public void CalcFrustumPlanes()
{
Vector3d cN = Position + CenterOfInterest * Znear;
Vector3d cF = Position + CenterOfInterest * Zfar;
double Hnear = 2.0f * Convert.ToSingle(Math.Tan(Matrix4dExtension.DegreesToRadians(fov / 2.0f)) * Znear);
double Wnear = Hnear * aspect_ratio;
double Hfar = 2.0f * Convert.ToSingle(Math.Tan(Matrix4dExtension.DegreesToRadians(fov / 2.0f)) * Zfar);
double Wfar = Hfar * aspect_ratio;
double hHnear = Hnear / 2.0f;
double hWnear = Wnear / 2.0f;
double hHfar = Hfar / 2.0f;
double hWfar = Wfar / 2.0f;
farPts[0] = cF + Up * hHfar - right * hWfar;
farPts[1] = cF - Up * hHfar - right * hWfar;
farPts[2] = cF - Up * hHfar + right * hWfar;
farPts[3] = cF + Up * hHfar + right * hWfar;
nearPts[0] = cN + Up * hHnear - right * hWnear;
nearPts[1] = cN - Up * hHnear - right * hWnear;
nearPts[2] = cN - Up * hHnear + right * hWnear;
nearPts[3] = cN + Up * hHnear + right * hWnear;
planes[0] = CPlane.FromPoints(nearPts[3], nearPts[0], farPts[0]);
planes[1] = CPlane.FromPoints(nearPts[1], nearPts[2], farPts[2]);
planes[2] = CPlane.FromPoints(nearPts[0], nearPts[1], farPts[1]);
planes[3] = CPlane.FromPoints(nearPts[2], nearPts[3], farPts[2]);
planes[4] = CPlane.FromPoints(nearPts[0], nearPts[3], nearPts[2]);
planes[5] = CPlane.FromPoints(farPts[3], farPts[0], farPts[1]);
}
public virtual void Rotate(double y, double p, double r)
{
yaw = Matrix4dExtension.DegreesToRadians(y);
pitch = Matrix4dExtension.DegreesToRadians(p);
roll = Matrix4dExtension.DegreesToRadians(r);
Matrix4d rNew = yawPitchRoll(yaw, pitch, 0.0f);
R = Matrix4d.Mult(R, rNew);
Update();
}