YawPitchRollUpdateSystem.ixx File

System that converts yaw/pitch/roll angles to local rotation quaternions. More...

Included Headers

#include <cmath> #include <numbers> #include <helios.engine.core.types.ComponentTypeTags> #include <helios.math> #include <helios.engine.spatial.components> #include <helios.ecs.components> #include <helios.engine.runtime.world.UpdateContext> #include <helios.engine.runtime.world.tags.SystemRole>

Namespaces Index

namespace	helios
namespace	engine
namespace	scene
namespace	systems

Classes Index

class	YawPitchRollUpdateSystem<TMemberHandle>
	Updates Rotation3DComponent<..., Local> from YawPitchRollComponent. More...

Description

System that converts yaw/pitch/roll angles to local rotation quaternions.

File Listing

The file content with the documentation metadata removed is:

1

5module;

6

7#include <cmath>

8#include <numbers>

9

10export module helios.engine.spatial.systems.YawPitchRollUpdateSystem;

11

12import helios.engine.runtime.world.tags.SystemRole;

13

14import helios.engine.runtime.world.UpdateContext;

15

16import helios.ecs.components;

17import helios.engine.spatial.components;

18

19

20import helios.math;

21import helios.engine.core.types.ComponentTypeTags;

22

23using namespace helios::engine::core::types;

24using namespace helios::ecs::components;

25using namespace helios::engine::spatial::components;

26using namespace helios::engine::runtime::world;

27using namespace helios::engine::runtime::world::tags;

28export namespace helios::engine::scene::systems {

29

35 template<typename TMemberHandle>

36 class YawPitchRollUpdateSystem {

37

44 [[nodiscard]] float wrapRad(float a) const noexcept {

45 constexpr float pi = std::numbers::pi_v<float>;

46 constexpr float twoPi = 2.0f * pi;

47 return std::fmod(std::fmod(a + pi, twoPi) + twoPi, twoPi) - pi;

48 }

49

50 public:

51

55 using EngineRoleTag = TypedSystemRole;

56

65 void update(UpdateContext& updateContext) noexcept {

66

67

68 for (auto [entity, yawPitchRoll, localRotation, active] : updateContext.view<

69 TMemberHandle,

70 YawPitchRollComponent<TMemberHandle>,

71 Rotation3DComponent<TMemberHandle, Local>,

72 Active<TMemberHandle>

73 >().whereEnabled()) {

74 constexpr auto x = helios::math::X_AXISf;

75 constexpr auto y = helios::math::Y_AXISf;

76 constexpr auto z = helios::math::Z_AXISf;

77

78 const auto yaw = wrapRad(yawPitchRoll->yaw);

79 const auto pitch = wrapRad(yawPitchRoll->pitch);

80 const auto roll = wrapRad(yawPitchRoll->roll);

81

82 const auto qYaw = helios::math::quatf::fromAxisAngle(y, yaw);

83 const auto qPitch = helios::math::quatf::fromAxisAngle(x, pitch);

84 const auto qRoll = helios::math::quatf::fromAxisAngle(z, roll);

85

86 localRotation->setValue(qYaw * qPitch * qRoll);

87

88 }

89

90 }

91

92

93 };

94}

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