NanoBrain/NanoBrain-unitypackage
NanoBrain/NanoBrain-unitypackage
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Improve Unity compatibility

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This commit is contained in:
Pascal Serrarens 2026-01-05 11:02:02 +01:00
parent 91950a2d19
commit a91bd6dfee
2 changed files with 70 additions and 35 deletions
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39
Assets/NanoBrain/LinearAlgebra/src/Direction.cs
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@ -102,17 +102,7 @@ namespace LinearAlgebra {
}
}
#if !UNITY_5_3_OR_NEWER
/// <summary>
/// Convert the direction into a carthesian vector
/// </summary>
/// <returns>The carthesian vector corresponding to this direction.</returns>
public Vector3Float ToVector3Float() {
Quaternion q = Quaternion.Euler(90 - this.vertical.inDegrees, this.horizontal.inDegrees, 0);
Vector3Float v = q * Vector3Float.forward;
return v;
}
#else
#if UNITY_5_3_OR_NEWER
/// <summary>
/// Convert the direction into a carthesian vector
/// </summary>
@ -122,7 +112,30 @@ namespace LinearAlgebra {
UnityEngine.Vector3 v = q * UnityEngine.Vector3.forward;
return v;
}
#endif
/// <summary>
/// Convert a carthesian vector into a direction
/// </summary>
/// <param name="v">The carthesian vector</param>
/// <returns>The direction</returns>
/// <remarks>Information about the length of the carthesian vector is not
/// included in this transformation</remarks>
public static Direction FromVector3(UnityEngine.Vector3 v) {
AngleFloat horizontal = AngleFloat.Atan2(v.x, v.z);
AngleFloat vertical = AngleFloat.deg90 - AngleFloat.Acos(v.y);
Direction d = new(horizontal, vertical);
return d;
}
#else
/// <summary>
/// Convert the direction into a carthesian vector
/// </summary>
/// <returns>The carthesian vector corresponding to this direction.</returns>
public Vector3Float ToVector3() {
Quaternion q = Quaternion.Euler(90 - this.vertical.inDegrees, this.horizontal.inDegrees, 0);
Vector3Float v = q * Vector3Float.forward;
return v;
}
/// <summary>
/// Convert a carthesian vector into a direction
@ -137,6 +150,8 @@ namespace LinearAlgebra {
Direction d = new(horizontal, vertical);
return d;
}
#endif
/// <summary>
/// Tests the equality of two directions

66
Assets/NanoBrain/LinearAlgebra/src/SwingTwist.cs
View File

@ -1,6 +1,6 @@
#if !UNITY_5_3_OR_NEWER
using UnityEngine;
#endif
// #if !UNITY_5_3_OR_NEWER
// using UnityEngine;
// #endif
namespace LinearAlgebra {
@ -46,7 +46,45 @@ namespace LinearAlgebra {
return s;
}
#if !UNITY_5_3_OR_NEWER
#if UNITY_5_3_OR_NEWER
/// <summary>
/// A zero angle rotation
/// </summary>
public static readonly SwingTwist zero = Degrees(0, 0, 0);
public Spherical ToAngleAxis() {
UnityEngine.Quaternion q = this.ToQuaternion();
q.ToAngleAxis(out float angle, out UnityEngine.Vector3 axis);
Direction direction = Direction.FromVector3(axis);
Spherical r = new(angle, direction);
return r;
}
public static SwingTwist FromAngleAxis(Spherical r) {
UnityEngine.Vector3 vectorAxis = r.direction.ToVector3();
UnityEngine.Quaternion q = UnityEngine.Quaternion.AngleAxis(r.distance, vectorAxis);
return FromQuaternion(q);
}
/// <summary>
/// Convert a quaternion in a swing/twist rotation
/// </summary>
/// <param name="q">The quaternion to convert</param>
/// <returns>The swing/twist rotation</returns>
public static SwingTwist FromQuaternion(UnityEngine.Quaternion q) {
UnityEngine.Vector3 angles = q.eulerAngles;
SwingTwist r = Degrees(angles.y, -angles.x, -angles.z);
return r;
}
public UnityEngine.Quaternion ToQuaternion() {
UnityEngine.Quaternion q = UnityEngine.Quaternion.Euler(this.swing.vertical.inDegrees,
this.swing.horizontal.inDegrees,
this.twist.inDegrees);
return q;
}
#else
/// <summary>
/// A zero angle rotation
/// </summary>
@ -92,25 +130,7 @@ namespace LinearAlgebra {
return r;
}
#endif
#if UNITY_5_3_OR_NEWER
/// <summary>
/// Convert a quaternion in a swing/twist rotation
/// </summary>
/// <param name="q">The quaternion to convert</param>
/// <returns>The swing/twist rotation</returns>
public static SwingTwist FromQuaternion(UnityEngine.Quaternion q) {
UnityEngine.Vector3 angles = q.eulerAngles;
SwingTwist r = Degrees(angles.y, -angles.x, -angles.z);
return r;
}
public UnityEngine.Quaternion ToUnityQuaternion() {
UnityEngine.Quaternion q = UnityEngine.Quaternion.Euler(this.swing.vertical.inDegrees,
this.swing.horizontal.inDegrees,
this.twist.inDegrees);
return q;
}
#endif
}
}