114 lines
4.2 KiB
Python
114 lines
4.2 KiB
Python
import math
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from .Angle import Angle
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from .Vector import Vector3
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class Direction:
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"""! A direction using angles
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* The horizontal angle ranging from -180 (inclusive) to 180 (exclusive)
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degrees which is a rotation in the horizontal plane
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* A vertical angle ranging from -90 (inclusive) to 90 (exclusive) degrees
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which is the rotation in the up/down direction applied after the horizontal
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rotation has been applied.
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The angles are automatically normalized to stay within the abovenmentioned
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ranges.
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"""
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def __init__(self, horizontal=Angle(), vertical=Angle()):
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"""! Create a new direction
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@param horizontal The horizontal angle
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@param vertical The vertical angle.
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"""
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## horizontal angle, range in degrees = (-180..180]
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self.horizontal: Angle = horizontal
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## vertical angle, range in degrees = (-90..90]
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self.vertical: Angle = vertical
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self.Normalize()
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@staticmethod
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def Degrees(horizontal: float, vertical: float):
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"""! Create a direction using angle values in degrees
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@param horizontal The horizontal angle in degrees
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@param vertical The vertical angle in degrees
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@return The direction
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"""
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direction = Direction(Angle.Degrees(horizontal), Angle.Degrees(vertical))
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return direction
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@staticmethod
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def Radians(horizontal: float, vertical: float):
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"""! Create a direction using angle values in radians
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@param horizontal The horizontal angle in radians
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@param vertical The vertical angle in radians
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@return The direction
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"""
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direction = Direction(Angle.Radians(horizontal), Angle.Radians(vertical))
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return direction
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def FromVector3(v: Vector3):
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d = Direction(
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horizontal = Angle.Atan2(v.right, v.forward),
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vertical = Angle.Degrees(-90) - Angle.Acos(v.up)
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)
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return d;
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def ToVector3(self) -> Vector3:
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"""! Convert the direction to a Vector3 coordinate
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@return The vector coordinate
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"""
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verticalRad = (math.pi / 2) - self.vertical.InRadians()
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horizontalRad = self.horizontal.InRadians()
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cosVertical = math.cos(verticalRad)
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sinVertical = math.sin(verticalRad)
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cosHorizontal = math.cos(horizontalRad)
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sinHorizontal = math.sin(horizontalRad)
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right = sinVertical * sinHorizontal
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up = cosVertical
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forward = sinVertical * cosHorizontal
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return Vector3(right, up, forward)
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def __eq__(self, direction):
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"""! Test whether this direction is equal to another direction
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@param direction The direction to compare to
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@return True when the direction angles are equal, false otherwise.
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"""
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return (self.horizontal == direction.horizontal and
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self.vertical == direction.vertical)
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def isclose(self, other, rel_tol=1e-9, abs_tol=1e-8):
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return (
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Angle.isclose(self.horizontal, other.horizontal, rel_tol=rel_tol, abs_tol=abs_tol) and
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Angle.isclose(self.vertical, other.vertical, rel_tol=rel_tol, abs_tol=abs_tol)
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)
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def __neg__(self):
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"""! Negate/reverse the direction
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@return The reversed direction.
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"""
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h: Angle = self.horizontal + Angle.Degrees(-180)
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v: Angle = -self.vertical
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return Direction(h, v)
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def Inverse(self):
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"""! This is a synonym for negation
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"""
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return -self
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def Normalize(self):
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"""! Normalize this vector to the specified ranges
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@note Should not be needed but available in case it is.
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"""
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v = self.vertical.InDegrees()
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deg180 = Angle.Degrees(-180)
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if v > 90 or v < -90:
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self.horizontal += deg180
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self.vertical = deg180 - self.vertical
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def __repr__(self):
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return f"Direction(x={self.horizontal}, y={self.vertical})"
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Direction.zero = Direction.Degrees(0, 0)
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Direction.forward = Direction.Degrees(0, 0)
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Direction.backward = Direction.Degrees(-180, 0)
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Direction.up = Direction.Degrees(0, 90)
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Direction.down = Direction.Degrees(0, -90)
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Direction.left = Direction.Degrees(-90, 0)
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Direction.right = Direction.Degrees(90, 0) |