From c26d30986a1664dc9b90335a5ef8259bc5f3e822 Mon Sep 17 00:00:00 2001 From: Kelly Thomas Date: Thu, 17 May 2018 21:31:14 +0800 Subject: Mono: Basis constructor for euler parameter --- modules/mono/glue/cs_files/Basis.cs | 20 ++++++++++++++++++++ 1 file changed, 20 insertions(+) (limited to 'modules/mono') diff --git a/modules/mono/glue/cs_files/Basis.cs b/modules/mono/glue/cs_files/Basis.cs index 929b13d70c..270f3b80a2 100644 --- a/modules/mono/glue/cs_files/Basis.cs +++ b/modules/mono/glue/cs_files/Basis.cs @@ -446,6 +446,26 @@ namespace Godot _z = new Vector3(xz - wy, yz + wx, 1.0f - (xx + yy)); } + public Basis(Vector3 euler) + { + real_t c; + real_t s; + + c = Mathf.Cos(euler.x); + s = Mathf.Sin(euler.x); + var xmat = new Basis((real_t)1.0, (real_t)0.0, (real_t)0.0, (real_t)0.0, c, -s, (real_t)0.0, s, c); + + c = Mathf.Cos(euler.y); + s = Mathf.Sin(euler.y); + var ymat = new Basis(c, (real_t)0.0, s, (real_t)0.0, (real_t)1.0, (real_t)0.0, -s, (real_t)0.0, c); + + c = Mathf.Cos(euler.z); + s = Mathf.Sin(euler.z); + var zmat = new Basis(c, -s, (real_t)0.0, s, c, (real_t)0.0, (real_t)0.0, (real_t)0.0, (real_t)1.0); + + this = ymat * xmat * zmat; + } + public Basis(Vector3 axis, real_t phi) { var axis_sq = new Vector3(axis.x * axis.x, axis.y * axis.y, axis.z * axis.z); -- cgit v1.2.3