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refact: 将旋转矩阵的计算抽象为旋转工具类

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This commit is contained in:
jackfiled 2023-02-26 23:50:14 +08:00
parent 31ce446737
commit 7199424893
3 changed files with 71 additions and 48 deletions
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49
Assets/MainBehaviour.cs
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@ -88,9 +88,7 @@ private void CreateNodes()
private void CreateBonds()
{
//shit code,it's my fault
Bonds temp;
temp = new Bonds(_nodes[0], _nodes[4], _scale);
var temp = new Bonds(_nodes[0], _nodes[4], _scale);
_bonds.Add(temp);
temp = new Bonds(_nodes[0], _nodes[1], _scale);
@ -219,49 +217,4 @@ private void OnReceive(List<PoseLandmark> landmarks)
_poseTransforms[(int)landmark.Type] = poseTransform;
}
}
//绕X轴旋转
private Matrix4x4 RotateAxisX(float rot)
{
var matrix = new Matrix4x4();
float cosrot = MathF.Cos(rot);
float sinrot = MathF.Sin(rot);
matrix.SetRow(0, new Vector4(1,0,0,0));
matrix.SetRow(1, new Vector4(0,cosrot,-sinrot,0));
matrix.SetRow(2, new Vector4(0,sinrot,cosrot,0));
matrix.SetRow(3, new Vector4(0,0,0,1));
return matrix;
}
//绕Y轴旋转
private Matrix4x4 RotateAxisY(float rot)
{
var matrix = new Matrix4x4();
float cosrot = MathF.Cos(rot);
float sinrot = MathF.Sin(rot);
matrix.SetRow(0, new Vector4(cosrot,0,sinrot,0));
matrix.SetRow(1, new Vector4(0,1,0,0));
matrix.SetRow(2, new Vector4(-sinrot,0,cosrot,0));
matrix.SetRow(3, new Vector4(0,0,0,1));
return matrix;
}
//绕Z轴旋转
private Matrix4x4 RotateAxisZ(float rot)
{
var matrix = new Matrix4x4();
float cosrot = MathF.Cos(rot);
float sinrot = MathF.Sin(rot);
matrix.SetRow(0, new Vector4(cosrot,-sinrot,0,0));
matrix.SetRow(1, new Vector4(sinrot,cosrot,0,0));
matrix.SetRow(2, new Vector4(0,0,1,0));
matrix.SetRow(3, new Vector4(0,0,0,1));
return matrix;
}
}

67
Assets/Utils/RotateUtils.cs Normal file
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@ -0,0 +1,67 @@
using System;
using UnityEngine;
namespace Utils
{
/// <summary>
/// 旋转工具类
/// </summary>
public static class RotateUtils
{
private static Matrix4x4 _matrix;
/// <summary>
/// 获得绕X轴旋转矩阵
/// </summary>
/// <param name="degree">旋转的角度</param>
/// <returns></returns>
public static Matrix4x4 RotateAxisX(float degree)
{
var sin = MathF.Sin(degree);
var cos = MathF.Cos(degree);
_matrix.SetRow(0 ,new Vector4(1,0,0,0));
_matrix.SetRow(1, new Vector4(0, cos, -sin, 0));
_matrix.SetRow(2, new Vector4(0, sin, cos, 0));
_matrix.SetRow(3, new Vector4(0, 0, 0, 1));
return _matrix;
}
/// <summary>
/// 获得绕Y轴旋转矩阵
/// </summary>
/// <param name="degree">旋转的角度</param>
/// <returns></returns>
public static Matrix4x4 RotateAxisY(float degree)
{
var sin = MathF.Sin(degree);
var cos = MathF.Cos(degree);
_matrix.SetRow(0, new Vector4(cos, 0, sin, 0));
_matrix.SetRow(1, new Vector4(0, 1, 0, 1));
_matrix.SetRow(2, new Vector4(-sin, 0, cos, 0));
_matrix.SetRow(3, new Vector4(0, 0, 0, 1));
return _matrix;
}
/// <summary>
/// 获得绕Z轴旋转矩阵
/// </summary>
/// <param name="degree">旋转的角度</param>
/// <returns></returns>
public static Matrix4x4 RotateAxisZ(float degree)
{
var sin = MathF.Sin(degree);
var cos = MathF.Cos(degree);
_matrix.SetRow(0, new Vector4(cos, -sin, 0, 0));
_matrix.SetRow(1, new Vector4(sin, cos, 0, 0));
_matrix.SetRow(2, new Vector4(0, 0, 1, 0));
_matrix.SetRow(3, new Vector4(0, 0, 0, 1));
return _matrix;
}
}
}

3
Assets/Utils/RotateUtils.cs.meta Normal file
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@ -0,0 +1,3 @@
fileFormatVersion: 2
guid: d748c6669d714e65a5ca9164c5798583
timeCreated: 1677319275