From b2d7bb59dc37c7b350786b076ee2f344b7c8911f Mon Sep 17 00:00:00 2001
From: yyl <yyl>
Date: 星期一, 11 八月 2025 17:26:47 +0800
Subject: [PATCH] Merge branch 'master' of http://192.168.1.20:10010/r/Project_SG_scripts
---
Main/Utility/MathUtility.cs | 214 +++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 214 insertions(+), 0 deletions(-)
diff --git a/Main/Utility/MathUtility.cs b/Main/Utility/MathUtility.cs
index 8f1c5d4..a093859 100644
--- a/Main/Utility/MathUtility.cs
+++ b/Main/Utility/MathUtility.cs
@@ -220,5 +220,219 @@
return 0f;
}
+ public static float GetQuatLength(Quaternion q)
+ {
+ return Mathf.Sqrt(q.x * q.x + q.y * q.y + q.z * q.z + q.w * q.w);
+ }
+ public static Quaternion GetQuatConjugate(Quaternion q)
+ {
+ return new Quaternion(-q.x, -q.y, -q.z, q.w);
+ }
+
+ /// <summary>
+ /// Logarithm of a unit quaternion. The result is not necessary a unit quaternion.
+ /// </summary>
+ public static Quaternion GetQuatLog(Quaternion q)
+ {
+ Quaternion res = q;
+ res.w = 0;
+
+ if (Mathf.Abs(q.w) < 1.0f)
+ {
+ float theta = Mathf.Acos(q.w);
+ float sin_theta = Mathf.Sin(theta);
+
+ if (Mathf.Abs(sin_theta) > 0.0001)
+ {
+ float coef = theta / sin_theta;
+ res.x = q.x * coef;
+ res.y = q.y * coef;
+ res.z = q.z * coef;
+ }
+ }
+
+ return res;
+ }
+
+ public static Quaternion GetQuatExp(Quaternion q)
+ {
+ Quaternion res = q;
+
+ float fAngle = Mathf.Sqrt(q.x * q.x + q.y * q.y + q.z * q.z);
+ float fSin = Mathf.Sin(fAngle);
+
+ res.w = Mathf.Cos(fAngle);
+
+ if (Mathf.Abs(fSin) > 0.0001)
+ {
+ float coef = fSin / fAngle;
+ res.x = coef * q.x;
+ res.y = coef * q.y;
+ res.z = coef * q.z;
+ }
+
+ return res;
+ }
+
+ /// <summary>
+ /// SQUAD Spherical Quadrangle interpolation [Shoe87]
+ /// </summary>
+ public static Quaternion GetQuatSquad(float t, Quaternion q0, Quaternion q1, Quaternion a0, Quaternion a1)
+ {
+ float slerpT = 2.0f * t * (1.0f - t);
+
+ Quaternion slerpP = Slerp(q0, q1, t);
+ Quaternion slerpQ = Slerp(a0, a1, t);
+
+ return Slerp(slerpP, slerpQ, slerpT);
+ }
+
+ public static Quaternion GetSquadIntermediate(Quaternion q0, Quaternion q1, Quaternion q2)
+ {
+ Quaternion q1Inv = GetQuatConjugate(q1);
+ Quaternion p0 = GetQuatLog(q1Inv * q0);
+ Quaternion p2 = GetQuatLog(q1Inv * q2);
+ Quaternion sum = new Quaternion(-0.25f * (p0.x + p2.x), -0.25f * (p0.y + p2.y), -0.25f * (p0.z + p2.z), -0.25f * (p0.w + p2.w));
+
+ return q1 * GetQuatExp(sum);
+ }
+
+ /// <summary>
+ /// Smooths the input parameter t.
+ /// If less than k1 ir greater than k2, it uses a sin.
+ /// Between k1 and k2 it uses linear interp.
+ /// </summary>
+ public static float Ease(float t, float k1, float k2)
+ {
+ float f; float s;
+
+ f = k1 * 2 / Mathf.PI + k2 - k1 + (1.0f - k2) * 2 / Mathf.PI;
+
+ if (t < k1)
+ {
+ s = k1 * (2 / Mathf.PI) * (Mathf.Sin((t / k1) * Mathf.PI / 2 - Mathf.PI / 2) + 1);
+ }
+ else
+ if (t < k2)
+ {
+ s = (2 * k1 / Mathf.PI + t - k1);
+ }
+ else
+ {
+ s = 2 * k1 / Mathf.PI + k2 - k1 + ((1 - k2) * (2 / Mathf.PI)) * Mathf.Sin(((t - k2) / (1.0f - k2)) * Mathf.PI / 2);
+ }
+
+ return (s / f);
+ }
+
+ /// <summary>
+ /// We need this because Quaternion.Slerp always uses the shortest arc.
+ /// </summary>
+ public static Quaternion Slerp(Quaternion p, Quaternion q, float t)
+ {
+ Quaternion ret;
+
+ float fCos = Quaternion.Dot(p, q);
+
+ if ((1.0f + fCos) > 0.00001)
+ {
+ float fCoeff0, fCoeff1;
+
+ if ((1.0f - fCos) > 0.00001)
+ {
+ float omega = Mathf.Acos(fCos);
+ float invSin = 1.0f / Mathf.Sin(omega);
+ fCoeff0 = Mathf.Sin((1.0f - t) * omega) * invSin;
+ fCoeff1 = Mathf.Sin(t * omega) * invSin;
+ }
+ else
+ {
+ fCoeff0 = 1.0f - t;
+ fCoeff1 = t;
+ }
+
+ ret.x = fCoeff0 * p.x + fCoeff1 * q.x;
+ ret.y = fCoeff0 * p.y + fCoeff1 * q.y;
+ ret.z = fCoeff0 * p.z + fCoeff1 * q.z;
+ ret.w = fCoeff0 * p.w + fCoeff1 * q.w;
+ }
+ else
+ {
+ float fCoeff0 = Mathf.Sin((1.0f - t) * Mathf.PI * 0.5f);
+ float fCoeff1 = Mathf.Sin(t * Mathf.PI * 0.5f);
+
+ ret.x = fCoeff0 * p.x - fCoeff1 * p.y;
+ ret.y = fCoeff0 * p.y + fCoeff1 * p.x;
+ ret.z = fCoeff0 * p.z - fCoeff1 * p.w;
+ ret.w = p.z;
+ }
+
+ return ret;
+ }
+ #region 杩涘埗杞崲
+ private static char[] symbolsArray = { '0', '1', '2', '3', '4', '5', '6', '7', '8', '9', 'a', 'b', 'c', 'd', 'e', 'f', 'g', 'h', 'i', 'j', 'k', 'l', 'm', 'n', 'o', 'p', 'q', 'r', 's', 't', 'u', 'v', 'w', 'x', 'y', 'z', 'A', 'B', 'C', 'D', 'E', 'F', 'G', 'H', 'I', 'J', 'K', 'L', 'M', 'N', 'O', 'P', 'Q', 'R', 'S', 'T', 'U', 'V', 'W', 'X', 'Y', 'Z', '+', '/' };
+ static string symbolStr = new string(symbolsArray, 0, 64);
+ /// <summary>
+ /// 璁插瓧绗︿覆鐢�64杩涘埗杞负10杩涘埗锛屽墠缂�娌＄敤鐨勫彲鐢ㄥ瓧绗�-浠ｆ浛
+ /// </summary>
+ /// <param name="val"></param>
+ /// <returns></returns>
+ public static int Convert64To10(string val)
+ {
+ val=val.Trim('-');
+ int result = 0;
+ long longResult = 0;
+ val = val.Trim();
+ if (string.IsNullOrEmpty(val)) {
+ return result;
+ }
+ if (val.Equals("0")) return 0;
+ for (int i = 0; i < val.Length; i++) {
+ if(!symbolStr.Contains(val[i].ToString())) {
+ //DesignDebug.LogError(string.Format("64杩涘埗鏍煎紡閿欒{0}", val));
+ return 0;
+ }
+ else {
+ try {
+ int index = 0;
+ for (int j = 0; j < symbolsArray.Length; j++) {
+ if (symbolsArray[j] == val[val.Length - i - 1]) {
+ index = j;
+ }
+ }
+ longResult += (long)System.Math.Pow(64, i) * index;
+ if(longResult>int.MaxValue) {
+ Debug.LogError("瓒呭嚭Int鏈�澶у�硷紝灏濊瘯杞崲涓簂ong绫诲瀷");
+ return 0;
+ }
+ result = (int)longResult;
+ }
+ catch {
+ Debug.LogError("杩愮畻婧㈠嚭");
+ return 0;
+ }
+ }
+ }
+ return result;
+ }
+ static char[] outSymbol = new char[65];
+ /// <summary>
+ /// 灏�10杩涘埗杞负64杩涘埗鐨勫瓧绗︿覆
+ /// </summary>
+ /// <param name="val"></param>
+ /// <returns></returns>
+ public static string Convert10To64(int val)
+ {
+ if (0 == val) return "0";
+ int index = 0;
+ long longPositive = Mathf.Abs(val);
+ for (index = 0; index <= 64; index++) {
+ if (longPositive == 0) break;
+ outSymbol[outSymbol.Length - index - 1] = symbolsArray[longPositive % 64];
+ longPositive /= 64;
+ }
+ return new string(outSymbol,outSymbol.Length-index,index);
+ }
+ #endregion
}
--
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