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/**
\file UprightFrame.cpp
\maintainer Morgan McGuire, http://graphics.cs.williams.edu
*/
#include "G3D/UprightFrame.h"
#include "G3D/BinaryInput.h"
#include "G3D/BinaryOutput.h"
namespace G3D {
UprightFrame::UprightFrame(const CoordinateFrame& cframe) {
Vector3 look = cframe.lookVector();
yaw = (float)(G3D::pi() + atan2(look.x, look.z));
pitch = asin(look.y);
translation = cframe.translation;
}
UprightFrame::UprightFrame(const Any& any) {
any.verifyName("UprightFrame");
any.verifyType(Any::TABLE);
translation = any["translation"];
pitch = any["pitch"];
yaw = any["yaw"];
}
Any UprightFrame::toAny() const {
Any any(Any::TABLE, "UprightFrame");
any["translation"] = translation;
any["pitch"] = pitch;
any["yaw"] = yaw;
return any;
}
UprightFrame& UprightFrame::operator=(const Any& any) {
*this = UprightFrame(any);
return *this;
}
CoordinateFrame UprightFrame::toCoordinateFrame() const {
CoordinateFrame cframe;
Matrix3 P(Matrix3::fromAxisAngle(Vector3::unitX(), pitch));
Matrix3 Y(Matrix3::fromAxisAngle(Vector3::unitY(), yaw));
cframe.rotation = Y * P;
cframe.translation = translation;
return cframe;
}
UprightFrame UprightFrame::operator+(const UprightFrame& other) const {
return UprightFrame(translation + other.translation, pitch + other.pitch, yaw + other.yaw);
}
UprightFrame UprightFrame::operator*(const float k) const {
return UprightFrame(translation * k, pitch * k, yaw * k);
}
void UprightFrame::unwrapYaw(UprightFrame* a, int N) {
// Use the first point to establish the wrapping convention
for (int i = 1; i < N; ++i) {
const float prev = a[i - 1].yaw;
float& cur = a[i].yaw;
// No two angles should be more than pi (i.e., 180-degrees) apart.
if (abs(cur - prev) > G3D::pi()) {
// These angles must have wrapped at zero, causing them
// to be interpolated the long way.
// Find canonical [0, 2pi] versions of these numbers
float p = (float)wrap(prev, twoPi());
float c = (float)wrap(cur, twoPi());
// Find the difference -pi < diff < pi between the current and previous values
float diff = c - p;
if (diff < -G3D::pi()) {
diff += (float)twoPi();
} else if (diff > G3D::pi()) {
diff -= (float)twoPi();
}
// Offset the current from the previous by the difference
// between them.
cur = prev + diff;
}
}
}
void UprightFrame::serialize(class BinaryOutput& b) const {
translation.serialize(b);
b.writeFloat32(pitch);
b.writeFloat32(yaw);
}
void UprightFrame::deserialize(class BinaryInput& b) {
translation.deserialize(b);
pitch = b.readFloat32();
yaw = b.readFloat32();
}
///////////////////////////////////////////////////////////////////////////////////////////
UprightSpline::UprightSpline() : Spline<UprightFrame>() {
}
UprightSpline::UprightSpline(const Any& any) {
any.verifyName("UprightSpline");
any.verifyType(Any::TABLE);
extrapolationMode = any["extrapolationMode"];
const Any& controlsAny = any["control"];
controlsAny.verifyType(Any::ARRAY);
control.resize(controlsAny.length());
for (int controlIndex = 0; controlIndex < control.length(); ++controlIndex) {
control[controlIndex] = controlsAny[controlIndex];
}
const Any& timesAny = any["time"];
timesAny.verifyType(Any::ARRAY);
time.resize(timesAny.length());
for (int timeIndex = 0; timeIndex < time.length(); ++timeIndex) {
time[timeIndex] = timesAny[timeIndex];
}
}
Any UprightSpline::toAny(const std::string& myName) const {
Any any(Any::TABLE, myName);
any["extrapolationMode"] = extrapolationMode;
Any controlsAny(Any::ARRAY);
for (int controlIndex = 0; controlIndex < control.length(); ++controlIndex) {
controlsAny.append(control[controlIndex]);
}
any["control"] = controlsAny;
Any timesAny(Any::ARRAY);
for (int timeIndex = 0; timeIndex < time.length(); ++timeIndex) {
timesAny.append(Any(time[timeIndex]));
}
any["time"] = timesAny;
return any;
}
Any UprightSpline::toAny() const {
return toAny("UprightSpline");
}
UprightSpline& UprightSpline::operator=(const Any& any) {
*this = UprightSpline(any);
return *this;
}
void UprightSpline::serialize(class BinaryOutput& b) const {
b.writeInt32(extrapolationMode);
b.writeInt32(control.size());
for (int i = 0; i < control.size(); ++i) {
control[i].serialize(b);
}
b.writeInt32(time.size());
for (int i = 0; i < time.size(); ++i) {
b.writeFloat32(time[i]);
}
}
void UprightSpline::deserialize(class BinaryInput& b) {
extrapolationMode = SplineExtrapolationMode(b.readInt32());
control.resize(b.readInt32());
for (int i = 0; i < control.size(); ++i) {
control[i].deserialize(b);
}
if (b.hasMore()) {
time.resize(b.readInt32());
for (int i = 0; i < time.size(); ++i) {
time[i] = b.readFloat32();
}
debugAssert(time.size() == control.size());
} else {
// Import legacy path
time.resize(control.size());
for (int i = 0; i < time.size(); ++i) {
time[i] = (float)i;
}
}
}
}
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