetUp();

		float dot = forward.Dot(vectorBetween);

		if( dot < -0.999999f )
		{

			//currently pointing in exactly opposite directions so rotate 180 degrees about the up axis
			this->Rotate(up, 3.141592f);
			return;

		}else if( dot > 0.9999f )
		{

			//already facing each other, do nothing
			return;

		}

		Kiwi::Vector3 rotationAxis = forward.Cross(vectorBetween);

		float angle = std::acos( forward.Dot(vectorBetween) );
		//angle = ToDegrees(angle);

		if(maxRotation != 0.0f && angle > maxRotation)
		{
			angle = maxRotation;
		}

		this->Rotate(rotationAxis, angle);	

		//now the quaternion is facing the target, but it may be rotated around the z-axis
		//need to rotate around the z-axis to the desired up direction
		Kiwi::Vector3 eulerAngles = m_rotation.GetEulerAngles();

		if(eulerAngles.z != 0.0f)
		{
			this->Rotate(this->GetForward(),-eulerAngles.z); 
		}

	}
コード例 #2
0
		double const squaredDistanceBetween(Point3D const & a0, Point3D const & a1){
			return squaredOf(vectorBetween(a0, a1));
		}
コード例 #3
0
		double const distanceBetween(Point3D const & a0, Point3D const & a1){
			return absoluteOf(vectorBetween(a0, a1));
		}