ai stuff
polygonboutique
parent
51ba9a855d
commit
d5f51b0af8
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@ -54,7 +54,7 @@ GameLib.D3.ComponentVehicleAIObjectAvoidance.prototype.onSetParentEntity = funct
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// this should be configurable inside the editor
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var carBoxScaleModifier = { x : 3 / 4, y : 1 / 2, z : 0.90 };
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var sensorLength = 0.65;
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var sensorLength = 7.0;
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var sensorColor = new THREE.Color(0, 0, 1);
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// . . . . . . . . . . FRONT . . . . . . . . . .
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@ -75,7 +75,7 @@ GameLib.D3.ComponentVehicleAIObjectAvoidance.prototype.onSetParentEntity = funct
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sensorPositionOffset : new THREE.Vector3(
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boundingBox.max.x * this.parentEntity.mesh.scale.x * carBoxScaleModifier.x,
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boundingBox.max.z * this.parentEntity.mesh.scale.z * carBoxScaleModifier.z,
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boundingBox.max.y * this.parentEntity.mesh.scale.y * carBoxScaleModifier.y // this is still swapped with y, because cannon.
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0//boundingBox.max.y * this.parentEntity.mesh.scale.y * carBoxScaleModifier.y // this is still swapped with y, because cannon.
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)
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}
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);
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@ -97,7 +97,7 @@ GameLib.D3.ComponentVehicleAIObjectAvoidance.prototype.onSetParentEntity = funct
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sensorPositionOffset : new THREE.Vector3(
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boundingBox.max.x * this.parentEntity.mesh.scale.x * carBoxScaleModifier.x,
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-boundingBox.max.z * this.parentEntity.mesh.scale.z * carBoxScaleModifier.z,
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boundingBox.max.y * this.parentEntity.mesh.scale.y * carBoxScaleModifier.y // this is still swapped with y, because cannon.
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0//boundingBox.max.y * this.parentEntity.mesh.scale.y * carBoxScaleModifier.y // this is still swapped with y, because cannon.
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)
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}
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);
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@ -142,7 +142,7 @@ GameLib.D3.ComponentVehicleAIObjectAvoidance.prototype.onSetParentEntity = funct
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sensorPositionOffset : new THREE.Vector3(
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boundingBox.max.x * this.parentEntity.mesh.scale.x * carBoxScaleModifier.x,
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boundingBox.max.z * this.parentEntity.mesh.scale.z * carBoxScaleModifier.z,
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boundingBox.max.y * this.parentEntity.mesh.scale.y * carBoxScaleModifier.y // this is still swapped with y, because cannon.
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0//boundingBox.max.y * this.parentEntity.mesh.scale.y * carBoxScaleModifier.y // this is still swapped with y, because cannon.
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)
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}
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);
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@ -164,7 +164,7 @@ GameLib.D3.ComponentVehicleAIObjectAvoidance.prototype.onSetParentEntity = funct
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sensorPositionOffset : new THREE.Vector3(
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boundingBox.max.x * this.parentEntity.mesh.scale.x * carBoxScaleModifier.x,
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-boundingBox.max.z * this.parentEntity.mesh.scale.z * carBoxScaleModifier.z,
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boundingBox.max.y * this.parentEntity.mesh.scale.y * carBoxScaleModifier.y // this is still swapped with y, because cannon.
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0//boundingBox.max.y * this.parentEntity.mesh.scale.y * carBoxScaleModifier.y // this is still swapped with y, because cannon.
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)
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}
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);
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@ -185,7 +185,7 @@ GameLib.D3.ComponentVehicleAIObjectAvoidance.prototype.onSetParentEntity = funct
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sensorPositionOffset : new THREE.Vector3(
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boundingBox.max.x * this.parentEntity.mesh.scale.x * carBoxScaleModifier.x,
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boundingBox.max.z * this.parentEntity.mesh.scale.z * carBoxScaleModifier.z,
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boundingBox.max.y * this.parentEntity.mesh.scale.y * carBoxScaleModifier.y // this is still swapped with y, because cannon.
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0//boundingBox.max.y * this.parentEntity.mesh.scale.y * carBoxScaleModifier.y // this is still swapped with y, because cannon.
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)
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}
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);
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@ -207,7 +207,7 @@ GameLib.D3.ComponentVehicleAIObjectAvoidance.prototype.onSetParentEntity = funct
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sensorPositionOffset : new THREE.Vector3(
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boundingBox.max.x * this.parentEntity.mesh.scale.x * carBoxScaleModifier.x,
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-boundingBox.max.z * this.parentEntity.mesh.scale.z * carBoxScaleModifier.z,
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boundingBox.max.y * this.parentEntity.mesh.scale.y * carBoxScaleModifier.y // this is still swapped with y, because cannon.
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0//boundingBox.max.y * this.parentEntity.mesh.scale.y * carBoxScaleModifier.y // this is still swapped with y, because cannon.
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)
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}
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);
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@ -228,7 +228,7 @@ GameLib.D3.ComponentVehicleAIObjectAvoidance.prototype.onSetParentEntity = funct
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sensorPositionOffset : new THREE.Vector3(
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boundingBox.max.x * this.parentEntity.mesh.scale.x * carBoxScaleModifier.x,
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boundingBox.max.z * this.parentEntity.mesh.scale.z * carBoxScaleModifier.z,
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boundingBox.max.y * this.parentEntity.mesh.scale.y * carBoxScaleModifier.y // this is still swapped with y, because cannon.
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0//boundingBox.max.y * this.parentEntity.mesh.scale.y * carBoxScaleModifier.y // this is still swapped with y, because cannon.
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)
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}
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);
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@ -250,7 +250,7 @@ GameLib.D3.ComponentVehicleAIObjectAvoidance.prototype.onSetParentEntity = funct
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sensorPositionOffset : new THREE.Vector3(
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boundingBox.max.x * this.parentEntity.mesh.scale.x * carBoxScaleModifier.x,
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-boundingBox.max.z * this.parentEntity.mesh.scale.z * carBoxScaleModifier.z,
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boundingBox.max.y * this.parentEntity.mesh.scale.y * carBoxScaleModifier.y // this is still swapped with y, because cannon.
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0//boundingBox.max.y * this.parentEntity.mesh.scale.y * carBoxScaleModifier.y // this is still swapped with y, because cannon.
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)
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}
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);
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@ -265,15 +265,27 @@ GameLib.D3.ComponentVehicleAIObjectAvoidance.prototype.onUpdate = function(
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parentEntity
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) {
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if(this.raycastVehicleComponent && this.physicsWorld) {
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// debug
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this.debugArrows.avgDirection = this.debugArrows.avgDirection || {};
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this.debugArrows.sensors = this.debugArrows.sensors || [];
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var vehicleVelocity = this.parentEntity.getComponent(GameLib.D3.RigidBody).instance.velocity;
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var vehicleVelocityLength = 12;
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// shoot rays for each sensor & check collisions.
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var world = this.physicsWorld.instance;
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var result = new CANNON.RaycastResult();
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this.debugArrows.avgDirection.vector = new THREE.Vector3();
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for(var s = 0, l = this.sensors.length; s < l; ++s) {
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// debug
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if(!this.debugArrows.sensors[s]) {
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this.debugArrows.sensors[s] = {};
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}
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var sensor = this.sensors[s];
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var from = new THREE.Vector3(
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@ -306,7 +318,7 @@ GameLib.D3.ComponentVehicleAIObjectAvoidance.prototype.onUpdate = function(
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this.parentEntity.quaternion.y,
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this.parentEntity.quaternion.z,
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this.parentEntity.quaternion.w
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)).normalize().multiplyScalar(sensor.sensorLength * vehicleVelocityLength);
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)).normalize().multiplyScalar(sensor.sensorLength);
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var toC = new CANNON.Vec3(
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@ -329,23 +341,124 @@ GameLib.D3.ComponentVehicleAIObjectAvoidance.prototype.onUpdate = function(
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if(result.hasHit) {
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sensor.sensorColor = new THREE.Color(1, 0, 0);
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var direction = new THREE.Vector3(
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sensor.sensorDirection.x,
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sensor.sensorDirection.y,
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sensor.sensorDirection.z
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).applyQuaternion(new THREE.Quaternion(
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this.parentEntity.quaternion.x,
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this.parentEntity.quaternion.y,
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this.parentEntity.quaternion.z,
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this.parentEntity.quaternion.w
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)).normalize();
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/*var reflection = direction.reflect(
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new THREE.Vector3(
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result.hitNormalWorld.x,
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result.hitNormalWorld.y,
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result.hitNormalWorld.z
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)
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).normalize();*/
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var reflection = direction.reflect(
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new THREE.Vector3(
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result.hitPointWorld.x,
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result.hitPointWorld.y,
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result.hitPointWorld.z
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).normalize().cross(direction)
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).normalize().negate();
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var origin = new THREE.Vector3(
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this.parentEntity.position.x,
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this.parentEntity.position.y,
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this.parentEntity.position.z
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).add(new THREE.Vector3(
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sensor.sensorPositionOffset.x,
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sensor.sensorPositionOffset.y,
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sensor.sensorPositionOffset.z
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).applyQuaternion(new THREE.Quaternion(
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this.parentEntity.quaternion.x,
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this.parentEntity.quaternion.y,
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this.parentEntity.quaternion.z,
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this.parentEntity.quaternion.w
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)));
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var moveDirection = direction.add(reflection).setY(0).normalize();
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this.debugArrows.avgDirection.vector = this.debugArrows.avgDirection.vector.add(moveDirection);
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if(this.debugArrows.sensors[s].intersectionArrow && this.debugArrows.sensors[s].mesh) {
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this.debugArrows.sensors[s].mesh.remove(this.debugArrows.sensors[s].intersectionArrow);
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}
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if(this.debugArrows.sensors[s].mesh){
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var arrow = new THREE.ArrowHelper(
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moveDirection,
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origin,
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22,
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new THREE.Color(1, 1, 0)
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);
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this.debugArrows.sensors[s].intersectionArrow = arrow;
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this.debugArrows.sensors[s].mesh.add(this.debugArrows.sensors[s].intersectionArrow);
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}
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} else {
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sensor.sensorColor = new THREE.Color(0, 0, 1);
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if(this.debugArrows.sensors[s].intersectionArrow && this.debugArrows.sensors[s].mesh) {
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this.debugArrows.sensors[s].mesh.remove(this.debugArrows.sensors[s].intersectionArrow);
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}
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}
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}
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this.debugArrows.avgDirection.vector = this.debugArrows.avgDirection.vector.normalize();
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// draw the avg move direction
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if(!this.debugArrows.avgDirection.mesh) {
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this.debugArrows.avgDirection.mesh = new THREE.Mesh(
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new THREE.Geometry(),
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new THREE.MeshBasicMaterial(
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{
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color : 0x00ffff,
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wireframe : true
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}
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)
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);
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sys.game.scenes["MainScene"].instance.add(this.debugArrows.avgDirection.mesh);
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}
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if(this.debugArrows.avgDirection.arrow && this.debugArrows.avgDirection.mesh) {
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this.debugArrows.avgDirection.mesh.remove(this.debugArrows.avgDirection.arrow);
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}
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this.debugArrows.avgDirection.arrow = new THREE.ArrowHelper(
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this.debugArrows.avgDirection.vector,
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new THREE.Vector3(
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this.parentEntity.position.x,
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this.parentEntity.position.y,
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this.parentEntity.position.z
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),
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12,
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this.debugArrows.avgDirection.mesh.material.color
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);
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this.debugArrows.avgDirection.mesh.add(this.debugArrows.avgDirection.arrow);
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// draw sensors
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{
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this.debugArrows.sensors = this.debugArrows.sensors || [];
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for(var s = 0, l = this.sensors.length; s < l; ++s) {
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if(!this.debugArrows.sensors[s]) {
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this.debugArrows.sensors[s] = {};
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}
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if(!this.debugArrows.sensors[s].mesh) {
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var geometry = new THREE.Geometry();
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@ -399,7 +512,7 @@ GameLib.D3.ComponentVehicleAIObjectAvoidance.prototype.onUpdate = function(
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this.parentEntity.quaternion.w
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))),
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sensorLength * vehicleVelocityLength,
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sensorLength,
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sensor.sensorColor
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);
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@ -407,5 +520,47 @@ GameLib.D3.ComponentVehicleAIObjectAvoidance.prototype.onUpdate = function(
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this.debugArrows.sensors[s].mesh.add(this.debugArrows.sensors[s].arrow);
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}
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}
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// . . . . . . . . . . . . correct the path . . . . . . . . . . . . . .
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if( this.debugArrows.avgDirection.vector.x != 0
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|| this.debugArrows.avgDirection.vector.y != 0
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|| this.debugArrows.avgDirection.vector.z != 0
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) {
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// get forward direction OR better the velocity angle of the car
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var avgMoveVector = this.debugArrows.avgDirection.vector;
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var forward = new THREE.Vector3(
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1,
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0,
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0
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).applyQuaternion(new THREE.Quaternion(
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this.parentEntity.quaternion.x,
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this.parentEntity.quaternion.y,
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this.parentEntity.quaternion.z,
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this.parentEntity.quaternion.w
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)).setY(0).normalize();
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// get angle and steer.
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var cos = avgMoveVector.dot(forward);
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var angleRadians = Math.acos(cos);
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var steerAngleModifier = GameLib.D3.Vector3.AngleDirection(
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forward,
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avgMoveVector,
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new GameLib.D3.Vector3(
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0,
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1,
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0
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)
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);
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var steerAngle = Math.min(angleRadians, 0.5) * steerAngleModifier;
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this.raycastVehicleComponent.instance.setSteeringValue(steerAngle, 0);
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this.raycastVehicleComponent.instance.setSteeringValue(steerAngle, 1);
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}
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}
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};
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@ -135,10 +135,6 @@ GameLib.D3.ComponentVehicleAIPathSteering.prototype.onUpdate = function(
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this.raycastVehicleComponent.instance.setSteeringValue(steerAngle, 1);
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//}
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this.raycastVehicleComponent.instance.applyEngineForce(-2000, 2);
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this.raycastVehicleComponent.instance.applyEngineForce(-2000, 3);
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// - - - - - - - - - - - DEBUG ARROW 1 - - - - - - - - -
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{
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if(!this.debugArrows.v1) {
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@ -240,4 +236,7 @@ GameLib.D3.ComponentVehicleAIPathSteering.prototype.onUpdate = function(
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this.debugArrows.v2.mesh.add( this.debugArrows.v2.arrow );
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}
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}
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this.raycastVehicleComponent.instance.applyEngineForce(-3500, 2);
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this.raycastVehicleComponent.instance.applyEngineForce(-3500, 3);
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};
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@ -1,15 +1,6 @@
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GameLib.D3.Vector2 = function(x, y) {
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this.x = 0;
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this.y = 0;
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if (x) {
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this.x = x;
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}
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if (y) {
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this.y = y;
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}
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this.x = x || 0;
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this.y = y || 0;
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};
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GameLib.D3.Vector2.prototype.copy = function() {
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@ -25,3 +16,95 @@ GameLib.D3.Vector2.prototype.equals = function(v) {
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((this.y == v.x) &&
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(this.x == v.y)));
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};
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GameLib.D3.Vector2.prototype.add = function(v) {
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return new GameLib.D3.Vector2(
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this.x + v.x,
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this.y + v.y
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);
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};
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GameLib.D3.Vector2.prototype.subtract = function(v) {
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return new GameLib.D3.Vector2(
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this.x - v.x,
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this.y - v.y
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);
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};
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GameLib.D3.Vector2.prototype.multiply = function(v) {
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if (v instanceof GameLib.D3.Vector2) {
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return new GameLib.D3.Vector2(
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this.x * v.x,
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this.y * v.y
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);
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} else if (isNumber(v)) {
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return new GameLib.D3.Vector2(
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this.x * v,
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this.y * v
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);
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}
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};
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GameLib.D3.Vector2.prototype.divide = function(v) {
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if (v instanceof GameLib.D3.Vector2) {
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return new GameLib.D3.Vector2(
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this.x * (1.0 / v.x),
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this.y * (1.0 / v.y)
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);
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} else if (isNumber(v)) {
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var invS = 1.0 / v;
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return new GameLib.D3.Vector2(
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this.x * invS,
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this.y * invS
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);
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}
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};
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GameLib.D3.Vector2.prototype.clone = function() {
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return new GameLib.D3.Vector2(
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this.x,
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this.y
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);
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};
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GameLib.D3.Vector2.prototype.copy = function(v) {
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this.x = v.x;
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this.y = v.y;
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};
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GameLib.D3.Vector2.prototype.set = function(x, y) {
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this.x = x;
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this.y = y;
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};
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GameLib.D3.Vector2.prototype.clamp = function(min, max) {
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return new GameLib.D3.Vector2(
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Math.max(min.x, Math.min(max.x, this.x)),
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Math.max(min.y, Math.min(max.y, this.y))
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);
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};
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GameLib.D3.Vector2.prototype.length = function() {
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return Math.sqrt(this.x * this.x + this.y * this.y);
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};
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GameLib.D3.Vector2.prototype.dot = function(v) {
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return this.x * v.x + this.y * v.y;
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};
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GameLib.D3.Vector2.prototype.normalize = function() {
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return this.multiply(1.0 / this.length());
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};
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|
||||
GameLib.D3.Vector2.prototype.angle = function() {
|
||||
var angle = Math.atan2(this.y, this.x);
|
||||
if ( angle < 0 ) angle += 2 * Math.PI;
|
||||
return angle;
|
||||
};
|
||||
|
||||
GameLib.D3.Vector2.prototype.lerp = function ( v, alpha ) {
|
||||
return new GameLib.D3.Vector2(
|
||||
this.x + ( v.x - this.x ) * alpha,
|
||||
this.y + ( v.y - this.y ) * alpha
|
||||
);
|
||||
};
|
||||
|
|
@ -1,35 +1,15 @@
|
|||
GameLib.D3.Vector3 = function(x, y, z) {
|
||||
|
||||
this.x = 0;
|
||||
this.y = 0;
|
||||
this.z = 0;
|
||||
|
||||
if (x) {
|
||||
this.x = x;
|
||||
}
|
||||
|
||||
if (y) {
|
||||
this.y = y;
|
||||
}
|
||||
|
||||
if (z) {
|
||||
this.z = z;
|
||||
}
|
||||
this.x = x || 0;
|
||||
this.y = y || 0;
|
||||
this.z = z || 0;
|
||||
};
|
||||
|
||||
GameLib.D3.Vector3.prototype.subtract = function (v) {
|
||||
|
||||
if (v instanceof GameLib.D3.Vector3) {
|
||||
this.x -= v.x;
|
||||
this.y -= v.y;
|
||||
this.z -= v.z;
|
||||
}
|
||||
|
||||
if (v instanceof GameLib.D3.Vector4) {
|
||||
console.warn("trying to subtract vector of bigger length (4 vs 3))");
|
||||
}
|
||||
|
||||
return this;
|
||||
return new GameLib.D3.Vector3(
|
||||
this.x - v.x,
|
||||
this.y - v.y,
|
||||
this.z - v.z
|
||||
);
|
||||
};
|
||||
|
||||
GameLib.D3.Vector3.prototype.cross = function (v) {
|
||||
|
|
@ -40,21 +20,11 @@ GameLib.D3.Vector3.prototype.cross = function (v) {
|
|||
);
|
||||
};
|
||||
|
||||
GameLib.D3.Vector3.prototype.negative = function () {
|
||||
this.x *= -1;
|
||||
this.y *= -1;
|
||||
this.z *= -1;
|
||||
return this;
|
||||
};
|
||||
|
||||
GameLib.D3.Vector3.clockwise = function (u, v, w, viewPoint) {
|
||||
|
||||
var normal = GameLib.D3.Vector3.normal(u, v, w);
|
||||
|
||||
var uv = u.copy();
|
||||
|
||||
var winding = normal.dot(uv.subtract(viewPoint));
|
||||
|
||||
return (winding > 0);
|
||||
};
|
||||
|
||||
|
|
@ -65,10 +35,8 @@ GameLib.D3.Vector3.normal = function (u, v, w) {
|
|||
};
|
||||
|
||||
GameLib.D3.Vector3.prototype.lookAt = function (at, up) {
|
||||
|
||||
var lookAtMatrix = GameLib.D3.Matrix4.lookAt(this, at, up);
|
||||
|
||||
this.multiply(lookAtMatrix);
|
||||
return this.multiply(lookAtMatrix);
|
||||
};
|
||||
|
||||
GameLib.D3.Vector3.prototype.translate = function (v) {
|
||||
|
|
@ -78,6 +46,14 @@ GameLib.D3.Vector3.prototype.translate = function (v) {
|
|||
return this;
|
||||
};
|
||||
|
||||
GameLib.D3.Vector3.prototype.add = function (v) {
|
||||
return new GameLib.D3.Vector3(
|
||||
this.x + v.x,
|
||||
this.y + v.y,
|
||||
this.z + v.z
|
||||
);
|
||||
};
|
||||
|
||||
GameLib.D3.Vector3.prototype.squared = function () {
|
||||
return this.x * this.x + this.y * this.y + this.z * this.z;
|
||||
};
|
||||
|
|
@ -102,10 +78,12 @@ GameLib.D3.Vector3.prototype.distanceTo = function(v) {
|
|||
var dx = this.x - v.x,
|
||||
dy = this.y - v.y,
|
||||
dz = this.z - v.z;
|
||||
|
||||
return Math.sqrt(dx * dx + dy * dy + dz * dz);
|
||||
};
|
||||
|
||||
/**
|
||||
* @return {number}
|
||||
*/
|
||||
GameLib.D3.Vector3.AngleDirection = function(forward, directionToCheck, up) {
|
||||
var perp = forward.cross(directionToCheck);
|
||||
var dir = perp.dot(up);
|
||||
|
|
@ -122,21 +100,51 @@ GameLib.D3.Vector3.AngleDirection = function(forward, directionToCheck, up) {
|
|||
|
||||
GameLib.D3.Vector3.prototype.multiply = function (s) {
|
||||
if (s instanceof GameLib.D3.Vector3) {
|
||||
this.x *= s.x;
|
||||
this.y *= s.y;
|
||||
this.z *= s.z;
|
||||
|
||||
return new GameLib.D3.Vector3(
|
||||
this.x * s.x,
|
||||
this.y * s.y,
|
||||
this.z * s.z
|
||||
)
|
||||
|
||||
} else if (s instanceof GameLib.D3.Matrix4) {
|
||||
|
||||
var x = s.rows[0].x * this.x + s.rows[0].y * this.y + s.rows[0].z * this.z + s.rows[0].w;
|
||||
var y = s.rows[1].x * this.x + s.rows[1].y * this.y + s.rows[1].z * this.z + s.rows[1].w;
|
||||
var z = s.rows[2].x * this.x + s.rows[2].y * this.y + s.rows[2].z * this.z + s.rows[2].w;
|
||||
|
||||
return new GameLib.D3.Vector3(
|
||||
x,
|
||||
y,
|
||||
z
|
||||
);
|
||||
|
||||
} else if (s instanceof GameLib.D3.Matrix3) {
|
||||
|
||||
var x = s.rows[0].x * this.x + s.rows[0].y * this.y + s.rows[0].z * this.z;
|
||||
var y = s.rows[1].x * this.x + s.rows[1].y * this.y + s.rows[1].z * this.z;
|
||||
var z = s.rows[2].x * this.x + s.rows[2].y * this.y + s.rows[2].z * this.z;
|
||||
this.x = x;
|
||||
this.y = y;
|
||||
this.z = z;
|
||||
|
||||
return new GameLib.D3.Vector3(
|
||||
x,
|
||||
y,
|
||||
z
|
||||
);
|
||||
|
||||
} else if(isNumber(s)) {
|
||||
|
||||
return new GameLib.D3.Vector3(
|
||||
this.x * s,
|
||||
this.y * s,
|
||||
this.z * s
|
||||
);
|
||||
|
||||
} else {
|
||||
|
||||
console.log("functionality not implemented - please do this");
|
||||
throw new Error("not implemented");
|
||||
return this;
|
||||
}
|
||||
return this;
|
||||
};
|
||||
|
||||
|
||||
|
|
@ -145,20 +153,73 @@ GameLib.D3.Vector3.prototype.dot = function (v) {
|
|||
};
|
||||
|
||||
GameLib.D3.Vector3.prototype.normalize = function () {
|
||||
|
||||
var EPSILON = 0.000001;
|
||||
|
||||
var v2 = this.squared();
|
||||
|
||||
if (v2 < EPSILON) {
|
||||
return this; //do nothing for zero vector
|
||||
}
|
||||
|
||||
var invLength = 1 / Math.sqrt(v2);
|
||||
var invLength = 1.0 / Math.sqrt(v2);
|
||||
return new GameLib.D3.Vector3(
|
||||
this.x * invLength,
|
||||
this.y * invLength,
|
||||
this.z * invLength
|
||||
);
|
||||
};
|
||||
|
||||
this.x *= invLength;
|
||||
this.y *= invLength;
|
||||
this.z *= invLength;
|
||||
GameLib.D3.Vector3.prototype.clone = function () {
|
||||
return new GameLib.D3.Vector3(
|
||||
this.x,
|
||||
this.y,
|
||||
this.z
|
||||
);
|
||||
};
|
||||
|
||||
GameLib.D3.Vector3.prototype.applyQuaternion = function(q) {
|
||||
var x = this.x, y = this.y, z = this.z;
|
||||
var qx = q.x, qy = q.y, qz = q.z, qw = q.w;
|
||||
|
||||
// calculate quat * vector
|
||||
|
||||
var ix = qw * x + qy * z - qz * y;
|
||||
var iy = qw * y + qz * x - qx * z;
|
||||
var iz = qw * z + qx * y - qy * x;
|
||||
var iw = - qx * x - qy * y - qz * z;
|
||||
|
||||
// calculate result * inverse quat
|
||||
|
||||
return new GameLib.D3.Vector3(
|
||||
ix * qw + iw * - qx + iy * - qz - iz * - qy,
|
||||
iy * qw + iw * - qy + iz * - qx - ix * - qz,
|
||||
iz * qw + iw * - qz + ix * - qy - iy * - qx
|
||||
);
|
||||
};
|
||||
|
||||
GameLib.D3.Vector3.prototype.clamp = function(min, max) {
|
||||
this.x = Math.max( min.x, Math.min( max.x, this.x ) );
|
||||
this.y = Math.max( min.y, Math.min( max.y, this.y ) );
|
||||
this.z = Math.max( min.z, Math.min( max.z, this.z ) );
|
||||
|
||||
return this;
|
||||
};
|
||||
|
||||
GameLib.D3.Vector3.prototype.negate = function() {
|
||||
this.x = -this.x;
|
||||
this.y = -this.y;
|
||||
this.z = -this.z;
|
||||
return this;
|
||||
};
|
||||
|
||||
GameLib.D3.Vector3.prototype.length = function() {
|
||||
return Math.sqrt( this.x * this.x + this.y * this.y + this.z * this.z );
|
||||
};
|
||||
|
||||
GameLib.D3.Vector3.prototype.reflect = function(normal) {
|
||||
return this.sub( v1.copy( normal ).multiply( 2 * this.dot( normal ) ) );
|
||||
};
|
||||
|
||||
GameLib.D3.Vector3.prototype.angleTo = function (v) {
|
||||
var theta = this.dot( v ) / ( Math.sqrt( this.lengthSq() * v.lengthSq() ) );
|
||||
return Math.acos( exports.Math.clamp( theta, - 1, 1 ) );
|
||||
};
|
||||
Loading…
Reference in New Issue