def translate_backward(self, amount):
"""Translates the object backward along the inertial X,Z
plane.
"""
quat = quaternion.set_to_rotation_about_y(self.yaw)
matrix = matrix33.create_from_quaternion(quat)
vec = matrix33.apply_to_vector([0.0, 0.0, 1.0], matrix)
vec *= amount
self.transform.inertial.translate(vec)
def translate_forward( self, amount ):
"""Translates the object forward along the inertial X,Z
plane.
"""
quat = quaternion.set_to_rotation_about_y( self.yaw )
matrix = matrix33.create_from_quaternion( quat )
vec = matrix33.apply_to_vector(
[0.0, 0.0,-1.0],
matrix
)
vec *= amount
self.transform.inertial.translate( vec )
def orient(self, pitch=None, yaw=None, roll=None):
"""Over-ride the current orientation.
"""
if yaw != None:
quat = quaternion.set_to_rotation_about_y(yaw)
self.transform.orientation = quaternion.cross(
quat, self.transform.orientation)
if pitch != None:
quat = quaternion.set_to_rotation_about_x(pitch)
self.transform.orientation = quaternion.cross(
quat, self.transform.orientation)
if roll != None:
quat = quaternion.set_to_rotation_about_z(roll)
self.transform.orientation = quaternion.cross(
quat, self.transform.orientation)
def _update(self):
"""Updates the orientation of the object.
This should be called once all of the yaw / pitch
modifications are applied.
"""
# limit our pitch to +- 1/2 pi
if self.pitch > self.piOver2:
self.pitch = self.piOver2
if self.pitch < -self.piOver2:
self.pitch = -self.piOver2
pitchQuat = quaternion.set_to_rotation_about_x(self.pitch)
yawQuat = quaternion.set_to_rotation_about_y(self.yaw)
quat = quaternion.cross(pitchQuat, yawQuat)
quaternion.normalise(quat)
self.transform.orientation = quat
def _update( self ):
"""Updates the orientation of the object.
This should be called once all of the yaw / pitch
modifications are applied.
"""
# limit our pitch to +- 1/2 pi
if self.pitch > self.piOver2:
self.pitch = self.piOver2
if self.pitch < -self.piOver2:
self.pitch = -self.piOver2
pitchQuat = quaternion.set_to_rotation_about_x( self.pitch )
yawQuat = quaternion.set_to_rotation_about_y( self.yaw )
quat = quaternion.cross( pitchQuat, yawQuat )
quaternion.normalise( quat )
self.transform.orientation = quat
def orient( self, pitch = None, yaw = None, roll = None ):
"""Over-ride the current orientation.
"""
if yaw != None:
quat = quaternion.set_to_rotation_about_y( yaw )
self.transform.orientation = quaternion.cross(
quat,
self.transform.orientation
)
if pitch != None:
quat = quaternion.set_to_rotation_about_x( pitch )
self.transform.orientation = quaternion.cross(
quat,
self.transform.orientation
)
if roll != None:
quat = quaternion.set_to_rotation_about_z( roll )
self.transform.orientation = quaternion.cross(
quat,
self.transform.orientation
)