/// <summary>
/// 指定された回転(X, Y, Z)を回転行列に変換します
/// </summary>
/// <param name="RotationVector">Rotation_Value</param>
/// <param name="rotationMatrixAxis">Rotation Axis</param>
/// <param name="MV3D">ModelVisual3D</param>
/// <returns>Matrix3D</returns>
public Matrix3D EulrRotation(Vector3D RotationVector, RotationMatrixAxis rotationMatrixAxis = RotationMatrixAxis.XYZ, ModelVisual3D MV3D = null)
{
Vector3D?Position3D = null;
if (MV3D != null)
{
Position3D = new Vector3D(Math.Round(MV3D.Transform.Value.OffsetX, 3), Math.Round(MV3D.Transform.Value.OffsetY, 3), Math.Round(MV3D.Transform.Value.OffsetZ, 3));
}
if (MV3D == null)
{
Position3D = new Vector3D(0, 0, 0);
}
Matrix3D RotationEulrX = new Matrix3D
{
M11 = 1,
M12 = 0,
M13 = 0,
M14 = 0,
M21 = 0,
M22 = Math.Cos(RotationVector.X),
M23 = -Math.Sin(RotationVector.X),
M24 = 0,
M31 = 0,
M32 = Math.Sin(RotationVector.X),
M33 = Math.Cos(RotationVector.X),
M34 = 0,
OffsetX = 0,
OffsetY = 0,
OffsetZ = 0,
M44 = 1
};
Matrix3D RotationEulrY = new Matrix3D
{
M11 = Math.Cos(RotationVector.Y),
M12 = 0,
M13 = -Math.Sin(RotationVector.Y),
M14 = 0,
M21 = 0,
M22 = 1,
M23 = 0,
M24 = 0,
M31 = -Math.Sin(RotationVector.Y),
M32 = 0,
M33 = Math.Cos(RotationVector.Y),
M34 = 0,
OffsetX = 0,
OffsetY = 0,
OffsetZ = 0,
M44 = 1
};
Matrix3D RotationEulrZ = new Matrix3D
{
M11 = Math.Cos(RotationVector.Z),
M12 = -Math.Sin(RotationVector.Z),
M13 = 0,
M14 = 0,
M21 = Math.Sin(RotationVector.Z),
M22 = -Math.Cos(RotationVector.Z),
M23 = 0,
M24 = 0,
M31 = 0,
M32 = 0,
M33 = 1,
M34 = 0,
OffsetX = 0,
OffsetY = 0,
OffsetZ = 0,
M44 = 1
};
Matrix3D m2 = new Matrix3D();
if (rotationMatrixAxis == RotationMatrixAxis.XYZ)
{
m2 = Matrix3D.Multiply(Matrix3D.Multiply(RotationEulrX, RotationEulrY), RotationEulrZ);
m2.OffsetX = Position3D.Value.X;
m2.OffsetY = Position3D.Value.Y;
m2.OffsetZ = Position3D.Value.Z;
}
if (rotationMatrixAxis == RotationMatrixAxis.XZY)
{
m2 = Matrix3D.Multiply(Matrix3D.Multiply(RotationEulrX, RotationEulrZ), RotationEulrY);
m2.OffsetX = Position3D.Value.X;
m2.OffsetY = Position3D.Value.Z;
m2.OffsetZ = Position3D.Value.Y;
}
if (rotationMatrixAxis == RotationMatrixAxis.YXZ)
{
m2 = Matrix3D.Multiply(Matrix3D.Multiply(RotationEulrY, RotationEulrX), RotationEulrZ);
m2.OffsetX = Position3D.Value.Y;
m2.OffsetY = Position3D.Value.X;
m2.OffsetZ = Position3D.Value.Z;
}
if (rotationMatrixAxis == RotationMatrixAxis.YZX)
{
m2 = Matrix3D.Multiply(Matrix3D.Multiply(RotationEulrY, RotationEulrZ), RotationEulrX);
m2.OffsetX = Position3D.Value.Y;
m2.OffsetY = Position3D.Value.Z;
m2.OffsetZ = Position3D.Value.X;
}
if (rotationMatrixAxis == RotationMatrixAxis.ZXY)
{
m2 = Matrix3D.Multiply(Matrix3D.Multiply(RotationEulrZ, RotationEulrX), RotationEulrY);
m2.OffsetX = Position3D.Value.Z;
m2.OffsetY = Position3D.Value.X;
m2.OffsetZ = Position3D.Value.Y;
}
if (rotationMatrixAxis == RotationMatrixAxis.ZYX)
{
m2 = Matrix3D.Multiply(Matrix3D.Multiply(RotationEulrZ, RotationEulrY), RotationEulrX);
m2.OffsetX = Position3D.Value.Z;
m2.OffsetY = Position3D.Value.Y;
m2.OffsetZ = Position3D.Value.X;
}
return(m2);
}
public PosNormalTangent GetPosNrmTan3D(Vector3D Rot, RotationMatrixAxis rotationMatrixAxis = RotationMatrixAxis.XYZ, ModelVisual3D MV3D = null, Model3D M3D = null)
{
#region Default
//M11, M12, M13, M14
//M21, M22, M23, M24
//M31, M32, M33, M34
//M41, M42, M43, M44
#endregion
#region Blender
//M11, M21, M31, M41
//M12, M22, M32, M42
//M13, M23, M33, M43
//M14, M24, M34, M44
#endregion
Matrix3D m = new Matrix3D();
if (MV3D != null || M3D != null)
{
if (MV3D != null)
{
m = EulrRotation(Rot, rotationMatrixAxis, MV3D);
}
if (M3D != null)
{
m = EulrRotation(Rot, rotationMatrixAxis, M3D);
}
}
else
{
//Default
m = EulrRotation(Rot, rotationMatrixAxis, new ModelVisual3D());
}
PosNormalTangent PosNrmTan3D = null;
if (rotationMatrixAxis == RotationMatrixAxis.XYZ)
{
Vector3D Tangent3D = new Vector3D(Math.Round(m.M21, 3), Math.Round(m.M22, 3), Math.Round(m.M23, 3));
Vector3D Normal3D = new Vector3D(Math.Round(m.M31, 3), Math.Round(m.M32, 3), Math.Round(m.M33, 3));
Vector3D Position3D = new Vector3D(Math.Round(m.OffsetX, 3), Math.Round(m.OffsetY, 3), Math.Round(m.OffsetZ, 3));
PosNrmTan3D = new PosNormalTangent
{
Tangent3D = Tangent3D,
Normal3D = Normal3D,
Position3D = Position3D
};
}
if (rotationMatrixAxis == RotationMatrixAxis.XZY)
{
Vector3D Tangent3D = new Vector3D(Math.Round(m.M21, 3), Math.Round(m.M23, 3), Math.Round(m.M22, 3));
Vector3D Normal3D = new Vector3D(Math.Round(m.M31, 3), Math.Round(m.M33, 3), Math.Round(m.M32, 3));
Vector3D Position3D = new Vector3D(Math.Round(m.OffsetX, 3), Math.Round(m.OffsetZ, 3), Math.Round(m.OffsetY, 3));
PosNrmTan3D = new PosNormalTangent
{
Tangent3D = Tangent3D,
Normal3D = Normal3D,
Position3D = Position3D
};
}
if (rotationMatrixAxis == RotationMatrixAxis.YXZ)
{
Vector3D Tangent3D = new Vector3D(Math.Round(m.M22, 3), Math.Round(m.M21, 3), Math.Round(m.M23, 3));
Vector3D Normal3D = new Vector3D(Math.Round(m.M32, 3), Math.Round(m.M31, 3), Math.Round(m.M33, 3));
Vector3D Position3D = new Vector3D(Math.Round(m.OffsetY, 3), Math.Round(m.OffsetX, 3), Math.Round(m.OffsetZ, 3));
PosNrmTan3D = new PosNormalTangent
{
Tangent3D = Tangent3D,
Normal3D = Normal3D,
Position3D = Position3D
};
}
if (rotationMatrixAxis == RotationMatrixAxis.YZX)
{
Vector3D Tangent3D = new Vector3D(Math.Round(m.M22, 3), Math.Round(m.M23, 3), Math.Round(m.M21, 3));
Vector3D Normal3D = new Vector3D(Math.Round(m.M32, 3), Math.Round(m.M33, 3), Math.Round(m.M31, 3));
Vector3D Position3D = new Vector3D(Math.Round(m.OffsetY, 3), Math.Round(m.OffsetZ, 3), Math.Round(m.OffsetX, 3));
PosNrmTan3D = new PosNormalTangent
{
Tangent3D = Tangent3D,
Normal3D = Normal3D,
Position3D = Position3D
};
}
if (rotationMatrixAxis == RotationMatrixAxis.ZXY)
{
Vector3D Tangent3D = new Vector3D(Math.Round(m.M23, 3), Math.Round(m.M21, 3), Math.Round(m.M22, 3));
Vector3D Normal3D = new Vector3D(Math.Round(m.M33, 3), Math.Round(m.M31, 3), Math.Round(m.M32, 3));
Vector3D Position3D = new Vector3D(Math.Round(m.OffsetZ, 3), Math.Round(m.OffsetX, 3), Math.Round(m.OffsetY, 3));
PosNrmTan3D = new PosNormalTangent
{
Tangent3D = Tangent3D,
Normal3D = Normal3D,
Position3D = Position3D
};
}
if (rotationMatrixAxis == RotationMatrixAxis.ZYX)
{
Vector3D Tangent3D = new Vector3D(Math.Round(m.M23, 3), Math.Round(m.M22, 3), Math.Round(m.M21, 3));
Vector3D Normal3D = new Vector3D(Math.Round(m.M33, 3), Math.Round(m.M32, 3), Math.Round(m.M31, 3));
Vector3D Position3D = new Vector3D(Math.Round(m.OffsetZ, 3), Math.Round(m.OffsetY, 3), Math.Round(m.OffsetX, 3));
PosNrmTan3D = new PosNormalTangent
{
Tangent3D = Tangent3D,
Normal3D = Normal3D,
Position3D = Position3D
};
}
return(PosNrmTan3D);
}
