var v1 = {x: 3.296372727813439, y: -14.497928014719344, z: 12.004105246875968};
var v2 = {x: 2.3652551657790695, y: -16.732085083053185,z: 8.945905454164146};
var startVec = {x: v1.x, y: v1.y, z: v1.z, w: 0};
var endVec = {x: v2.x, y: v2.y, z: v2.z, w: 0};
var upVec = {x: 0, y: 1, z: 0};
var quat = lookAt(startVec, endVec, upVec);
var angles = eulerSetFromQuaternion(quat);
console.log(angles.x + " " + angles.y + " " + angles.z);
function magnitude(v) {
return Math.sqrt(v.x * v.x + v.y * v.y + v.z * v.z);
}
function normalize(v) {
var mag = magnitude(v);
return {
x: v.x / mag,
y: v.y / mag,
z: v.z / mag
};
}
function subVectors(a, b) {
return {
x: a.x - b.x,
y: a.y - b.y,
z: a.z - b.z
};
}
function crossVectors(a, b) {
var ax = a.x,
ay = a.y,
az = a.z;
var bx = b.x,
by = b.y,
bz = b.z;
return {
x: ay * bz - az * by,
y: az * bx - ax * bz,
z: ax * by - ay * bx
};
}
function lengthSq(v) {
return v.x * v.x + v.y * v.y + v.z * v.z;
}
function makeRotationFromQuaternion(q) {
var matrix = new Float32Array([
1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1
]);
var te = matrix;
var x = q.x,
y = q.y,
z = q.z,
w = q.w;
var x2 = x + x,
y2 = y + y,
z2 = z + z;
var xx = x * x2,
xy = x * y2,
xz = x * z2;
var yy = y * y2,
yz = y * z2,
zz = z * z2;
var wx = w * x2,
wy = w * y2,
wz = w * z2;
te[0] = 1 - (yy + zz);
te[4] = xy - wz;
te[8] = xz + wy;
te[1] = xy + wz;
te[5] = 1 - (xx + zz);
te[9] = yz - wx;
te[2] = xz - wy;
te[6] = yz + wx;
te[10] = 1 - (xx + yy);
te[3] = 0;
te[7] = 0;
te[11] = 0;
te[12] = 0;
te[13] = 0;
te[14] = 0;
te[15] = 1;
return te;
}
function RotationMatrix(m) {
var _w, _x, _y, _z;
var te = m,
m11 = te[0],
m12 = te[4],
m13 = te[8],
m21 = te[1],
m22 = te[5],
m23 = te[9],
m31 = te[2],
m32 = te[6],
m33 = te[10],
trace = m11 + m22 + m33,
s;
if (trace > 0) {
s = 0.5 / Math.sqrt(trace + 1.0);
_w = 0.25 / s;
_x = (m32 - m23) * s;
_y = (m13 - m31) * s;
_z = (m21 - m12) * s;
} else if (m11 > m22 && m11 > m33) {
s = 2.0 * Math.sqrt(1.0 + m11 - m22 - m33);
_w = (m32 - m23) / s;
_x = 0.25 * s;
_y = (m12 + m21) / s;
_z = (m13 + m31) / s;
} else if (m22 > m33) {
s = 2.0 * Math.sqrt(1.0 + m22 - m11 - m33);
_w = (m13 - m31) / s;
_x = (m12 + m21) / s;
_y = 0.25 * s;
_z = (m23 + m32) / s;
} else {
s = 2.0 * Math.sqrt(1.0 + m33 - m11 - m22);
_w = (m21 - m12) / s;
_x = (m13 + m31) / s;
_y = (m23 + m32) / s;
_z = 0.25 * s;
}
return {
w: _w,
x: _x,
y: _y,
z: _z
};
}
function eulerSetFromQuaternion(q, order, update) {
var matrix;
matrix = makeRotationFromQuaternion(q);
return eulerSetFromRotationMatrix(matrix, order);
}
function eulerSetFromRotationMatrix(m, order, update) {
var _x, _y, _z;
var clamp = function(value, min, max) {
return Math.max(min, Math.min(max, value));
};
var te = m;
var m11 = te[0],
m12 = te[4],
m13 = te[8];
var m21 = te[1],
m22 = te[5],
m23 = te[9];
var m31 = te[2],
m32 = te[6],
m33 = te[10];
order = order || 'XYZ';
if (order === 'XYZ') {
_y = Math.asin(clamp(m13, -1, 1));
if (Math.abs(m13) < 0.99999) {
_x = Math.atan2(-m23, m33);
_z = Math.atan2(-m12, m11);
} else {
_x = Math.atan2(m32, m22);
_z = 0;
}
} else if (order === 'YXZ') {
_x = Math.asin(-clamp(m23, -1, 1));
if (Math.abs(m23) < 0.99999) {
_y = Math.atan2(m13, m33);
_z = Math.atan2(m21, m22);
} else {
_y = Math.atan2(-m31, m11);
_z = 0;
}
} else if (order === 'ZXY') {
_x = Math.asin(clamp(m32, -1, 1));
if (Math.abs(m32) < 0.99999) {
_y = Math.atan2(-m31, m33);
_z = Math.atan2(-m12, m22);
} else {
_y = 0;
_z = Math.atan2(m21, m11);
}
} else if (order === 'ZYX') {
_y = Math.asin(-clamp(m31, -1, 1));
if (Math.abs(m31) < 0.99999) {
_x = Math.atan2(m32, m33);
_z = Math.atan2(m21, m11);
} else {
_x = 0;
_z = Math.atan2(-m12, m22);
}
} else if (order === 'YZX') {
_z = Math.asin(clamp(m21, -1, 1));
if (Math.abs(m21) < 0.99999) {
_x = Math.atan2(-m23, m22);
_y = Math.atan2(-m31, m11);
} else {
_x = 0;
_y = Math.atan2(m13, m33);
}
} else if (order === 'XZY') {
_z = Math.asin(-clamp(m12, -1, 1));
if (Math.abs(m12) < 0.99999) {
_x = Math.atan2(m32, m22);
_y = Math.atan2(m13, m11);
} else {
_x = Math.atan2(-m23, m33);
_y = 0;
}
} else {
console.warn('THREE.Euler: .setFromRotationMatrix() given unsupported order: ' + order);
}
return {
x: _x,
y: _y,
z: _z
};
}
function setFromQuaternion(q, order, update) {
var matrix = makeRotationFromQuaternion(q);
return setFromRotationMatrix(matrix, order, update);
}
function setFromRotationMatrix(m) {
var _w, _x, _y, _z;
var te = m,
m11 = te[0],
m12 = te[4],
m13 = te[8],
m21 = te[1],
m22 = te[5],
m23 = te[9],
m31 = te[2],
m32 = te[6],
m33 = te[10],
trace = m11 + m22 + m33,
s;
if (trace > 0) {
s = 0.5 / Math.sqrt(trace + 1.0);
_w = 0.25 / s;
_x = (m32 - m23) * s;
_y = (m13 - m31) * s;
_z = (m21 - m12) * s;
} else if (m11 > m22 && m11 > m33) {
s = 2.0 * Math.sqrt(1.0 + m11 - m22 - m33);
_w = (m32 - m23) / s;
_x = 0.25 * s;
_y = (m12 + m21) / s;
_z = (m13 + m31) / s;
} else if (m22 > m33) {
s = 2.0 * Math.sqrt(1.0 + m22 - m11 - m33);
_w = (m13 - m31) / s;
_x = (m12 + m21) / s;
_y = 0.25 * s;
_z = (m23 + m32) / s;
} else {
s = 2.0 * Math.sqrt(1.0 + m33 - m11 - m22);
_w = (m21 - m12) / s;
_x = (m13 + m31) / s;
_y = (m23 + m32) / s;
_z = 0.25 * s;
}
return {
w: _w,
x: _x,
y: _y,
z: _z
};
}
function lookAt(eye, target, up) {
var m1 = lookAt2(target, eye, up);
return setFromRotationMatrix(m1);
}
function lookAt2(eye, target, up) {
var elements = new Float32Array([
1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1
]);
var x = {
x: 0,
y: 0,
z: 0
};
var y = {
x: 0,
y: 0,
z: 0
};
var z = {
x: 0,
y: 0,
z: 0
};
var te = elements;
z = subVectors(eye, target);
z = normalize(z);
if (lengthSq(z) === 0) {
z.z = 1;
}
x = crossVectors(up, z);
x = normalize(x);
if (lengthSq(x) === 0) {
z.z += 0.0001;
x = crossVectors(up, z);
x = normalize(x);
}
y = crossVectors(z, x);
te[0] = x.x;
te[4] = y.x;
te[8] = z.x;
te[1] = x.y;
te[5] = y.y;
te[9] = z.y;
te[2] = x.z;
te[6] = y.z;
te[10] = z.z;
return te;
}
function lookatOld(vecstart, vecEnd, vecUp) {
var temp = new THREE.Matrix4();
temp.lookAt(vecEnd, vecstart, vecUp);
var m00 = temp.elements[0],
m10 = temp.elements[1],
m20 = temp.elements[2],
m01 = temp.elements[4],
m11 = temp.elements[5],
m21 = temp.elements[6],
m02 = temp.elements[8],
m12 = temp.elements[9],
m22 = temp.elements[10];
var t = m00 + m11 + m22,
s, x, y, z, w;
if (t > 0) {
s = Math.sqrt(t + 1) * 2;
w = 0.25 * s;
x = (m21 - m12) / s;
y = (m02 - m20) / s;
z = (m10 - m01) / s;
} else if ((m00 > m11) && (m00 > m22)) {
s = Math.sqrt(1.0 + m00 - m11 - m22) * 2;
x = s * 0.25;
y = (m10 + m01) / s;
z = (m02 + m20) / s;
w = (m21 - m12) / s;
} else if (m11 > m22) {
s = Math.sqrt(1.0 + m11 - m00 - m22) * 2;
y = s * 0.25;
x = (m10 + m01) / s;
z = (m21 + m12) / s;
w = (m02 - m20) / s;
} else {
s = Math.sqrt(1.0 + m22 - m00 - m11) * 2;
z = s * 0.25;
x = (m02 + m20) / s;
y = (m21 + m12) / s;
w = (m10 - m01) / s;
}
var rotation = new THREE.Quaternion(x, y, z, w);
rotation.normalize();
return rotation;
}
lookAt
的实现方式,以获取一些想法。 - Ayush Seth