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Merge pull request #2 from JPAKx4/master
Added utility methods + documentation to Rollable. Added a smoothing …
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,47 @@ | ||
| package ca.landonjw.math; | ||
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| import java.util.LinkedList; | ||
| import java.util.List; | ||
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| public class Smoother { | ||
| private final float timeWindow; | ||
| private final List<Entry> values = new LinkedList<>(); | ||
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| public Smoother(float timeWindow) { | ||
| this.timeWindow = timeWindow; | ||
| } | ||
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| public float smooth(float value, float deltaValue){ | ||
| values.add(0, new Entry(value, deltaValue)); | ||
| float totalTime = 0; | ||
| float sum = 0; | ||
| int index = 0; | ||
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| while(index < values.size() && totalTime <= timeWindow){ | ||
| var entry = values.get(index); | ||
| totalTime += entry.deltaTime; | ||
| sum += entry.value * entry.deltaTime; | ||
| index++; | ||
| } | ||
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| while(index < values.size()){ | ||
| values.remove(index); | ||
| } | ||
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| if(totalTime <= 0){ | ||
| return value; | ||
| } | ||
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| return sum/totalTime; | ||
| } | ||
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| private static class Entry { | ||
| float deltaTime; | ||
| float value; | ||
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| private Entry(float value, float deltaTime){ | ||
| this.deltaTime = deltaTime; | ||
| this.value = value; | ||
| } | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,14 +1,109 @@ | ||
| package ca.landonjw; | ||
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| import org.joml.Matrix3f; | ||
| import org.joml.Quaternionf; | ||
| import org.joml.Vector3f; | ||
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| import java.util.function.Supplier; | ||
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| public interface Rollable { | ||
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| Vector3f FORWARDS = new Vector3f(0, 0, 1); | ||
| Vector3f LEFT = new Vector3f(1, 0, 0); | ||
| Vector3f UP = new Vector3f(0, 1, 0); | ||
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| Matrix3f getOrientation(); | ||
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| void updateOrientation(Supplier<Matrix3f> update); | ||
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| /** | ||
| * @return The forward vector (0, 0, 1) after the rotation matrix is applied. | ||
| */ | ||
| default Vector3f getForwardVector(){ | ||
| return getOrientation().transform(FORWARDS, new Vector3f()); | ||
| } | ||
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| /** | ||
| * @return The left vector (1, 0, 0) after the rotation matrix is applied. | ||
| */ | ||
| default Vector3f getLeftVector(){ | ||
| return getOrientation().transform(LEFT, new Vector3f()); | ||
| } | ||
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| /** | ||
| * @return The up vector (0, 1, 0) after the rotation matrix is applied. | ||
| */ | ||
| default Vector3f getUpVector(){ | ||
| return getOrientation().transform(UP, new Vector3f()); | ||
| } | ||
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| /** | ||
| * | ||
| * @param yaw change in degrees | ||
| * @return The Rollable object this method was called on | ||
| */ | ||
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| default Rollable rotateYaw(float yaw){ | ||
| getOrientation().rotate((float) - Math.toRadians(yaw), UP); | ||
| return this; | ||
| } | ||
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| /** | ||
| * | ||
| * @param pitch change in degrees | ||
| * @return The Rollable object this method was called on | ||
| */ | ||
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| default Rollable rotatePitch(float pitch){ | ||
| getOrientation().rotate((float) - Math.toRadians(pitch), LEFT); | ||
| return this; | ||
| } | ||
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| /** | ||
| * | ||
| * @param roll change in degrees | ||
| * @return The Rollable object this method was called on | ||
| */ | ||
| default Rollable rotateRoll(float roll){ | ||
| getOrientation().rotate((float) - Math.toRadians(roll), FORWARDS); | ||
| return this; | ||
| } | ||
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| /** | ||
| * Order matters when rotating an object. If you need a different order, individually call rotateYaw, rotatePitch, and rotateRoll | ||
| * | ||
| * @param yaw change in degrees | ||
| * @param pitch change in degrees | ||
| * @param roll change in degrees | ||
| * @return The Rollable object this method was called on | ||
| */ | ||
| default Rollable rotate(float yaw, float pitch, float roll){ | ||
| return rotateYaw(yaw).rotatePitch(pitch).rotateRoll(roll); | ||
| } | ||
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| /** | ||
| * @return The yaw angle in degrees as a float. | ||
| * Value is between [-90, 90] with 0 being straight forward, 90 being straight down, and -90 being straight up | ||
| */ | ||
| default float getYaw(){ | ||
| return (float) Math.toDegrees(Math.PI - FORWARDS.angleSigned(getForwardVector(), UP)); | ||
| } | ||
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| /** | ||
| * Get the pitch angle in degrees as a float. | ||
| * Value is between [-180, 180] with 0 being South, 90 being West, 180/-180 being North, and -90 being East | ||
| */ | ||
| default float getPitch() { | ||
| return (float) Math.toDegrees(Math.PI/2 - Math.acos(getForwardVector().y)); | ||
| } | ||
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| /** | ||
| * Get the roll angle in degrees as a float. | ||
| * Value is between [-180, 180] with 0 being no roll (normal), 90 being 90 degrees CW, 180/-180 being 180 degrees CW/CCW, and -90 being 90 degrees CCW | ||
| */ | ||
| default float getRoll(){ | ||
| return (float) Math.toDegrees(- LEFT.angleSigned(getLeftVector(), FORWARDS)); | ||
| } | ||
| } |