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@@ -1079,8 +1079,8 @@
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return center;
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}
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- /**
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- * Given three orthogonal left-handed oriented Vector3 axis in space (target system),
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+ /**
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+ * Given three orthogonal normalized left-handed oriented Vector3 axis in space (target system),
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* RotationFromAxis() returns the rotation Euler angles (ex : rotation.x, rotation.y, rotation.z) to apply
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* to something in order to rotate it from its local system to the given target system.
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*/
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@@ -1090,17 +1090,17 @@
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return rotation;
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}
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- /**
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+ /**
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* The same than RotationFromAxis but updates the passed ref Vector3 parameter.
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*/
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public static RotationFromAxisToRef(axis1: Vector3, axis2: Vector3, axis3: Vector3, ref: Vector3): void {
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- var u = Vector3.Normalize(axis1);
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- var w = Vector3.Normalize(axis3);
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+ var u = axis1.normalize();
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+ var w = axis3.normalize();
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// world axis
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var X = Axis.X;
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var Y = Axis.Y;
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-
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+
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// equation unknowns and vars
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var yaw = 0.0;
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var pitch = 0.0;
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@@ -1111,14 +1111,13 @@
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var t = 0.0;
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var sign = -1.0;
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var nbRevert = 0;
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- var cross: Vector3;
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+ var cross: Vector3 = Vector3.Zero();
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var dot = 0.0;
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// step 1 : rotation around w
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// Rv3(u) = u1, and u1 belongs to plane xOz
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// Rv3(w) = w1 = w invariant
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var u1: Vector3;
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- var v1: Vector3;
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if (Tools.WithinEpsilon(w.z, 0, Engine.Epsilon)) {
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z = 1.0;
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}
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@@ -1133,9 +1132,7 @@
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u1 = new Vector3(x, y, z);
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u1.normalize();
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- v1 = Vector3.Cross(w, u1); // v1 image of v through rotation around w
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- v1.normalize();
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- cross = Vector3.Cross(u, u1); // returns same direction as w (=local z) if positive angle : cross(source, image)
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+ Vector3.CrossToRef(u, u1, cross); // returns same direction as w (=local z) if positive angle : cross(source, image)
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cross.normalize();
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if (Vector3.Dot(w, cross) < 0) {
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sign = 1.0;
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@@ -1148,10 +1145,9 @@
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if (Vector3.Dot(u1, X) < 0) { // checks X orientation
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roll = Math.PI + roll;
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u1 = u1.scaleInPlace(-1);
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- v1 = v1.scaleInPlace(-1);
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nbRevert++;
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}
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-
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+
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// step 2 : rotate around u1
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// Ru1(w1) = Ru1(w) = w2, and w2 belongs to plane xOz
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// u1 is yet in xOz and invariant by Ru1, so after this step u1 and w2 will be in xOz
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@@ -1160,7 +1156,7 @@
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x = 0.0;
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y = 0.0;
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z = 0.0;
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- sign = -1;
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+ sign = -1.0;
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if (Tools.WithinEpsilon(w.z, 0, Engine.Epsilon)) {
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x = 1.0;
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}
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@@ -1174,7 +1170,7 @@
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w2.normalize();
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v2 = Vector3.Cross(w2, u1); // v2 image of v1 through rotation around u1
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v2.normalize();
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- cross = Vector3.Cross(w, w2); // returns same direction as u1 (=local x) if positive angle : cross(source, image)
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+ Vector3.CrossToRef(w, w2, cross); // returns same direction as u1 (=local x) if positive angle : cross(source, image)
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cross.normalize();
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if (Vector3.Dot(u1, cross) < 0) {
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sign = 1.0;
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@@ -1185,15 +1181,13 @@
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pitch = Math.acos(dot) * sign;
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if (Vector3.Dot(v2, Y) < 0) { // checks for Y orientation
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pitch = Math.PI + pitch;
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- v2 = v2.scaleInPlace(-1);
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- w2 = w2.scaleInPlace(-1);
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nbRevert++;
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}
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-
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+
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// step 3 : rotate around v2
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// Rv2(u1) = X, same as Rv2(w2) = Z, with X=(1,0,0) and Z=(0,0,1)
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- sign = -1;
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- cross = Vector3.Cross(X, u1); // returns same direction as Y if positive angle : cross(source, image)
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+ sign = -1.0;
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+ Vector3.CrossToRef(X, u1, cross); // returns same direction as Y if positive angle : cross(source, image)
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cross.normalize();
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if (Vector3.Dot(cross, Y) < 0) {
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sign = 1.0;
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@@ -2462,7 +2456,7 @@
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target.subtractToRef(eye, this._zAxis);
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this._zAxis.normalize();
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- // X axis
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+ // X axis
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Vector3.CrossToRef(up, this._zAxis, this._xAxis);
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if (this._xAxis.lengthSquared() === 0) {
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@@ -3053,7 +3047,7 @@
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}
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/**
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- * Function will create a new transformed ray starting from origin and ending at the end point. Ray's length will be set, and ray will be
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+ * Function will create a new transformed ray starting from origin and ending at the end point. Ray's length will be set, and ray will be
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* transformed to the given world matrix.
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* @param origin The origin point
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* @param end The end point
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@@ -3367,8 +3361,8 @@
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private _binormals = new Array<Vector3>();
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private _raw: boolean;
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- /**
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- * new Path3D(path, normal, raw)
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+ /**
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+ * new Path3D(path, normal, raw)
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* path : an array of Vector3, the curve axis of the Path3D
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* normal (optional) : Vector3, the first wanted normal to the curve. Ex (0, 1, 0) for a vertical normal.
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* raw (optional, default false) : boolean, if true the returned Path3D isn't normalized. Useful to depict path acceleration or speed.
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@@ -3424,7 +3418,7 @@
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if (!this._raw) {
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this._tangents[l - 1].normalize();
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}
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-
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+
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// normals and binormals at first point : arbitrary vector with _normalVector()
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var tg0 = this._tangents[0];
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var pp0 = this._normalVector(this._curve[0], tg0, firstNormal);
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@@ -3453,8 +3447,8 @@
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this._tangents[i] = prev.add(cur);
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this._tangents[i].normalize();
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}
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- this._distances[i] = this._distances[i - 1] + prev.length();
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-
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+ this._distances[i] = this._distances[i - 1] + prev.length();
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+
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// normals and binormals
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// http://www.cs.cmu.edu/afs/andrew/scs/cs/15-462/web/old/asst2camera.html
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curTang = this._tangents[i];
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@@ -3502,7 +3496,7 @@
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if (va === undefined || va === null) {
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var point: Vector3;
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- if (!Tools.WithinEpsilon(vt.y, 1, Engine.Epsilon)) { // search for a point in the plane
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+ if (!Tools.WithinEpsilon(vt.y, 1, Engine.Epsilon)) { // search for a point in the plane
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point = new Vector3(0, -1, 0);
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}
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else if (!Tools.WithinEpsilon(vt.x, 1, Engine.Epsilon)) {
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@@ -3619,6 +3613,3 @@
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}
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}
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}
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-
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-
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-
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Temechon