//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//
void
Note::SetEntry(const UnitQuaternion &value)
{
Check_Object(this);
static char
contents[32];
YawPitchRoll ypr(value);
Verify(strlen(contents) < sizeof(contents));
sprintf(
contents,
"%f %f %f",
ypr.yaw * Degrees_Per_Radian,
ypr.pitch * Degrees_Per_Radian,
ypr.roll * Degrees_Per_Radian
);
SetEntry(contents);
}
void jacTransform(MXD& J, const mtInput& input) const{
J.setZero();
rot::EulerAnglesYprPD ypr(input.template get<mtInput::_att>());
const double theta = ypr.pitch();
const double phi = ypr.roll();
const double t2 = cos(theta);
const double t3 = 1.0/t2;
const double t4 = cos(phi);
const double t5 = sin(phi);
const double t6 = sin(theta);
J(0,0) = 0.0;
J(0,1) = t3*t5;
J(0,2) = t3*t4;
J(1,0) = 0.0;
J(1,1) = t4;
J(1,2) = -t5;
J(2,0) = 1.0;
J(2,1) = t3*t5*t6;
J(2,2) = t3*t4*t6;
}
void MAIN(void) {
Vector3D v(1 ,2 ,3); // from vector
Vector3D w(0 , -1 , -4); // to vector
double alpha ;
Vector3D u;
alpha = v.getAngle(w); // liefert winkel in rad
u = v.cross (w).normalize();
AngleAxis u_phi(alpha, u);
Quaternion q(u_phi);
YPR ypr(q);
PRINTF("Rotation q: "); q.print();
PRINTF("Rotation ypr: "); ypr.print();
PRINTF("----------- again --------------- \n");
q = Quaternion(cos(alpha/2), u.scale(sin(alpha/2)));
ypr = YPR(q);
PRINTF("Rotation q: "); q.print();
PRINTF("Rotation ypr: "); ypr.print();
}
int InternalScriptExports::CreateActor(const char* actorArchetype, LuaPlus::LuaObject luaPosition, LuaPlus::LuaObject luaYawPitchRoll)
{
if (!luaPosition.IsTable())
{
GCC_ERROR("Invalid object passed to CreateActor(); type = " + std::string(luaPosition.TypeName()));
return INVALID_ACTOR_ID;
}
if (!luaYawPitchRoll.IsTable())
{
GCC_ERROR("Invalid object passed to CreateActor(); type = " + std::string(luaYawPitchRoll.TypeName()));
return INVALID_ACTOR_ID;
}
Vec3 pos(luaPosition["x"].GetFloat(), luaPosition["y"].GetFloat(), luaPosition["z"].GetFloat());
Vec3 ypr(luaYawPitchRoll["x"].GetFloat(), luaYawPitchRoll["y"].GetFloat(), luaYawPitchRoll["z"].GetFloat());
Mat4x4 initialTransform;
initialTransform.BuildYawPitchRoll(ypr.x, ypr.y, ypr.z);
initialTransform.SetPosition(pos);
TiXmlElement *overloads = NULL;
StrongActorPtr pActor = g_pApp->m_pGame->VCreateActor(actorArchetype, overloads, &initialTransform);
if (pActor)
{
shared_ptr<EvtData_New_Actor> pNewActorEvent(GCC_NEW EvtData_New_Actor(pActor->GetId()));
IEventManager::Get()->VQueueEvent(pNewActorEvent);
return pActor->GetId();
}
return INVALID_ACTOR_ID;
}
