public virtual Matrix3D Rotate(Axis axis, double deltaAngle, bool isFromSaved)
{
Quaternion3D rotationQ = Quaternion3D.Identity;
switch (axis)
{
case Axis.X:
rotationQ *= Quaternion3D.CreateFromAxisAngle(_unitX, deltaAngle);
break;
case Axis.Y:
rotationQ *= Quaternion3D.CreateFromAxisAngle(_unitY, deltaAngle);
break;
case Axis.Z:
rotationQ *= Quaternion3D.CreateFromAxisAngle(_unitZ, deltaAngle);
break;
}
Matrix3D matrix = Ext3D.CreateFromQuaternion(rotationQ);
if (isFromSaved)
{
_transform = matrix * _savedTransform;
}
else
{
_transform = matrix * _transform;
}
return(matrix);
}
public override void DoTransform(double deltaAngle)
{
// Debug.WriteLine("start DoTransform");
foreach (CubicleFace face in AffectedFaces)
{
Cubie cubie = face.CubieFace.Cubie;
CubieFace cubieFace = face.CubieFace;
//cubicle.Cubie.Rotate(BasicOp.Axis, deltaAngle, false);
Vector3D axis = face.CubieFace.Cubie.UnitX;
if (Axis == Axis.X)
{
axis = face.CubieFace.Cubie.UnitX;
}
else if (Axis == Axis.Y)
{
axis = face.CubieFace.Cubie.UnitY;
}
else if (Axis == Axis.Z)
{
axis = face.CubieFace.Cubie.UnitZ;
}
Quaternion3D rot = Quaternion3D.CreateFromAxisAngle(axis, deltaAngle);
Matrix3D rotMatrix = Ext3D.CreateFromQuaternion(rot);
Matrix3D matrix = cubie.Transform;// Matrix.Invert(cubie.Transform);
matrix.Invert();
Matrix3D rotation = Ext3D.CreateTranslation(Ext3D.Transform(-AxisTranslationFromOrigin, matrix)) * rotMatrix * Ext3D.CreateTranslation(Ext3D.Transform(AxisTranslationFromOrigin, matrix));
if (IsAxisMoving)
{
Vector3D v1;
if (!_axisTranslation.ContainsKey(cubieFace))
{
Matrix3D m = (cubieFace as ITransform).Transform; m.Invert();
v1 = Ext3D.Transform(Axis2TranslationFromOrigin, m);
_axisTranslation.Add(cubieFace, v1);
}
v1 = _axisTranslation[cubieFace];
Matrix3D r = rotation; r.Invert();
v1 = Ext3D.Transform(v1, r);// Matrix.Invert(rotation));
Matrix3D rotationAxis = Ext3D.CreateTranslation(-v1) * rotMatrix * Ext3D.CreateTranslation(v1);
rotation = rotationAxis * rotation;
_axisTranslation[cubieFace] = v1;
}
(cubieFace as ITransform).DoTransform(rotation, false);
}
}
public static RotateCameraResult RotateCamera(this PerspectiveCamera camera, Vector3D axis, double angle)
{
axis.Normalize();
Quaternion3D q = Quaternion3D.CreateFromAxisAngle(axis, angle);
Matrix3D m = Ext3D.CreateFromQuaternion(q);
Vector3D p = new Vector3D(camera.Position.X, camera.Position.Y, camera.Position.Z);
Vector3D pos = Ext3D.Transform(p, m);
camera.Position = new Point3D(pos.X, pos.Y, pos.Z);
Vector3D d = new Vector3D(camera.LookDirection.X, camera.LookDirection.Y, camera.LookDirection.Z);
camera.LookDirection = Ext3D.Transform(d, m);
Vector3D up = new Vector3D(camera.UpDirection.X, camera.UpDirection.Y, camera.UpDirection.Z);
camera.UpDirection = Ext3D.Transform(up, m);
return(new RotateCameraResult
{
RotateMatrix = m,
ViewMatrix = CalculateViewMatrix(camera.Position, camera.LookDirection, camera.UpDirection)
});
}