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three.js

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提交 9032f7f9 编写于 作者: W WestLangley
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Added rotation conversion routines

上级 269dd2e0
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Showing with 855 addition and 488 deletion
build/Three.js
浏览文件 @ 9032f7f9
因为 它太大了无法显示 source diff 。你可以改为 查看blob。
examples/webgl_geometry_extrude_splines.html
浏览文件 @ 9032f7f9
......@@ -369,7 +369,7 @@
if (!lookAhead)
lookAt.copy(pos).addSelf(dir);
splineCamera.matrix.lookAt(splineCamera.position, lookAt, normal);
splineCamera.rotation.getRotationFromMatrix(splineCamera.matrix);
splineCamera.rotation.setEulerFromRotationMatrix(splineCamera.matrix, splineCamera.eulerOrder);
cameraHelper.update();
......
src/cameras/Camera.js
浏览文件 @ 9032f7f9
......@@ -25,7 +25,7 @@ THREE.Camera.prototype.lookAt = function ( vector ) {
if ( this.rotationAutoUpdate ) {
this.rotation.getRotationFromMatrix( this.matrix );
this.rotation.setEulerFromRotationMatrix( this.matrix, this.order );
}
......
src/core/Object3D.js
浏览文件 @ 9032f7f9
......@@ -61,7 +61,10 @@ THREE.Object3D.prototype = {
this.matrix.multiply( matrix, this.matrix );
this.scale.getScaleFromMatrix( this.matrix );
this.rotation.getRotationFromMatrix( this.matrix, this.scale );
var mat = new THREE.Matrix4().extractRotation( this.matrix );
this.rotation.setEulerFromRotationMatrix( mat, this.eulerOrder );
this.position.getPositionFromMatrix( this.matrix );
},
......@@ -99,7 +102,7 @@ THREE.Object3D.prototype = {
if ( this.rotationAutoUpdate ) {
this.rotation.getRotationFromMatrix( this.matrix );
this.rotation.setEulerFromRotationMatrix( this.matrix, this.eulerOrder );
}
......
src/core/Quaternion.js
浏览文件 @ 9032f7f9
/**
* @author mikael emtinger / http://gomo.se/
* @author alteredq / http://alteredqualia.com/
* @author WestLangley / http://github.com/WestLangley
*/
THREE.Quaternion = function( x, y, z, w ) {
......@@ -38,28 +39,79 @@ THREE.Quaternion.prototype = {
},
setFromEuler: function ( vector ) {
var c = Math.PI / 360, // 0.5 * Math.PI / 360, // 0.5 is an optimization
x = vector.x * c,
y = vector.y * c,
z = vector.z * c,
c1 = Math.cos( y ),
s1 = Math.sin( y ),
c2 = Math.cos( -z ),
s2 = Math.sin( -z ),
c3 = Math.cos( x ),
s3 = Math.sin( x ),
c1c2 = c1 * c2,
s1s2 = s1 * s2;
this.w = c1c2 * c3 - s1s2 * s3;
this.x = c1c2 * s3 + s1s2 * c3;
this.y = s1 * c2 * c3 + c1 * s2 * s3;
this.z = c1 * s2 * c3 - s1 * c2 * s3;
setFromEuler: function ( v, order ) {
// http://www.mathworks.com/matlabcentral/fileexchange/
// 20696-function-to-convert-between-dcm-euler-angles-quaternions-and-euler-vectors/
// content/SpinCalc.m
var _order = order || 'XYZ',
c1 = Math.cos( v.x / 2 ),
c2 = Math.cos( v.y / 2 ),
c3 = Math.cos( v.z / 2 ),
s1 = Math.sin( v.x / 2 ),
s2 = Math.sin( v.y / 2 ),
s3 = Math.sin( v.z / 2 );
switch ( _order ) {
case 'YXZ':
this.x = s1 * c2 * c3 + c1 * s2 * s3;
this.y = c1 * s2 * c3 - s1 * c2 * s3;
this.z = c1 * c2 * s3 - s1 * s2 * c3;
this.w = c1 * c2 * c3 + s1 * s2 * s3;
break;
case 'ZXY':
this.x = s1 * c2 * c3 - c1 * s2 * s3;
this.y = c1 * s2 * c3 + s1 * c2 * s3;
this.z = c1 * c2 * s3 + s1 * s2 * c3;
this.w = c1 * c2 * c3 - s1 * s2 * s3;
break;
case 'ZYX':
this.x = s1 * c2 * c3 - c1 * s2 * s3;
this.y = c1 * s2 * c3 + s1 * c2 * s3;
this.z = c1 * c2 * s3 - s1 * s2 * c3;
this.w = c1 * c2 * c3 + s1 * s2 * s3;
break;
case 'YZX':
this.x = s1 * c2 * c3 + c1 * s2 * s3;
this.y = c1 * s2 * c3 + s1 * c2 * s3;
this.z = c1 * c2 * s3 - s1 * s2 * c3;
this.w = c1 * c2 * c3 - s1 * s2 * s3;
break;
case 'XZY':
this.x = s1 * c2 * c3 - c1 * s2 * s3;
this.y = c1 * s2 * c3 - s1 * c2 * s3;
this.z = c1 * c2 * s3 + s1 * s2 * c3;
this.w = c1 * c2 * c3 + s1 * s2 * s3;
break;
default: // 'XYZ'
this.x = s1 * c2 * c3 + c1 * s2 * s3;
this.y = c1 * s2 * c3 - s1 * c2 * s3;
this.z = c1 * c2 * s3 + s1 * s2 * c3;
this.w = c1 * c2 * c3 - s1 * s2 * s3;
break;
}
return this;
},
......@@ -83,24 +135,57 @@ THREE.Quaternion.prototype = {
setFromRotationMatrix: function ( m ) {
// Adapted from: http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm
function copySign( a, b ) {
return b < 0 ? -Math.abs( a ) : Math.abs( a );
// http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm
// assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)
var te = m.elements,
m11 = te[0], m12 = te[4], m13 = te[8],
m21 = te[1], m22 = te[5], m23 = te[9],
m31 = te[2], m32 = te[6], m33 = te[10],
trace = m11 + m22 + m33,
s;
if( trace > 0 ) {
s = 0.5 / Math.sqrt( trace + 1.0 );
this.w = 0.25 / s;
this.x = ( m32 - m23 ) * s;
this.y = ( m13 - m31 ) * s;
this.z = ( m21 - m12 ) * s;
} else if ( m11 > m22 && m11 > m33 ) {
s = 2.0 * Math.sqrt( 1.0 + m11 - m22 - m33 );
this.w = (m32 - m23 ) / s;
this.x = 0.25 * s;
this.y = (m12 + m21 ) / s;
this.z = (m13 + m31 ) / s;
} else if (m22 > m33) {
s = 2.0 * Math.sqrt( 1.0 + m22 - m11 - m33 );
this.w = (m13 - m31 ) / s;
this.x = (m12 + m21 ) / s;
this.y = 0.25 * s;
this.z = (m23 + m32 ) / s;
} else {
s = 2.0 * Math.sqrt( 1.0 + m33 - m11 - m22 );
this.w = ( m21 - m12 ) / s;
this.x = ( m13 + m31 ) / s;
this.y = ( m23 + m32 ) / s;
this.z = 0.25 * s;
}
var absQ = Math.pow( m.determinant(), 1.0 / 3.0 );
this.w = Math.sqrt( Math.max( 0, absQ + m.elements[0] + m.elements[5] + m.elements[10] ) ) / 2;
this.x = Math.sqrt( Math.max( 0, absQ + m.elements[0] - m.elements[5] - m.elements[10] ) ) / 2;
this.y = Math.sqrt( Math.max( 0, absQ - m.elements[0] + m.elements[5] - m.elements[10] ) ) / 2;
this.z = Math.sqrt( Math.max( 0, absQ - m.elements[0] - m.elements[5] + m.elements[10] ) ) / 2;
this.x = copySign( this.x, ( m.elements[6] - m.elements[9] ) );
this.y = copySign( this.y, ( m.elements[8] - m.elements[2] ) );
this.z = copySign( this.z, ( m.elements[1] - m.elements[4] ) );
this.normalize();
return this;
},
......
src/core/Vector3.js
浏览文件 @ 9032f7f9
......@@ -4,6 +4,7 @@
* @author philogb / http://blog.thejit.org/
* @author mikael emtinger / http://gomo.se/
* @author egraether / http://egraether.com/
* @author WestLangley / http://github.com/WestLangley
*/
THREE.Vector3 = function ( x, y, z ) {
......@@ -270,89 +271,207 @@ THREE.Vector3.prototype = {
},
getRotationFromMatrix: function ( m, scale ) {
var sx = scale ? scale.x : 1;
var sy = scale ? scale.y : 1;
var sz = scale ? scale.z : 1;
var m11 = m.elements[0] / sx, m12 = m.elements[4] / sy, m13 = m.elements[8] / sz;
var m21 = m.elements[1] / sx, m22 = m.elements[5] / sy, m23 = m.elements[9] / sz;
var m33 = m.elements[10] / sz;
this.y = Math.asin( m13 );
var cosY = Math.cos( this.y );
if ( Math.abs( cosY ) > 0.00001 ) {
this.x = Math.atan2( - m23 / cosY, m33 / cosY );
this.z = Math.atan2( - m12 / cosY, m11 / cosY );
} else {
this.x = 0;
this.z = Math.atan2( m21, m22 );
setEulerFromRotationMatrix: function ( m, order ) {
// assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)
// clamp, to handle numerical problems
function clamp( x ) { return Math.min( Math.max( x, -1 ), 1 ) };
var _order = order || 'XYZ',
te = m.elements,
m11 = te[0], m12 = te[4], m13 = te[8],
m21 = te[1], m22 = te[5], m23 = te[9],
m31 = te[2], m32 = te[6], m33 = te[10];
switch ( _order ) {
case 'YXZ':
this.x = Math.asin( - clamp( m23 ) );
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;
}
break;
case 'ZXY':
this.x = Math.asin( clamp( m32 ) );
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( m13, m11 );
}
break;
case 'ZYX':
this.y = Math.asin( - clamp( m31 ) );
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 );
}
break;
case 'YZX':
this.z = Math.asin( clamp( m21 ) );
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( m31, m33 );
}
break;
case 'XZY':
this.z = Math.asin( - clamp( m12 ) );
if ( Math.abs( m12 ) < 0.99999 ) {
this.x = Math.atan2( m32, m22 );
this.y = Math.atan2( m13, m11 );
} else {
this.x = Math.atan2( - m13, m33 );
this.y = 0;
}
break;
default: // 'XYZ'
this.y = Math.asin( clamp( m13 ) );
if ( Math.abs( m13 ) < 0.99999 ) {
this.x = Math.atan2( - m23, m33 );
this.z = Math.atan2( - m12, m11 );
} else {
this.x = Math.atan2( m21, m22 );
this.z = 0;
}
break;
}
return this;
},
/*
// from http://www.mathworks.com/matlabcentral/fileexchange/20696-function-to-convert-between-dcm-euler-angles-quaternions-and-euler-vectors/content/SpinCalc.m
// order XYZ
getEulerXYZFromQuaternion: function ( q ) {
this.x = Math.atan2( 2 * ( q.x * q.w - q.y * q.z ), ( q.w * q.w - q.x * q.x - q.y * q.y + q.z * q.z ) );
this.y = Math.asin( 2 * ( q.x * q.z + q.y * q.w ) );
this.z = Math.atan2( 2 * ( q.z * q.w - q.x * q.y ), ( q.w * q.w + q.x * q.x - q.y * q.y - q.z * q.z ) );
},
// from http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/index.htm
// order YZX (assuming heading == y, attitude == z, bank == x)
getEulerYZXFromQuaternion: function ( q ) {
var sqw = q.w * q.w;
var sqx = q.x * q.x;
var sqy = q.y * q.y;
var sqz = q.z * q.z;
var unit = sqx + sqy + sqz + sqw; // if normalised is one, otherwise is correction factor
var test = q.x * q.y + q.z * q.w;
if ( test > 0.499 * unit ) { // singularity at north pole
this.y = 2 * Math.atan2( q.x, q.w );
this.z = Math.PI / 2;
this.x = 0;
return;
setEulerFromQuaternion: function ( q, order ) {
// http://www.mathworks.com/matlabcentral/fileexchange/
// 20696-function-to-convert-between-dcm-euler-angles-quaternions-and-euler-vectors/
// content/SpinCalc.m
// q is assumed to be normalized
// clamp, to handle numerical problems
function clamp( x ) { return Math.min( Math.max( x, -1 ), 1 ) };
var sqx = q.x * q.x,
sqy = q.y * q.y,
sqz = q.z * q.z,
sqw = q.w * q.w;
switch ( order ) {
case 'YXZ':
this.x = Math.asin( clamp( 2 * ( q.x * q.w - q.y * q.z ) ) );
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 ) );
break;
case 'ZXY':
this.x = Math.asin( clamp( 2 * ( q.x * q.w + q.y * q.z ) ) );
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 ) );
break;
case '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 ) ) );
this.z = Math.atan2( 2 * ( q.x * q.y + q.z * q.w ), ( sqw + sqx - sqy - sqz ) );
break;
case '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 ) ) );
break;
case '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 ) ) );
break;
default: // '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 ) ) );
this.z = Math.atan2( 2 * ( q.z * q.w - q.x * q.y ), ( sqw + sqx - sqy - sqz ) );
}
if ( test < -0.499 * unit ) { // singularity at south pole
this.y = -2 * Math.atan2( q.x, q.w );
this.z = -Math.PI / 2;
this.x = 0;
return;
}
this.y = Math.atan2( 2 * q.y * q.w - 2 * q.x * q.z, sqx - sqy - sqz + sqw );
this.z = Math.asin( 2 * test / unit );
this.x = Math.atan2( 2 * q.x * q.w - 2 * q.y * q.z, -sqx + sqy - sqz + sqw );
return this;
},
*/
getScaleFromMatrix: function ( m ) {
var sx = this.set( m.elements[0], m.elements[1], m.elements[2] ).length();
......
src/core/Vector4.js
浏览文件 @ 9032f7f9
......@@ -3,6 +3,7 @@
* @author philogb / http://blog.thejit.org/
* @author mikael emtinger / http://gomo.se/
* @author egraether / http://egraether.com/
* @author WestLangley / http://github.com/WestLangley
*/
THREE.Vector4 = function ( x, y, z, w ) {
......@@ -169,6 +170,158 @@ THREE.Vector4.prototype = {
return new THREE.Vector4( this.x, this.y, this.z, this.w );
},
setAxisAngleFromQuaternion: function ( q ) {
// http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToAngle/index.htm
// q is assumed to be normalized
this.w = 2 * Math.acos( q.w );
var s = Math.sqrt( 1 - q.w * q.w );
if ( s < 0.0001 ) {
this.x = 1;
this.y = 0;
this.z = 0;
} else {
this.x = q.x / s;
this.y = q.y / s;
this.z = q.z / s;
}
return this;
},
setAxisAngleFromRotationMatrix: function ( m ) {
// http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToAngle/index.htm
// assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)
var angle, x, y, z, // variables for result
epsilon = 0.01, // margin to allow for rounding errors
epsilon2 = 0.1, // margin to distinguish between 0 and 180 degrees
te = m.elements,
m11 = te[0], m12 = te[4], m13 = te[8],
m21 = te[1], m22 = te[5], m23 = te[9],
m31 = te[2], m32 = te[6], m33 = te[10];
if ( ( Math.abs( m12 - m21 ) < epsilon )
&& ( Math.abs( m13 - m31 ) < epsilon )
&& ( Math.abs( m23 - m32 ) < epsilon ) ) {
// singularity found
// first check for identity matrix which must have +1 for all terms
// in leading diagonal and zero in other terms
if ( ( Math.abs( m12 + m21 ) < epsilon2 )
&& ( Math.abs( m13 + m31 ) < epsilon2 )
&& ( Math.abs( m23 + m32 ) < epsilon2 )
&& ( Math.abs( m11 + m22 + m33 - 3 ) < epsilon2 ) ) {
// this singularity is identity matrix so angle = 0
this.set( 1, 0, 0, 0 );
return this; // zero angle, arbitrary axis
}
// otherwise this singularity is angle = 180
angle = Math.PI;
var xx = ( m11 + 1 ) / 2;
var yy = ( m22 + 1 ) / 2;
var zz = ( m33 + 1 ) / 2;
var xy = ( m12 + m21 ) / 4;
var xz = ( m13 + m31 ) / 4;
var yz = ( m23 + m32 ) / 4;
if ( ( xx > yy ) && ( xx > zz ) ) { // m11 is the largest diagonal term
if ( xx < epsilon ) {
x = 0;
y = 0.707106781;
z = 0.707106781;
} else {
x = Math.sqrt( xx );
y = xy / x;
z = xz / x;
}
} else if ( yy > zz ) { // m22 is the largest diagonal term
if ( yy < epsilon ) {
x = 0.707106781;
y = 0;
z = 0.707106781;
} else {
y = Math.sqrt( yy );
x = xy / y;
z = yz / y;
}
} else { // m33 is the largest diagonal term so base result on this
if ( zz < epsilon ) {
x = 0.707106781;
y = 0.707106781;
z = 0;
} else {
z = Math.sqrt( zz );
x = xz / z;
y = yz / z;
}
}
this.set( x, y, z, angle );
return this; // return 180 deg rotation
}
// as we have reached here there are no singularities so we can handle normally
var s = Math.sqrt( ( m32 - m23 ) * ( m32 - m23 )
+ ( m13 - m31 ) * ( m13 - m31 )
+ ( m21 - m12 ) * ( m21 - m12 ) ); // used to normalize
if ( Math.abs( s ) < 0.001 ) s = 1;
// prevent divide by zero, should not happen if matrix is orthogonal and should be
// caught by singularity test above, but I've left it in just in case
this.x = ( m32 - m23 ) / s;
this.y = ( m13 - m31 ) / s;
this.z = ( m21 - m12 ) / s;
this.w = Math.acos( ( m11 + m22 + m33 - 1 ) / 2 );
return this;
}
};
src/extras/helpers/ArrowHelper.js
浏览文件 @ 9032f7f9
/**
* @author WestLangley / https://github.com/WestLangley
* @author WestLangley / http://github.com/WestLangley
* @author zz85 / https://github.com/zz85
*
* Creates an arrow for visualizing directions
......@@ -49,7 +49,7 @@ THREE.ArrowHelper.prototype.setDirection = function ( dir ) {
this.matrix = new THREE.Matrix4().makeRotationAxis( axis.normalize(), radians );
this.rotation.getRotationFromMatrix( this.matrix, this.scale );
this.rotation.setEulerFromRotationMatrix( this.matrix, this.eulerOrder );
};
......
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