def __quatFromTo(self, v0, v1):
print (v0, v1)
q = Quat(
sqrt(v0.length()**2 * v1.length()**2) + v0.dot(v1),
v0.cross(v1))
q.normalize()
return q
def swingTwistDecomposition( rotation, twistAxis ):
ra = LVector3f( rotation.getI(), rotation.getJ(), rotation.getK() )
p = ra.project( twistAxis ) # return projection v1 onto v2
twist = Quat( rotation.getR(), p.getX(), p.getY(), p.getZ() )
twist.normalize()
swing = rotation * twist.conjugate()
return swing, twist
def getRotationTo(src, dest, fallbackAxis=Vec3_ZERO):
# Quaternion q;
# Vector3 v0 = *this;
# Vector3 v1 = dest;
# v0.normalise();
# v1.normalise();
q = Quat()
v0 = Vec3(src)
v1 = Vec3(dest)
v0.normalize()
v1.normalize()
# Real d = v0.dotProduct(v1);
d = v0.dot(v1)
# if (d >= 1.0f)
# {
# return Quaternion::IDENTITY;
# }
if d >= 1.0:
return Quat(1, 0, 0, 0)
# if (d < (1e-6f - 1.0f))
if d < (1.0e-6 - 1.0):
# if (fallbackAxis != Vector3::ZERO)
# {
# // rotate 180 degrees about the fallback axis
# q.FromAngleAxis(Radian(Math::PI), fallbackAxis);
# }
if fallbackAxis != Vec3_ZERO:
q.setFromAxisAngleRad(pi, fallbackAxis)
# else
# {
# // Generate an axis
# Vector3 axis = Vector3::UNIT_X.crossProduct(*this);
# if (axis.isZeroLength()) // pick another if colinear
# axis = Vector3::UNIT_Y.crossProduct(*this);
# axis.normalise();
# q.FromAngleAxis(Radian(Math::PI), axis);
# }
else:
axis = Vec3(1, 0, 0).cross(src)
if axis.almostEqual(Vec3.zero()):
axis = Vec3(0, 1, 0).cross(src)
axis.normalize()
q.setFromAxisAngleRad(pi, axis)
# else
# {
# Real s = Math::Sqrt( (1+d)*2 );
# Real invs = 1 / s;
# Vector3 c = v0.crossProduct(v1);
# q.x = c.x * invs;
# q.y = c.y * invs;
# q.z = c.z * invs;
# q.w = s * 0.5f;
# q.normalise();
# }
else:
s = sqrt((1 + d) * 2)
invs = 1 / s
c = v0.cross(v1)
q.setI(c.x * invs)
q.setJ(c.y * invs)
q.setK(c.z * invs)
q.setR(s * .5)
q.normalize()
return q
def generate_roads(models, terrain, map, json_out):
numroads = 0
for center in progress.bar(map.centers.values(),
label='Generating roads... '):
road_edges = [
e for e in center.edges
if e.is_road and e.corner0 is not None and e.corner1 is not None
]
if len(road_edges) != 2:
continue
e1, e2 = road_edges
e1_0 = numpy.array(
[e1.corner0.x, e1.corner0.y, e1.corner0.elevation * Z_SCALE],
dtype=numpy.float32)
e1_1 = numpy.array(
[e1.corner1.x, e1.corner1.y, e1.corner1.elevation * Z_SCALE],
dtype=numpy.float32)
e2_0 = numpy.array(
[e2.corner0.x, e2.corner0.y, e2.corner0.elevation * Z_SCALE],
dtype=numpy.float32)
e2_1 = numpy.array(
[e2.corner1.x, e2.corner1.y, e2.corner1.elevation * Z_SCALE],
dtype=numpy.float32)
region_center = numpy.array(
[center.x, center.y, center.elevation * Z_SCALE])
for end1, edge1, edge2 in [(region_center, e1_0, e1_1),
(region_center, e2_0, e2_1)]:
end2 = v3mid(edge1, edge2)
midpt = v3mid(end1, end2)
midpt = scene.mapgen_coords_to_sirikata(midpt, terrain)
kata_pt1 = scene.mapgen_coords_to_sirikata(end1, terrain)
kata_pt2 = scene.mapgen_coords_to_sirikata(end2, terrain)
scale = v3dist(kata_pt1, kata_pt2) / 2
m = scene.SceneModel(ROAD_PATH,
x=float(midpt[0]),
y=float(midpt[1]),
z=float(midpt[2]),
scale=scale,
model_type='road')
kataboundmin, kataboundmax = scene.sirikata_bounds(m.boundsInfo)
scenemin = kataboundmin * scale + midpt
scenemax = kataboundmax * scale + midpt
xmid = (scenemax[0] - scenemin[0]) / 2.0 + scenemin[0]
road_edge1 = numpy.array([xmid, scenemin[1], scenemin[2]],
dtype=numpy.float32)
road_edge2 = numpy.array([xmid, scenemax[1], scenemin[2]],
dtype=numpy.float32)
midv3 = Vec3(midpt[0], midpt[1], midpt[2])
src = Vec3(road_edge2[0], road_edge2[1], road_edge2[2])
src -= midv3
src_copy = Vec3(src)
target = Vec3(kata_pt1[0], kata_pt1[1], kata_pt1[2])
target -= midv3
cross = src.cross(target)
w = math.sqrt(
src.lengthSquared() * target.lengthSquared()) + src.dot(target)
q = Quat(w, cross)
q.normalize()
orig_up = q.getUp()
orig_up.normalize()
edge1_kata = scene.mapgen_coords_to_sirikata(edge1, terrain)
edge2_kata = scene.mapgen_coords_to_sirikata(edge2, terrain)
new_up = normal_vector(kata_pt1, edge1_kata, edge2_kata)
new_up = Vec3(new_up[0], new_up[1], new_up[2])
rotate_about = orig_up.cross(new_up)
rotate_about.normalize()
angle_between = orig_up.angleDeg(new_up)
r = Quat()
r.setFromAxisAngle(angle_between, rotate_about)
r.normalize()
q *= r
q.normalize()
m.orient_x = q.getI()
m.orient_y = q.getJ()
m.orient_z = q.getK()
m.orient_w = q.getR()
numroads += 1
json_out.append(m.to_json())
print 'Generated (%d) road objects' % numroads
def generate_roads(models, terrain, map, json_out):
numroads = 0
for center in progress.bar(map.centers.values(), label='Generating roads... '):
road_edges = [e for e in center.edges if e.is_road and e.corner0 is not None and e.corner1 is not None]
if len(road_edges) != 2:
continue
e1, e2 = road_edges
e1_0 = numpy.array([e1.corner0.x, e1.corner0.y, e1.corner0.elevation * Z_SCALE], dtype=numpy.float32)
e1_1 = numpy.array([e1.corner1.x, e1.corner1.y, e1.corner1.elevation * Z_SCALE], dtype=numpy.float32)
e2_0 = numpy.array([e2.corner0.x, e2.corner0.y, e2.corner0.elevation * Z_SCALE], dtype=numpy.float32)
e2_1 = numpy.array([e2.corner1.x, e2.corner1.y, e2.corner1.elevation * Z_SCALE], dtype=numpy.float32)
region_center = numpy.array([center.x, center.y, center.elevation * Z_SCALE])
for end1, edge1, edge2 in [(region_center, e1_0, e1_1), (region_center, e2_0, e2_1)]:
end2 = v3mid(edge1, edge2)
midpt = v3mid(end1, end2)
midpt = scene.mapgen_coords_to_sirikata(midpt, terrain)
kata_pt1 = scene.mapgen_coords_to_sirikata(end1, terrain)
kata_pt2 = scene.mapgen_coords_to_sirikata(end2, terrain)
scale = v3dist(kata_pt1, kata_pt2) / 2
m = scene.SceneModel(ROAD_PATH,
x=float(midpt[0]),
y=float(midpt[1]),
z=float(midpt[2]),
scale=scale,
model_type='road')
kataboundmin, kataboundmax = scene.sirikata_bounds(m.boundsInfo)
scenemin = kataboundmin * scale + midpt
scenemax = kataboundmax * scale + midpt
xmid = (scenemax[0] - scenemin[0]) / 2.0 + scenemin[0]
road_edge1 = numpy.array([xmid, scenemin[1], scenemin[2]], dtype=numpy.float32)
road_edge2 = numpy.array([xmid, scenemax[1], scenemin[2]], dtype=numpy.float32)
midv3 = Vec3(midpt[0], midpt[1], midpt[2])
src = Vec3(road_edge2[0], road_edge2[1], road_edge2[2])
src -= midv3
src_copy = Vec3(src)
target = Vec3(kata_pt1[0], kata_pt1[1], kata_pt1[2])
target -= midv3
cross = src.cross(target)
w = math.sqrt(src.lengthSquared() * target.lengthSquared()) + src.dot(target)
q = Quat(w, cross)
q.normalize()
orig_up = q.getUp()
orig_up.normalize()
edge1_kata = scene.mapgen_coords_to_sirikata(edge1, terrain)
edge2_kata = scene.mapgen_coords_to_sirikata(edge2, terrain)
new_up = normal_vector(kata_pt1, edge1_kata, edge2_kata)
new_up = Vec3(new_up[0], new_up[1], new_up[2])
rotate_about = orig_up.cross(new_up)
rotate_about.normalize()
angle_between = orig_up.angleDeg(new_up)
r = Quat()
r.setFromAxisAngle(angle_between, rotate_about)
r.normalize()
q *= r
q.normalize()
m.orient_x = q.getI()
m.orient_y = q.getJ()
m.orient_z = q.getK()
m.orient_w = q.getR()
numroads += 1
json_out.append(m.to_json())
print 'Generated (%d) road objects' % numroads
