implemented euler angle order switching for trafos & version bump

TEST_RELEASE_NOTES.md

@@ -1,3 +1,6 @@
+## 4.25.0-prerelease2
+- option for switching euler angle order
+
 ## 4.25.0-prerelease1
 - fixed pivot transformation
 

src/PRo3D.Core/ScaleBars-Model.fs

@@ -332,6 +332,7 @@ module InitScaleBarsParams =
         trafoChanged         = false
         usePivot             = false
         pivotSize            = Transformations.Initial.initPivotSize 0.4
+        eulerMode            = EulerMode.defaultMode
     }
 
     let thickness = {

src/PRo3D.Core/SceneObjects-Model.fs

@@ -217,6 +217,7 @@ module InitSceneObjectParams =
         trafoChanged         = false
         usePivot             = false
         pivotSize            = Transformations.Initial.initPivotSize 0.4
+        eulerMode            = EulerMode.defaultMode
     }
 
     let initNoffset = {

src/PRo3D.Core/Surface-Model.fs

@@ -614,6 +614,7 @@ module Init =
         trafoChanged         = false
         usePivot             = false
         pivotSize            = Transformations.Initial.initPivotSize 0.4
+        eulerMode            = EulerMode.defaultMode
     }
 
 

src/PRo3D.Core/Transformation-Model.fs

@@ -21,6 +21,10 @@ open PRo3D.Core
 
 open Adaptify
 
+type EulerMode = XYZ | XZY | YXZ | YZX | ZXY | ZYX
+
+module EulerMode = 
+    let defaultMode = EulerMode.XYZ
 
 [<ModelType>]
 type Transformations = { 
@@ -41,6 +45,7 @@ type Transformations = {
     trafoChanged          : bool
     usePivot              : bool
     pivotSize             : NumericInput
+    eulerMode             : EulerMode 
 } 
 
 
@@ -132,6 +137,7 @@ module Transformations =
                 trafoChanged         = false
                 usePivot             = false
                 pivotSize            = Initial.initPivotSize 4.0
+                eulerMode            = EulerMode.defaultMode  
             }
         }
 
@@ -163,6 +169,7 @@ module Transformations =
                 trafoChanged         = false
                 usePivot             = false
                 pivotSize            = Initial.initPivotSize 4.0
+                eulerMode            = EulerMode.defaultMode  
             }
         }
 
@@ -195,6 +202,7 @@ module Transformations =
                 trafoChanged         = false
                 usePivot             = false
                 pivotSize            = Initial.initPivotSize 4.0
+                eulerMode            = EulerMode.defaultMode  
             }
         }
 
@@ -230,6 +238,7 @@ module Transformations =
                 trafoChanged         = false
                 usePivot             = false
                 pivotSize            = Initial.initPivotSize 4.0
+                eulerMode            = EulerMode.defaultMode  
             }
         }
 
@@ -266,6 +275,7 @@ module Transformations =
                 trafoChanged         = false
                 usePivot             = false
                 pivotSize            = Initial.initPivotSize 4.0
+                eulerMode            = EulerMode.defaultMode  
             }
         }
 
@@ -301,6 +311,7 @@ module Transformations =
                 trafoChanged         = false
                 usePivot             = false
                 pivotSize            = Initial.initPivotSize 4.0
+                eulerMode            = EulerMode.defaultMode  
             }
         }
 
@@ -339,6 +350,7 @@ module Transformations =
                 trafoChanged         = false
                 usePivot             = usePivot
                 pivotSize            = match pivotSize with |Some p -> Initial.initPivotSize p | None -> Initial.initPivotSize 4.0
+                eulerMode            = EulerMode.defaultMode  
             }
         }
 

src/PRo3D.Core/TransformationApp.fs

@@ -19,11 +19,24 @@ open PRo3D.Base
 open PRo3D.Core
 open PRo3D.Base.Gis
 
-open Aardvark.Base.MultimethodTest
+open Aardvark.UI.Primitives
 
 module TransformationApp =
 
     //open Aardvark.UI.ChoiceModule
+
+    module EulerMode =
+        let getTrafo (m : EulerMode) (x : float) (y : float) (z : float)=
+            let x = Trafo3d.RotationXInDegrees x
+            let y = Trafo3d.RotationYInDegrees y
+            let z = Trafo3d.RotationZInDegrees z
+            match m with
+            | EulerMode.XYZ -> x * y * z
+            | EulerMode.XZY -> x * z * y
+            | EulerMode.YXZ -> y * x * z
+            | EulerMode.YZX -> y * z * x
+            | EulerMode.ZXY -> z * x * y
+            | EulerMode.ZYX -> z * y * x
 
     type Action =
     | SetTranslation        of Vector3d.Action
@@ -40,6 +53,7 @@ module TransformationApp =
     | SetScaling            of Numeric.Action
     | ToggleUsePivot
     | SetPivotSize          of Numeric.Action
+    | SetEulerMode          of EulerMode
 
     let calcFullTrafo 
         (translation : V3d)
@@ -50,7 +64,8 @@ module TransformationApp =
         (refSystem : ReferenceSystem)
         (observedSystem : Option<SpiceReferenceSystem>)
         (observerSystem : Option<ObserverSystem>)
-        (scale:float)  = 
+        (scale:float)
+        (eulerMode : EulerMode) = 
 
            let northCorrection = Trafo3d.RotationZInDegrees(refSystem.noffset.value)
            let refSysBasis = 
@@ -74,7 +89,8 @@ module TransformationApp =
            let fullTrafo = 
                 originTrafo.Inverse * 
                     refSysBasis.Inverse *
-                            Trafo3d.RotationEulerInDegrees(roll, pitch, yaw) 
+                            EulerMode.getTrafo eulerMode roll pitch yaw *
+                            Trafo3d.Scale(scale)
                     * refSysBasis
                 * originTrafo 
                 * Trafo3d.Translation(refSysBasis.Forward.TransformPos(translation))
@@ -139,14 +155,15 @@ module TransformationApp =
            let! transf = transform.Current
            let! observedSystem = observedSystem
            let! observerSystem = observerSystem
+           let! mode = transform.eulerMode
 
            //let northN, upN, eastN =
            //    if usePivot then
            //        getNorthAndUpFromPivot transf refSys
            //    else
            //     north, up, north.Cross(up)
 
-           let newTrafo = calcFullTrafo translation yaw pitch roll (if usePivot then pivot else V3d.Zero) refSys observedSystem observerSystem scale
+           let newTrafo = calcFullTrafo translation yaw pitch roll (if usePivot then pivot else V3d.Zero) refSys observedSystem observerSystem scale mode
            return newTrafo
         }
 
@@ -173,6 +190,7 @@ module TransformationApp =
             observedSystem
             observerSystem
             transform.scaling.value
+            transform.eulerMode
 
     let resetRotation (model : Transformations) =
         let yaw = { model.yaw with value = 0.0}
@@ -263,6 +281,8 @@ module TransformationApp =
         | SetPivotSize s ->    
             let ps = Numeric.update model.pivotSize s
             { model with pivotSize = ps }
+        | SetEulerMode m -> 
+            { model with eulerMode = m }
 
     module UI =
 
@@ -281,7 +301,14 @@ module TransformationApp =
             ]  
 
         let view (model:AdaptiveTransformations) =
-
+            let mode : aval<EulerMode> = AVal.constant EulerMode.XYZ
+            let modeDropDown = 
+                let values = 
+                    [ EulerMode.XYZ, "XYZ"; EulerMode.XZY, "XZY"; EulerMode.YXZ, "YXZ"; EulerMode.YZX, "YZX"; EulerMode.ZXY, "ZXY"; EulerMode.ZYX, "ZYX"]
+                    |> List.map (fun (m, v) -> m, text v)
+                    |> AMap.ofList
+                SimplePrimitives.dropdownUnclearable AttributeMap.empty values mode SetEulerMode
+
             require GuiEx.semui (
                 Html.table [  
                     //Html.row "Visible:" [GuiEx.iconCheckBox model.useTranslationArrows ToggleVisible ]
@@ -296,6 +323,7 @@ module TransformationApp =
                     Html.row "show PivotPoint:" [GuiEx.iconCheckBox model.showPivot TogglePivotVisible ]
                     Html.row "Pivot Point (m):" [viewPivotPointInput model.pivot |> UI.map SetPivotPoint ]
                     Html.row "Pivot Size:"      [Numeric.view' [InputBox] model.pivotSize |> UI.map SetPivotSize]
+                    Html.row "Mode" [modeDropDown]
                     //Html.row "Reset Trafos:"    [button [clazz "ui button tiny"; onClick (fun _ -> ResetTrafos )] []]
                     //Html.row "Pivot Point:"     [Incremental.text (model.pivot |> AVal.map (fun x -> x.ToString ()))]
                 ]