public virtual void Draw(Vector3d location, Quaterniond rotation)
{
Matrix4d trans;
Matrix4d rot;
Matrix4d sca;
Matrix4d temp;
Vector3d axis;
double angle;
// Translate and rotate stuff.
trans = Matrix4d.CreateTranslation(location);
rotation.ToAxisAngle(out axis, out angle);
Matrix4d.CreateFromAxisAngle(axis, angle, out rot);
sca = Matrix4d.Scale(scale.X, 1, scale.Y);
temp = Matrix4d.Mult(Graphics.Modelview, trans);
temp = Matrix4d.Mult(sca, Matrix4d.Mult(rot, temp));
GL.PushMatrix();
GL.LoadMatrix(ref temp);
//Console.WriteLine("Matrix'd");
// Do drawing stuff.
//GL.ClientActiveTexture(TextureUnit.Texture0);
//GL.ActiveTexture(TextureUnit.Texture1);
//GL.BindTexture(TextureTarget.Texture2D, tex);
//int loc = GL.GetUniformLocation(Graphics.CurrentShader, "tex1");
//GL.Uniform1(loc, 1);
//Console.WriteLine("Texture'd {0}", tex);
material.Draw();
geometry.Draw();
GL.PopMatrix();
}
private void polarize(Svd<double> DG_SVD, out Vector3d RotationAxis, out double RotationAngle)
{
DenseMatrix RotationalMatrix = (DenseMatrix)DG_SVD.U.Multiply(DG_SVD.VT);
Quaterniond RotationQ = OpenTK_To_MathNET.MatrixToQuaternion(RotationalMatrix);
RotationQ.Normalize();
RotationQ.ToAxisAngle(out RotationAxis, out RotationAngle);
}
public virtual void Draw(Vector3d location, Quaterniond rotation)
{
Matrix4d trans;
Matrix4d rot;
Matrix4d sca;
Matrix4d temp;
Vector3d axis;
double angle;
//Console.WriteLine("DDDDrawing at {0},{1},{2}", location.X, location.Y, location.Z);
// Translate and rotate stuff.
trans = Matrix4d.CreateTranslation(location);
rotation.ToAxisAngle(out axis, out angle);
Matrix4d.CreateFromAxisAngle(axis, angle, out rot);
sca = Matrix4d.Scale(scale.X, 1, scale.Y);
temp = Matrix4d.Mult(Graphics.Modelview, trans);
temp = Matrix4d.Mult(sca, Matrix4d.Mult(rot, temp));
//Console.WriteLine("MMMMatrix:\n{0}", temp);
GL.PushMatrix();
GL.LoadMatrix(ref temp);
//Console.WriteLine("Matrix'd");
// Do drawing stuff.
GL.ActiveTexture(TextureUnit.Texture0);
GL.BindTexture(TextureTarget.Texture2D, frames[animFrame]);
geometry.Draw();
GL.PopMatrix();
}
/// <summary>
/// Build a rotation matrix from the specified quaternion.
/// </summary>
/// <param name="q">Quaternion to translate.</param>
/// <param name="result">Matrix result.</param>
public static void CreateFromQuaternion(ref Quaterniond q, out Matrix3d result)
{
Vector3d axis;
double angle;
q.ToAxisAngle(out axis, out angle);
CreateFromAxisAngle(axis, angle, out result);
}
