forked from kscience/visionforge
minor fix to Root rotations
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6a801f9999
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@ -5,12 +5,17 @@ import space.kscience.dataforge.names.Name
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import space.kscience.dataforge.names.parseAsName
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import space.kscience.dataforge.names.plus
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import space.kscience.dataforge.names.withIndex
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import space.kscience.kmath.complex.Quaternion
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import space.kscience.kmath.geometry.fromRotationMatrix
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import space.kscience.kmath.linear.VirtualMatrix
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import space.kscience.visionforge.MutableVisionContainer
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import space.kscience.visionforge.isEmpty
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import space.kscience.visionforge.set
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import space.kscience.visionforge.solid.*
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import space.kscience.visionforge.solid.SolidMaterial.Companion.MATERIAL_COLOR_KEY
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import kotlin.math.*
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import kotlin.math.PI
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import kotlin.math.cos
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import kotlin.math.sin
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private val volumesName = Name.EMPTY //"volumes".asName()
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@ -28,12 +33,10 @@ private data class RootToSolidContext(
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val colorCache: MutableMap<Meta, String> = mutableMapOf(),
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)
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// converting to XYZ to Tait–Bryan angles according to https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix
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// apply rotation from a matrix
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private fun Solid.rotate(rot: DoubleArray) {
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val xAngle = atan2(-rot[5], rot[8])
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val yAngle = atan2(rot[2], sqrt(1.0 - rot[2].pow(2)))
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val zAngle = atan2(-rot[1], rot[0])
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rotation = Float32Vector3D(xAngle, yAngle, zAngle)
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val matrix = VirtualMatrix(3, 3) { i, j -> rot[i * 3 + j] }
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quaternion = Quaternion.fromRotationMatrix(matrix)
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}
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private fun Solid.translate(trans: DoubleArray) {
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@ -15,13 +15,13 @@ import kotlin.math.sin
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fun main() = serve {
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val azimuth = 60.degrees
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val inclination = 15.degrees
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// val azimuth = 60.degrees
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// val inclination = 15.degrees
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val direction = with(QuaternionField) {
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Quaternion.fromRotation(-azimuth, Euclidean3DSpace.zAxis) *
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Quaternion.fromRotation(Angle.piDiv2 - inclination, Euclidean3DSpace.yAxis)
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}
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// val direction = with(QuaternionField) {
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// Quaternion.fromRotation(-azimuth, Euclidean3DSpace.zAxis) *
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// Quaternion.fromRotation(Angle.piDiv2 - inclination, Euclidean3DSpace.yAxis)
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// }
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//val direction2 = Quaternion.fromEuler(Angle.zero, Angle.piDiv2 - inclination, -azimuth, RotationOrder.ZYX)
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@ -43,7 +43,7 @@ fun main() = serve {
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solidGroup("frame") {
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z = 60
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val antenna = solidGroup("antenna") {
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solidGroup("antenna") {
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axes(200)
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tube(40, 10, 30)
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sphereLayer(100, 95, theta = PI / 6) {
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@ -206,7 +206,7 @@ public var Solid.rotationZ: Number by float(Z_ROTATION_KEY, 0f)
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/**
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* Raw quaternion value defined in properties
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*/
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public var Solid.quaternionValue: Quaternion?
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public var Solid.quaternionOrNull: Quaternion?
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get() = properties.getValue(ROTATION_KEY)?.list?.let {
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require(it.size == 4) { "Quaternion must be a number array of 4 elements" }
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Quaternion(it[0].float, it[1].float, it[2].float, it[3].float)
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@ -229,14 +229,14 @@ public var Solid.quaternionValue: Quaternion?
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* Quaternion value including information from euler angles
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*/
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public var Solid.quaternion: Quaternion
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get() = quaternionValue ?: Quaternion.fromEuler(
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get() = quaternionOrNull ?: Quaternion.fromEuler(
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rotationX.radians,
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rotationY.radians,
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rotationZ.radians,
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rotationOrder
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)
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set(value) {
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quaternionValue = value
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quaternionOrNull = value
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}
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public var Solid.scaleX: Number by float(X_SCALE_KEY, 1f)
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@ -41,7 +41,7 @@ public fun Object3D.updatePosition(vision: Vision) {
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if (vision is Solid) {
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position.set(vision.x, vision.y, vision.z)
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val quaternion = vision.quaternionValue
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val quaternion = vision.quaternionOrNull
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if (quaternion != null) {
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setRotationFromQuaternion(
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