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33 lines
2.1 KiB
C#
33 lines
2.1 KiB
C#
using System.Numerics;
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namespace SoberEsp;
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public record CameraContext(int Pid,ulong Base,ulong Workspace,ulong Camera);
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public static class CameraAim
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{
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// Engine storage is row-major, with right/up/back in columns. Numerics uses
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// row vectors, so transpose the basis for quaternion interpolation.
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public static float[] Rotation(float[] frame,Vector3 target,float response)
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{
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if(frame.Length!=Offsets.Camera.FrameFloats||frame.Any(f=>!float.IsFinite(f))||
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!float.IsFinite(target.X)||!float.IsFinite(target.Y)||!float.IsFinite(target.Z)||
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!float.IsFinite(response)||response<0||response>1)throw new IOException("Invalid camera aim input");
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var right=new Vector3(frame[0],frame[3],frame[6]);
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var up=new Vector3(frame[1],frame[4],frame[7]);
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var back=new Vector3(frame[2],frame[5],frame[8]);
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if(Math.Abs(right.LengthSquared()-1)>.02f||Math.Abs(up.LengthSquared()-1)>.02f||Math.Abs(back.LengthSquared()-1)>.02f||
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Math.Abs(Vector3.Dot(right,up))>.02f||Math.Abs(Vector3.Dot(right,back))>.02f||Math.Abs(Vector3.Dot(up,back))>.02f||
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Vector3.Dot(Vector3.Cross(right,up),back)<.98f)throw new IOException("Camera basis is not a valid rotation");
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var delta=new Vector3(frame[9],frame[10],frame[11])-target;
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if(delta.LengthSquared()<.0001f)throw new IOException("Target is at the camera position");
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var wantedBack=Vector3.Normalize(delta);var wantedRight=Vector3.Cross(Vector3.UnitY,wantedBack);
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if(wantedRight.LengthSquared()<.0001f)wantedRight=right-wantedBack*Vector3.Dot(right,wantedBack);
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if(wantedRight.LengthSquared()<.0001f)wantedRight=Vector3.Cross(Vector3.UnitZ,wantedBack);
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wantedRight=Vector3.Normalize(wantedRight);var wantedUp=Vector3.Normalize(Vector3.Cross(wantedBack,wantedRight));
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static Quaternion Q(Vector3 r,Vector3 u,Vector3 b)=>Quaternion.Normalize(Quaternion.CreateFromRotationMatrix(
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new Matrix4x4(r.X,r.Y,r.Z,0,u.X,u.Y,u.Z,0,b.X,b.Y,b.Z,0,0,0,0,1)));
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var rotation=Matrix4x4.CreateFromQuaternion(Quaternion.Slerp(Q(right,up,back),Q(wantedRight,wantedUp,wantedBack),response));
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return [rotation.M11,rotation.M21,rotation.M31,rotation.M12,rotation.M22,rotation.M32,rotation.M13,rotation.M23,rotation.M33];
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}
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}
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