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feat: legacy

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TrèsAbhi committed 2024-09-14 12:12:46 -05:00
1 parent 9640920863
commit 8d9ca3d716
271 files changed
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packages/website/src/core/blitz/applyPitchYawLimits.ts
-80
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import { normalizeAngleRad, PitchLimits, YawLimits } from '@blitzkit/core';
import { clamp } from 'lodash';
import { degToRad } from 'three/src/math/MathUtils';
export function applyPitchYawLimits(
pitch: number, // rad
yaw: number, // rad
pitchLimits: PitchLimits, // deg
yawLimits?: YawLimits, // deg
verticalStabilizer = false,
) {
let newPitch = pitch;
let newYaw = yaw;
if (yawLimits) {
newYaw = normalizeAngleRad(
clamp(newYaw, -degToRad(yawLimits.max), -degToRad(yawLimits.min)),
);
}
const depressionBuff = verticalStabilizer ? degToRad(3) : 0;
const elevationBuff = verticalStabilizer ? degToRad(4) : 0;
let lowerPitch = -degToRad(pitchLimits.max) - depressionBuff;
let upperPitch = -degToRad(pitchLimits.min) + elevationBuff;
const transition = degToRad(pitchLimits.transition ?? 10);
if (pitchLimits.back) {
const range = degToRad(pitchLimits.back.range);
const yawRotatedAbs = Math.abs(normalizeAngleRad(newYaw - Math.PI));
if (yawRotatedAbs <= range + transition) {
if (yawRotatedAbs <= range) {
// inside range
lowerPitch = -degToRad(pitchLimits.back.max);
upperPitch = -degToRad(pitchLimits.back.min);
} else {
// inside transition
const transitionProgress = (yawRotatedAbs - range) / transition;
const maxInterpolatedPitch =
(1 - transitionProgress) * pitchLimits.back.max +
transitionProgress * pitchLimits.max;
const minInterpolatedPitch =
(1 - transitionProgress) * pitchLimits.back.min +
transitionProgress * pitchLimits.min;
lowerPitch = -degToRad(maxInterpolatedPitch);
upperPitch = -degToRad(minInterpolatedPitch);
}
}
}
if (pitchLimits.front) {
const range = degToRad(pitchLimits.front.range);
const yawAbs = Math.abs(normalizeAngleRad(newYaw));
if (yawAbs <= range + transition) {
if (yawAbs <= range) {
// inside range
lowerPitch = -degToRad(pitchLimits.front.max);
upperPitch = -degToRad(pitchLimits.front.min);
} else {
// inside transition
const transitionProgress = (yawAbs - range) / transition;
const maxInterpolatedPitch =
(1 - transitionProgress) * pitchLimits.front.max +
transitionProgress * pitchLimits.max;
const minInterpolatedPitch =
(1 - transitionProgress) * pitchLimits.front.min +
transitionProgress * pitchLimits.min;
lowerPitch = -degToRad(maxInterpolatedPitch);
upperPitch = -degToRad(minInterpolatedPitch);
}
}
}
newPitch = clamp(newPitch, lowerPitch, upperPitch);
return [newPitch, newYaw];
}
packages/website/src/core/blitz/correctZYTuple.ts
-6
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import { Vector3, Vector3Tuple } from 'three';
import { rotateDavaVector } from './rotateDavaVector';
export function correctZYTuple(tuple: Vector3Tuple) {
return rotateDavaVector(new Vector3(tuple[0], tuple[1], -tuple[2]));
}
packages/website/src/core/blitz/rotateDavaVector.ts
-6
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import { I_HAT } from '@blitzkit/core';
import { Vector3 } from 'three';
export function rotateDavaVector(vector: Vector3) {
return vector.applyAxisAngle(I_HAT, Math.PI / 2);
}
packages/website/src/core/blitz/unrotateDavaVector.ts
-6
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import { I_HAT } from '@blitzkit/core';
import { Vector3 } from 'three';
export function unrotateDavaVector(vector: Vector3) {
return vector.applyAxisAngle(I_HAT, -Math.PI / 2);
}