61 lines
1.4 KiB
Python
61 lines
1.4 KiB
Python
import numpy as np
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from .SwingTwist import SwingTwist
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def SendAngle8(buffer, ix_ref, angle):
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# Normalize angle
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while angle >= 180:
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angle -= 360
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while angle < -180:
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angle += 360
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ix = ix_ref[0]
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buffer[ix] = round((angle / 360) * 256).to_bytes(1, 'big')[0]
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ix_ref[0] += 1
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def SendFloat16(buffer, ix_ref, value):
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ix = ix_ref[0]
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value16 = np.float16(value)
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binary = value16.view(np.uint16)
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buffer[ix:ix+2] = [
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(binary & 0xFF00) >> 8,
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(binary & 0x00FF)
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]
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ix_ref[0] += 2
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def ReceiveFloat16(buffer, ix_ref) -> float:
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ix = ix_ref[0]
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# if ix < len(buffer) - 1:
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binary = (buffer[ix] << 8) + buffer[ix+1]
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# else:
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# binary = 0
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value16 = np.uint16(binary).view(np.float16)
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ix_ref[0] += 2
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return float(value16)
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def SendSpherical(buffer, ix_ref, vector):
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SendFloat16(buffer, ix_ref, vector.distance)
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SendAngle8(buffer, ix_ref, vector.direction.horizontal)
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SendAngle8(buffer, ix_ref, vector.direction.vertical)
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def SendQuat32(buffer, ix_ref, q):
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if isinstance(q, SwingTwist):
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q = q.ToQuaternion()
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ix = ix_ref[0]
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qx = (int)(q.x * 127 + 128)
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qy = (int)(q.y * 127 + 128)
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qz = (int)(q.z * 127 + 128)
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qw = (int)(q.w * 255)
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if q.w < 0:
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qx = -qx
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qy = -qy
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qz = -qz
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qw = -qw
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buffer[ix:ix+4] = [
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qx,
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qy,
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qz,
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qw
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]
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ix_ref[0] += 4
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