three.jsソースコード凝視(7)Math/Euler.js
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商域無疆(http://blog.csdn.net/omni360/)
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下記のコードはTHREE.JSソースファイルのMath/Qual ternion.jsファイルの凝視です.
多くの他の更新は以下の通りです. https://github.com/omni360/three.js.sourcecode/blob/master/Three.js
本論文は「署名-非商業用途-一貫性を保つ」に従って共通プロトコルを作成する.
転載はこの文を保留してください。商域は疆がありません。 このブログは 機敏な開発と移動とモノ聯設備の研究：データの可視化、GOLANG、Html 5、WEBGL、THREE.JS、さもなくば、本ブログからの文章は転載または再転載を拒否します。ご協力ありがとうございます。
下記のコードはTHREE.JSソースファイルのMath/Qual ternion.jsファイルの凝視です.
多くの他の更新は以下の通りです. https://github.com/omni360/three.js.sourcecode/blob/master/Three.js
本論文は「署名-非商業用途-一貫性を保つ」に従って共通プロトコルを作成する.
転載はこの文を保留してください。商域は疆がありません。 このブログは 機敏な開発と移動とモノ聯設備の研究：データの可視化、GOLANG、Html 5、WEBGL、THREE.JS、さもなくば、本ブログからの文章は転載または再転載を拒否します。ご協力ありがとうございます。
下記のコードはTHREE.JSソースファイルのMath/Qual ternion.jsファイルの凝視です.
多くの他の更新は以下の通りです. https://github.com/omni360/three.js.sourcecode/blob/master/Three.js
// File:src/math/Euler.js
/**
* @author mrdoob / http://mrdoob.com/
* @author WestLangley / http://github.com/WestLangley
* @author bhouston / http://exocortex.com
*/
/*
///Euler . .Euler
/// .
///
/// : var euler = new Euler(5,3,2,'XYZ')
/// 5 , y , 2 , 'XYZ'. x,y,z .
/// NOTE: x,y,z 3 , , (order) .
/// NOTE: (x,y,z,order) , (x,y,z,order), (0,0,0,'XYZ') Eular( ) .
/// NOTE: order( ) 'XYZ' ['XYZ', 'YZX', 'ZXY', 'XZY', 'YXZ', 'ZYX' ]
///
/// , . , , x ,
/// y ,z , .
/// ," , , ,5 , , ."
///
*/
///<summary>Euler</summary>
///<param name ="x" type="number"> x </param>
///<param name ="y" type="number"> y </param>
///<param name ="z" type="number"> z </param>
///<param name ="order" type="String">order( ) 'XYZ' ['XYZ', 'YZX', 'ZXY', 'XZY', 'YXZ', 'ZYX' ]</param>
THREE.Euler = function ( x, y, z, order ) {
this._x = x || 0;
this._y = y || 0;
this._z = z || 0;
this._order = order || THREE.Euler.DefaultOrder;
};
THREE.Euler.RotationOrders = [ 'XYZ', 'YZX', 'ZXY', 'XZY', 'YXZ', 'ZYX' ]; //( ) 'XYZ' ['XYZ', 'YZX', 'ZXY', 'XZY', 'YXZ', 'ZYX' ]
THREE.Euler.DefaultOrder = 'XYZ'; // 'XYZ'
/****************************************
**** Euler .
****************************************/
THREE.Euler.prototype = {
constructor: THREE.Euler, //
_x: 0, _y: 0, _z: 0, _order: THREE.Euler.DefaultOrder, // (_x,_y,_z,_order) x,y,z 0, 'XYZ';
/*
///get x euler x .
///NOTE: get x() Euler.prototype.x(Euler.x), ie .
*/
///<summary>get x</summary>
///<returns type="number"> euler _x </returns>
get x () {
return this._x; // euler _x
},
/*
///set x Euler x . Euler .
///NOTE: set x() Euler.prototype.x=value(Euler.x = value), ie .
*/
///<summary>set x</summary>
///<param name ="value" type="number"> x </param>
set x ( value ) {
this._x = value; // Euler _x
this.onChangeCallback(); // .
},
/*
///get y euler y .
///NOTE: get y() Euler.prototype.y(Euler.y), ie .
*/
///<summary>get y</summary>
///<returns type="number"> euler _y </returns>
get y () {
return this._y; // euler _y
},
/*
///set y Euler y . Euler .
///NOTE: set y() Euler.prototype.y=value(Euler.y = value), ie .
*/
///<summary>set y</summary>
///<param name ="value" type="number"> y </param>
set y ( value ) {
this._y = value; // Euler _y
this.onChangeCallback(); // .
},
/*
///get z euler z .
///NOTE: get z() Euler.prototype.z(Euler.z), ie .
*/
///<summary>get z</summary>
///<returns type="number"> euler _z </returns>
get z () {
return this._z; // euler _z
},
/*
///set z Euler z . Euler .
///NOTE: set z() Euler.prototype.z=value(Euler.z = value), ie .
*/
///<summary>set z</summary>
///<param name ="value" type="number"> z </param>
set z ( value ) {
this._z = value; // Euler _z
this.onChangeCallback(); // .
},
/*
///get order euler order .
///NOTE: get order() Euler.prototype.order(Euler.order), ie .
*/
///<summary>get order</summary>
///<returns type="number"> euler _z </returns>
get order () {
return this._order; // euler _order
},
/*
///set order Euler order . Euler .
///NOTE: set order() Euler.prototype.order=value(Euler.order = value), ie .
/// NOTE: (x,y,z,order) , (x,y,z,order), (0,0,0,'XYZ') Eular( ) .
/// NOTE: order( ) 'XYZ' ['XYZ', 'YZX', 'ZXY', 'XZY', 'YXZ', 'ZYX' ]
*/
///<summary>set order</summary>
///<param name ="value" type="number"> z </param>
set order ( value ) {
this._order = value; // Euler _order
this.onChangeCallback(); // .
},
///TODO: setX() .
///TODO: setY() .
///TODO: setZ() .
///TODO: setW() .
///TODO: setComponent() .
///TODO: getComponent() .
/*
///set Euler( ) x,y,z,order . Euler( ).
/// TODO: set , x,y,z,order .
*/
///<summary>set</summary>
///<param name ="x" type="number"> x </param>
///<param name ="y" type="number"> y </param>
///<param name ="z" type="number"> z </param>
///<param name ="order" type="number">order( ) 'XYZ' ['XYZ', 'YZX', 'ZXY', 'XZY', 'YXZ', 'ZYX' ]</param>
///<returns type="Euler( )"> Euler( )</returns>
set: function ( x, y, z, order ) {
this._x = x;
this._y = y;
this._z = z;
this._order = order || this._order;
this.onChangeCallback(); // .
return this; // Euler( )
},
/*
///copy Euler( ) (x,y,z,order) . Euler( ).
*/
///<summary>copy</summary>
///<param name ="euler( )" type="Quaternion">Euler( )</param>
///<returns type="Euler( )"> Euler( )</returns>
copy: function ( euler ) {
this._x = euler._x;
this._y = euler._y;
this._z = euler._z;
this._order = euler._order;
this.onChangeCallback(); // .
return this; // Euler( )
},
/*
///setFromRotationMatrix m( ), .
/// NOTE:m , :http://en.wikipedia.org/wiki/Transformation_matrix
///
/// :
z 30 .
/----------------------------------------------------\
|cos(heading) = 0.866 | sin(heading) = 0.5 | 0 |
|-----------------------|----------------------------|
matrix = |-sin(heading) = -0.5 |cos(heading) = 0.866 | 0 |
|-----------------------|----------------------|-----|
| 0 | 0 | 1 |
\----------------------------------------------------/
angle = acos ( ( m00 + m11 + m22 - 1)/2)
angle = acos ( ( 0.866 + 0.866 + 1 - 1)/2)
angle = acos ( 0.866 )
angle = 30 degrees
x = (m21 - m12) = 0 - 0 =0
y = (m02 - m20) = 0 - 0 =0
z = (m10 - m01) = -0.5 - 0.5 = -1
*/
///<summary>setFromRotationMatrix</summary>
///<param name ="m" type="Matrix3">3x3 ( )</param>
///<param name ="order" type="String">order( ) 'XYZ' ['XYZ', 'YZX', 'ZXY', 'XZY', 'YXZ', 'ZYX' ]</param>
///<returns type="Euler( )"> Euler( )</returns>
setFromRotationMatrix: function ( m, order ) {
var clamp = THREE.Math.clamp; //clamp
// assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)
// m 3x3 .
var te = m.elements;
var m11 = te[ 0 ], m12 = te[ 4 ], m13 = te[ 8 ];
var m21 = te[ 1 ], m22 = te[ 5 ], m23 = te[ 9 ];
var m31 = te[ 2 ], m32 = te[ 6 ], m33 = te[ 10 ];
order = order || this._order;
if ( order === 'XYZ' ) {
this._y = Math.asin( clamp( m13, - 1, 1 ) );
if ( Math.abs( m13 ) < 0.99999 ) {
this._x = Math.atan2( - m23, m33 );
this._z = Math.atan2( - m12, m11 );
} else {
this._x = Math.atan2( m32, m22 );
this._z = 0;
}
} else if ( order === 'YXZ' ) {
this._x = Math.asin( - clamp( m23, - 1, 1 ) );
if ( Math.abs( m23 ) < 0.99999 ) {
this._y = Math.atan2( m13, m33 );
this._z = Math.atan2( m21, m22 );
} else {
this._y = Math.atan2( - m31, m11 );
this._z = 0;
}
} else if ( order === 'ZXY' ) {
this._x = Math.asin( clamp( m32, - 1, 1 ) );
if ( Math.abs( m32 ) < 0.99999 ) {
this._y = Math.atan2( - m31, m33 );
this._z = Math.atan2( - m12, m22 );
} else {
this._y = 0;
this._z = Math.atan2( m21, m11 );
}
} else if ( order === 'ZYX' ) {
this._y = Math.asin( - clamp( m31, - 1, 1 ) );
if ( Math.abs( m31 ) < 0.99999 ) {
this._x = Math.atan2( m32, m33 );
this._z = Math.atan2( m21, m11 );
} else {
this._x = 0;
this._z = Math.atan2( - m12, m22 );
}
} else if ( order === 'YZX' ) {
this._z = Math.asin( clamp( m21, - 1, 1 ) );
if ( Math.abs( m21 ) < 0.99999 ) {
this._x = Math.atan2( - m23, m22 );
this._y = Math.atan2( - m31, m11 );
} else {
this._x = 0;
this._y = Math.atan2( m13, m33 );
}
} else if ( order === 'XZY' ) {
this._z = Math.asin( - clamp( m12, - 1, 1 ) );
if ( Math.abs( m12 ) < 0.99999 ) {
this._x = Math.atan2( m32, m22 );
this._y = Math.atan2( m13, m11 );
} else {
this._x = Math.atan2( - m23, m33 );
this._y = 0;
}
} else {
console.warn( 'THREE.Euler: .setFromRotationMatrix() given unsupported order: ' + order ) //
}
this._order = order; //
this.onChangeCallback(); // .
return this; // Euler( )
},
/*
///setFromQuaternion Euler( ).
/// NOTE: (q) , .normalize() .
/// NOTE: update . true.
*/
///<summary>setFromQuaternion</summary>
///<param name ="q" type="Quaternion"> </param>
///<param name ="order" type="String"> </param>
///<param name ="update" type="bool">update bool </param>
///<returns type="Euler( )"> Euler( )</returns>
setFromQuaternion: function ( q, order, update ) {
var clamp = THREE.Math.clamp; //clamp
// q is assumed to be normalized
// q
// . .
// http://www.mathworks.com/matlabcentral/fileexchange/20696-function-to-convert-between-dcm-euler-angles-quaternions-and-euler-vectors/content/SpinCalc.m
var sqx = q.x * q.x;
var sqy = q.y * q.y;
var sqz = q.z * q.z;
var sqw = q.w * q.w;
order = order || this._order;
if ( order === 'XYZ' ) {
this._x = Math.atan2( 2 * ( q.x * q.w - q.y * q.z ), ( sqw - sqx - sqy + sqz ) );
this._y = Math.asin( clamp( 2 * ( q.x * q.z + q.y * q.w ), - 1, 1 ) );
this._z = Math.atan2( 2 * ( q.z * q.w - q.x * q.y ), ( sqw + sqx - sqy - sqz ) );
} else if ( order === 'YXZ' ) {
this._x = Math.asin( clamp( 2 * ( q.x * q.w - q.y * q.z ), - 1, 1 ) );
this._y = Math.atan2( 2 * ( q.x * q.z + q.y * q.w ), ( sqw - sqx - sqy + sqz ) );
this._z = Math.atan2( 2 * ( q.x * q.y + q.z * q.w ), ( sqw - sqx + sqy - sqz ) );
} else if ( order === 'ZXY' ) {
this._x = Math.asin( clamp( 2 * ( q.x * q.w + q.y * q.z ), - 1, 1 ) );
this._y = Math.atan2( 2 * ( q.y * q.w - q.z * q.x ), ( sqw - sqx - sqy + sqz ) );
this._z = Math.atan2( 2 * ( q.z * q.w - q.x * q.y ), ( sqw - sqx + sqy - sqz ) );
} else if ( order === 'ZYX' ) {
this._x = Math.atan2( 2 * ( q.x * q.w + q.z * q.y ), ( sqw - sqx - sqy + sqz ) );
this._y = Math.asin( clamp( 2 * ( q.y * q.w - q.x * q.z ), - 1, 1 ) );
this._z = Math.atan2( 2 * ( q.x * q.y + q.z * q.w ), ( sqw + sqx - sqy - sqz ) );
} else if ( order === 'YZX' ) {
this._x = Math.atan2( 2 * ( q.x * q.w - q.z * q.y ), ( sqw - sqx + sqy - sqz ) );
this._y = Math.atan2( 2 * ( q.y * q.w - q.x * q.z ), ( sqw + sqx - sqy - sqz ) );
this._z = Math.asin( clamp( 2 * ( q.x * q.y + q.z * q.w ), - 1, 1 ) );
} else if ( order === 'XZY' ) {
this._x = Math.atan2( 2 * ( q.x * q.w + q.y * q.z ), ( sqw - sqx + sqy - sqz ) );
this._y = Math.atan2( 2 * ( q.x * q.z + q.y * q.w ), ( sqw + sqx - sqy - sqz ) );
this._z = Math.asin( clamp( 2 * ( q.z * q.w - q.x * q.y ), - 1, 1 ) );
} else {
console.warn( 'THREE.Euler: .setFromQuaternion() given unsupported order: ' + order ) //
}
this._order = order; //
if ( update !== false ) this.onChangeCallback(); // update .
return this; // Euler( )
},
/*
///reorder Euler( ) .
/// NOTE: (q) , .normalize() .
/// WARNING: reorder Euler( ) .
*/
///<summary>reorder</summary>
///<param name ="order" type="String"> </param>
///<returns type="Euler( )"> Euler( )</returns>
reorder: function () {
// WARNING: reorder Euler( ) .
// WARNING: this discards revolution information -bhouston
var q = new THREE.Quaternion();
return function ( newOrder ) {
q.setFromEuler( this );
this.setFromQuaternion( q, newOrder ); // setFromQuaternion() , Euler( )
};
}(),
/*equals
///equals ===, Euler( ) euler (x,y,z,order) , bool .
*/
///<summary>equals</summary>
///<param name ="v" type="Euler( )">Euler( )(x,y,z,order)</param>
///<returns type="bool"> true or false</returns>
equals: function ( euler ) {
return ( euler._x === this._x ) && ( euler._y === this._y ) && ( euler._z === this._z ) && ( euler._order === this._order );
},
/*fromArray
///fromArray Euler( )(x,y,z,order) Euler( )
/// NOTE: order . .
*/
///<summary>fromArray</summary>
///<param name ="array" type="Array">Euler( )(x,y,z,order) array[x,y,z,order]</param>
///<returns type="Euler( )"> Euler( )</returns>
fromArray: function ( array ) {
this._x = array[ 0 ];
this._y = array[ 1 ];
this._z = array[ 2 ];
if ( array[ 3 ] !== undefined ) this._order = array[ 3 ];
this.onChangeCallback(); // .
return this; // Euler( )
},
/*toArray
///toArray Euler( ) array[5,3,2,'XYZ']. .
*/
///<summary>toArray</summary>
///<returns type="Array">Euler( )(_x,_y,_z,_order) array[x,y,z,order]</returns>
toArray: function () {
return [ this._x, this._y, this._z, this._order ]; // x,y,z,order ,
},
/*onChange
///onChange callback onChangeCallback() .
*/
///<summary>onChange</summary>
///<param name ="callback" type="function"> </param>
///<returns type="Euler( )">Euler( )</returns>
onChange: function ( callback ) {
this.onChangeCallback = callback;
return this;
},
/*onChangeCallback
///onChangeCallback Euler( ) .
///NOTE:onChangeCallback() , onChangeCallback() , .
*/
///<summary>onChangeCallback</summary>
onChangeCallback: function () {},
/*clone
///clone Euler( ) .
*/
///<summary>clone</summary>
///<returns type="Euler( )"> Euler( ) </returns>
clone: function () {
return new THREE.Euler( this._x, this._y, this._z, this._order );
}
};
本論文は「署名-非商業用途-一貫性を保つ」に従って共通プロトコルを作成する.
転載はこの文を保留してください。商域は疆がありません。 このブログは 機敏な開発と移動とモノ聯設備の研究：データの可視化、GOLANG、Html 5、WEBGL、THREE.JS、さもなくば、本ブログからの文章は転載または再転載を拒否します。ご協力ありがとうございます。
下記のコードはTHREE.JSソースファイルのMath/Qual ternion.jsファイルの凝視です.
多くの他の更新は以下の通りです. https://github.com/omni360/three.js.sourcecode/blob/master/Three.js