Multi Theft Auto: Wiki - User contributions [en]

Quaternion

2017-06-26T11:45:47Z

Alexaxel705: /* Syntax */

{{Useful Function}}
<lowercasetitle>Quaternion</lowercasetitle>
__NOTOC__
Quaternion is used to define the rotation angle by GTA:SA game engine, which is different from MTASA which is based on Euler angle
This function returns the Euler angle(rotx,roty,rotz) from quaternion(rotx,roty,rotz,rotw).this is non-mtasa function, user need to put this function in your lua scripts.
==Syntax==
<syntaxhighlight lang="lua">
float, float, float fromQuaternion(rotx,roty,rotz,rotw)
</syntaxhighlight>

===Required Arguments===
* '''rotx,roty,rotz,rotw''': The quaternion from IPL file

===Returns===
* '''rotx,roty,rotz''': The Euler angle

==Code==
<section name="Server- and/or clientside Script" class="both" show="true">
<syntaxhighlight lang="lua">
local identityMatrix = {
[1] = {1, 0, 0},
[2] = {0, 1, 0},
[3] = {0, 0, 1}
}

function QuaternionTo3x3(x,y,z,w)
local matrix3x3 = {[1] = {}, [2] = {}, [3] = {}}

local symetricalMatrix = {
[1] = {(-(y*y)-(z*z)), x*y, x*z},
[2] = {x*y, (-(x*x)-(z*z)), y*z},
[3] = {x*z, y*z, (-(x*x)-(y*y))}
}

local antiSymetricalMatrix = {
[1] = {0, -z, y},
[2] = {z, 0, -x},
[3] = {-y, x, 0}
}

for i = 1, 3 do
for j = 1, 3 do
matrix3x3[i][j] = identityMatrix[i][j]+(2*symetricalMatrix[i][j])+(2*w*antiSymetricalMatrix[i][j])
end
end

return matrix3x3
end

function getEulerAnglesFromMatrix(x1,y1,z1,x2,y2,z2,x3,y3,z3)
local nz1,nz2,nz3
nz3 = math.sqrt(x2*x2+y2*y2)
nz1 = -x2*z2/nz3
nz2 = -y2*z2/nz3
local vx = nz1*x1+nz2*y1+nz3*z1
local vz = nz1*x3+nz2*y3+nz3*z3
return math.deg(math.asin(z2)),-math.deg(math.atan2(vx,vz)),-math.deg(math.atan2(x2,y2))
end

function fromQuaternion(x,y,z,w)
local matrix = QuaternionTo3x3(x,y,z,w)
local ox,oy,oz = getEulerAnglesFromMatrix(
matrix[1][1], matrix[1][2], matrix[1][3],
matrix[2][1], matrix[2][2], matrix[2][3],
matrix[3][1], matrix[3][2], matrix[3][3]
)

return ox,oy,oz
end
</syntaxhighlight>
</section>

==Example==
<section name="Server- and/or clientside Script" class="both" show="true">
<syntaxhighlight lang="lua">
local identityMatrix = {
[1] = {1, 0, 0},
[2] = {0, 1, 0},
[3] = {0, 0, 1}
}

function QuaternionTo3x3(x,y,z,w)
local matrix3x3 = {[1] = {}, [2] = {}, [3] = {}}

local symetricalMatrix = {
[1] = {(-(y*y)-(z*z)), x*y, x*z},
[2] = {x*y, (-(x*x)-(z*z)), y*z},
[3] = {x*z, y*z, (-(x*x)-(y*y))}
}

local antiSymetricalMatrix = {
[1] = {0, -z, y},
[2] = {z, 0, -x},
[3] = {-y, x, 0}
}

for i = 1, 3 do
for j = 1, 3 do
matrix3x3[i][j] = identityMatrix[i][j]+(2*symetricalMatrix[i][j])+(2*w*antiSymetricalMatrix[i][j])
end
end

return matrix3x3
end

function getEulerAnglesFromMatrix(x1,y1,z1,x2,y2,z2,x3,y3,z3)
local nz1,nz2,nz3
nz3 = math.sqrt(x2*x2+y2*y2)
nz1 = -x2*z2/nz3
nz2 = -y2*z2/nz3
local vx = nz1*x1+nz2*y1+nz3*z1
local vz = nz1*x3+nz2*y3+nz3*z3
return math.deg(math.asin(z2)),-math.deg(math.atan2(vx,vz)),-math.deg(math.atan2(x2,y2))
end

function fromQuaternion(x,y,z,w)
local matrix = QuaternionTo3x3(x,y,z,w)
local ox,oy,oz = getEulerAnglesFromMatrix(
matrix[1][1], matrix[1][2], matrix[1][3],
matrix[2][1], matrix[2][2], matrix[2][3],
matrix[3][1], matrix[3][2], matrix[3][3]
)

return ox,oy,oz
end

local rotx, roty, rotx, rotw = 0, 0, 0.190809, 0.9816272 -- you can read the Quaternion from IPL file
createObject(1337, 5540.6654, 1020.55122, 1240.545, fromQuaternion(rotx, roty, rotx, rotw))
</syntaxhighlight>
</section>

Author: KawaNoII (http://www.chinesemta.com)
alexaxel705 (alexaxel705@gmail.com)

==See Also==
{{Useful_Functions}}

User:Alexaxel705

2017-06-26T11:45:12Z

Alexaxel705: Created page with "'''Привет!'''"

'''Привет!'''

Quaternion

2017-06-26T11:42:53Z

Alexaxel705: /* Example */

{{Useful Function}}
<lowercasetitle>Quaternion</lowercasetitle>
__NOTOC__
Quaternion is used to define the rotation angle by GTA:SA game engine, which is different from MTASA which is based on Euler angle
This function returns the Euler angle(rotx,roty,rotz) from quaternion(rotx,roty,rotz,rotw).this is non-mtasa function, user need to put this function in your lua scripts.
==Syntax==
<syntaxhighlight lang="lua">
float, float, float fromQuaternion ( rotx,roty,rotz,rotw)
</syntaxhighlight>

===Required Arguments===
* '''rotx,roty,rotz,rotw''': The quaternion from IPL file

===Returns===
* '''rotx,roty,rotz''': The Euler angle

==Code==
<section name="Server- and/or clientside Script" class="both" show="true">
<syntaxhighlight lang="lua">
local identityMatrix = {
[1] = {1, 0, 0},
[2] = {0, 1, 0},
[3] = {0, 0, 1}
}

function QuaternionTo3x3(x,y,z,w)
local matrix3x3 = {[1] = {}, [2] = {}, [3] = {}}

local symetricalMatrix = {
[1] = {(-(y*y)-(z*z)), x*y, x*z},
[2] = {x*y, (-(x*x)-(z*z)), y*z},
[3] = {x*z, y*z, (-(x*x)-(y*y))}
}

local antiSymetricalMatrix = {
[1] = {0, -z, y},
[2] = {z, 0, -x},
[3] = {-y, x, 0}
}

for i = 1, 3 do
for j = 1, 3 do
matrix3x3[i][j] = identityMatrix[i][j]+(2*symetricalMatrix[i][j])+(2*w*antiSymetricalMatrix[i][j])
end
end

return matrix3x3
end

function getEulerAnglesFromMatrix(x1,y1,z1,x2,y2,z2,x3,y3,z3)
local nz1,nz2,nz3
nz3 = math.sqrt(x2*x2+y2*y2)
nz1 = -x2*z2/nz3
nz2 = -y2*z2/nz3
local vx = nz1*x1+nz2*y1+nz3*z1
local vz = nz1*x3+nz2*y3+nz3*z3
return math.deg(math.asin(z2)),-math.deg(math.atan2(vx,vz)),-math.deg(math.atan2(x2,y2))
end

function fromQuaternion(x,y,z,w)
local matrix = QuaternionTo3x3(x,y,z,w)
local ox,oy,oz = getEulerAnglesFromMatrix(
matrix[1][1], matrix[1][2], matrix[1][3],
matrix[2][1], matrix[2][2], matrix[2][3],
matrix[3][1], matrix[3][2], matrix[3][3]
)

return ox,oy,oz
end
</syntaxhighlight>
</section>

==Example==
<section name="Server- and/or clientside Script" class="both" show="true">
<syntaxhighlight lang="lua">
local identityMatrix = {
[1] = {1, 0, 0},
[2] = {0, 1, 0},
[3] = {0, 0, 1}
}

function QuaternionTo3x3(x,y,z,w)
local matrix3x3 = {[1] = {}, [2] = {}, [3] = {}}

local symetricalMatrix = {
[1] = {(-(y*y)-(z*z)), x*y, x*z},
[2] = {x*y, (-(x*x)-(z*z)), y*z},
[3] = {x*z, y*z, (-(x*x)-(y*y))}
}

local antiSymetricalMatrix = {
[1] = {0, -z, y},
[2] = {z, 0, -x},
[3] = {-y, x, 0}
}

for i = 1, 3 do
for j = 1, 3 do
matrix3x3[i][j] = identityMatrix[i][j]+(2*symetricalMatrix[i][j])+(2*w*antiSymetricalMatrix[i][j])
end
end

return matrix3x3
end

function getEulerAnglesFromMatrix(x1,y1,z1,x2,y2,z2,x3,y3,z3)
local nz1,nz2,nz3
nz3 = math.sqrt(x2*x2+y2*y2)
nz1 = -x2*z2/nz3
nz2 = -y2*z2/nz3
local vx = nz1*x1+nz2*y1+nz3*z1
local vz = nz1*x3+nz2*y3+nz3*z3
return math.deg(math.asin(z2)),-math.deg(math.atan2(vx,vz)),-math.deg(math.atan2(x2,y2))
end

function fromQuaternion(x,y,z,w)
local matrix = QuaternionTo3x3(x,y,z,w)
local ox,oy,oz = getEulerAnglesFromMatrix(
matrix[1][1], matrix[1][2], matrix[1][3],
matrix[2][1], matrix[2][2], matrix[2][3],
matrix[3][1], matrix[3][2], matrix[3][3]
)

return ox,oy,oz
end

local rotx, roty, rotx, rotw = 0, 0, 0.190809, 0.9816272 -- you can read the Quaternion from IPL file
createObject(1337, 5540.6654, 1020.55122, 1240.545, fromQuaternion(rotx, roty, rotx, rotw))
</syntaxhighlight>
</section>

Author: KawaNoII (http://www.chinesemta.com)
alexaxel705 (alexaxel705@gmail.com)

==See Also==
{{Useful_Functions}}

Quaternion

2017-06-26T11:40:51Z

Alexaxel705: /* Example */

{{Useful Function}}
<lowercasetitle>Quaternion</lowercasetitle>
__NOTOC__
Quaternion is used to define the rotation angle by GTA:SA game engine, which is different from MTASA which is based on Euler angle
This function returns the Euler angle(rotx,roty,rotz) from quaternion(rotx,roty,rotz,rotw).this is non-mtasa function, user need to put this function in your lua scripts.
==Syntax==
<syntaxhighlight lang="lua">
float, float, float fromQuaternion ( rotx,roty,rotz,rotw)
</syntaxhighlight>

===Required Arguments===
* '''rotx,roty,rotz,rotw''': The quaternion from IPL file

===Returns===
* '''rotx,roty,rotz''': The Euler angle

==Code==
<section name="Server- and/or clientside Script" class="both" show="true">
<syntaxhighlight lang="lua">
local identityMatrix = {
[1] = {1, 0, 0},
[2] = {0, 1, 0},
[3] = {0, 0, 1}
}

function QuaternionTo3x3(x,y,z,w)
local matrix3x3 = {[1] = {}, [2] = {}, [3] = {}}

local symetricalMatrix = {
[1] = {(-(y*y)-(z*z)), x*y, x*z},
[2] = {x*y, (-(x*x)-(z*z)), y*z},
[3] = {x*z, y*z, (-(x*x)-(y*y))}
}

local antiSymetricalMatrix = {
[1] = {0, -z, y},
[2] = {z, 0, -x},
[3] = {-y, x, 0}
}

for i = 1, 3 do
for j = 1, 3 do
matrix3x3[i][j] = identityMatrix[i][j]+(2*symetricalMatrix[i][j])+(2*w*antiSymetricalMatrix[i][j])
end
end

return matrix3x3
end

function getEulerAnglesFromMatrix(x1,y1,z1,x2,y2,z2,x3,y3,z3)
local nz1,nz2,nz3
nz3 = math.sqrt(x2*x2+y2*y2)
nz1 = -x2*z2/nz3
nz2 = -y2*z2/nz3
local vx = nz1*x1+nz2*y1+nz3*z1
local vz = nz1*x3+nz2*y3+nz3*z3
return math.deg(math.asin(z2)),-math.deg(math.atan2(vx,vz)),-math.deg(math.atan2(x2,y2))
end

function fromQuaternion(x,y,z,w)
local matrix = QuaternionTo3x3(x,y,z,w)
local ox,oy,oz = getEulerAnglesFromMatrix(
matrix[1][1], matrix[1][2], matrix[1][3],
matrix[2][1], matrix[2][2], matrix[2][3],
matrix[3][1], matrix[3][2], matrix[3][3]
)

return ox,oy,oz
end
</syntaxhighlight>
</section>

==Example==
<section name="Server- and/or clientside Script" class="both" show="true">
<syntaxhighlight lang="lua">
local identityMatrix = {
[1] = {1, 0, 0},
[2] = {0, 1, 0},
[3] = {0, 0, 1}
}

function QuaternionTo3x3(x,y,z,w)
local matrix3x3 = {[1] = {}, [2] = {}, [3] = {}}

local symetricalMatrix = {
[1] = {(-(y*y)-(z*z)), x*y, x*z},
[2] = {x*y, (-(x*x)-(z*z)), y*z},
[3] = {x*z, y*z, (-(x*x)-(y*y))}
}

local antiSymetricalMatrix = {
[1] = {0, -z, y},
[2] = {z, 0, -x},
[3] = {-y, x, 0}
}

for i = 1, 3 do
for j = 1, 3 do
matrix3x3[i][j] = identityMatrix[i][j]+(2*symetricalMatrix[i][j])+(2*w*antiSymetricalMatrix[i][j])
end
end

return matrix3x3
end

function getEulerAnglesFromMatrix(x1,y1,z1,x2,y2,z2,x3,y3,z3)
local nz1,nz2,nz3
nz3 = math.sqrt(x2*x2+y2*y2)
nz1 = -x2*z2/nz3
nz2 = -y2*z2/nz3
local vx = nz1*x1+nz2*y1+nz3*z1
local vz = nz1*x3+nz2*y3+nz3*z3
return math.deg(math.asin(z2)),-math.deg(math.atan2(vx,vz)),-math.deg(math.atan2(x2,y2))
end

function fromQuaternion(x,y,z,w)
local matrix = QuaternionTo3x3(x,y,z,w)
local ox,oy,oz = getEulerAnglesFromMatrix(
matrix[1][1], matrix[1][2], matrix[1][3],
matrix[2][1], matrix[2][2], matrix[2][3],
matrix[3][1], matrix[3][2], matrix[3][3]
)

return ox,oy,oz
end

local rotx, roty, rotx, rotw = 0, 0, 0.190809, 0.9816272 -- you can read the Quaternion from IPL file
createObject(1337, 5540.6654, 1020.55122, 1240.545,fromQuaternion(rotx, roty, rotx, rotw))
</syntaxhighlight>
</section>

Author: KawaNoII (http://www.chinesemta.com)

==See Also==
{{Useful_Functions}}

Quaternion

2017-06-26T11:39:36Z

Alexaxel705: /* Code */

{{Useful Function}}
<lowercasetitle>Quaternion</lowercasetitle>
__NOTOC__
Quaternion is used to define the rotation angle by GTA:SA game engine, which is different from MTASA which is based on Euler angle
This function returns the Euler angle(rotx,roty,rotz) from quaternion(rotx,roty,rotz,rotw).this is non-mtasa function, user need to put this function in your lua scripts.
==Syntax==
<syntaxhighlight lang="lua">
float, float, float fromQuaternion ( rotx,roty,rotz,rotw)
</syntaxhighlight>

===Required Arguments===
* '''rotx,roty,rotz,rotw''': The quaternion from IPL file

===Returns===
* '''rotx,roty,rotz''': The Euler angle

==Code==
<section name="Server- and/or clientside Script" class="both" show="true">
<syntaxhighlight lang="lua">
local identityMatrix = {
[1] = {1, 0, 0},
[2] = {0, 1, 0},
[3] = {0, 0, 1}
}

function QuaternionTo3x3(x,y,z,w)
local matrix3x3 = {[1] = {}, [2] = {}, [3] = {}}

local symetricalMatrix = {
[1] = {(-(y*y)-(z*z)), x*y, x*z},
[2] = {x*y, (-(x*x)-(z*z)), y*z},
[3] = {x*z, y*z, (-(x*x)-(y*y))}
}

local antiSymetricalMatrix = {
[1] = {0, -z, y},
[2] = {z, 0, -x},
[3] = {-y, x, 0}
}

for i = 1, 3 do
for j = 1, 3 do
matrix3x3[i][j] = identityMatrix[i][j]+(2*symetricalMatrix[i][j])+(2*w*antiSymetricalMatrix[i][j])
end
end

return matrix3x3
end

function getEulerAnglesFromMatrix(x1,y1,z1,x2,y2,z2,x3,y3,z3)
local nz1,nz2,nz3
nz3 = math.sqrt(x2*x2+y2*y2)
nz1 = -x2*z2/nz3
nz2 = -y2*z2/nz3
local vx = nz1*x1+nz2*y1+nz3*z1
local vz = nz1*x3+nz2*y3+nz3*z3
return math.deg(math.asin(z2)),-math.deg(math.atan2(vx,vz)),-math.deg(math.atan2(x2,y2))
end

function fromQuaternion(x,y,z,w)
local matrix = QuaternionTo3x3(x,y,z,w)
local ox,oy,oz = getEulerAnglesFromMatrix(
matrix[1][1], matrix[1][2], matrix[1][3],
matrix[2][1], matrix[2][2], matrix[2][3],
matrix[3][1], matrix[3][2], matrix[3][3]
)

return ox,oy,oz
end
</syntaxhighlight>
</section>

==Example==
<section name="Server- and/or clientside Script" class="both" show="true">
<syntaxhighlight lang="lua">

function math.arad(number)
if type(number) == "number" then
return (number/(math.pi*2))*360
end
end

function fromQuaternion(x,y,z,w)
local heading = math.atan2(2*(w*x+y*z),1-2*(x^2+y^2))
local attitude = math.asin(w*y-z*x)
local bank = math.atan2(2*(w*z+x*y),1-2*(y^2+z^2))
return math.arad(heading),math.arad(attitude),math.arad(bank)
end

local rotx, roty, rotx, rotw = 233,666,888,999 -- you can read the Quaternion from IPL file
createObject ( 1337, 5540.6654, 1020.55122, 1240.545,fromQuaternion(rotx, roty, rotx, rotw))

</syntaxhighlight>
</section>

Author: KawaNoII (http://www.chinesemta.com)

==See Also==
{{Useful_Functions}}