matrix4x4 matrixQuickInverse(matrix4x4 m)
{
matrix4x4 matrix = new matrix4x4();
matrix.m[0, 0] = m.m[0, 0];
matrix.m[0, 1] = m.m[1, 0];
matrix.m[0, 2] = m.m[2, 0];
matrix.m[0, 3] = 0.0f;
matrix.m[1, 0] = m.m[0, 1];
matrix.m[1, 1] = m.m[1, 1];
matrix.m[1, 2] = m.m[2, 1];
matrix.m[1, 3] = 0.0f;
matrix.m[2, 0] = m.m[0, 2];
matrix.m[2, 1] = m.m[1, 2];
matrix.m[2, 2] = m.m[2, 2];
matrix.m[2, 3] = 0.0f;
matrix.m[3, 0] = -(m.m[3, 0] * matrix.m[0, 0] + m.m[3, 1] * matrix.m[1, 0] + m.m[3, 2] * matrix.m[2, 0]);
matrix.m[3, 1] = -(m.m[3, 0] * matrix.m[0, 1] + m.m[3, 1] * matrix.m[1, 1] + m.m[3, 2] * matrix.m[2, 1]);
matrix.m[3, 2] = -(m.m[3, 0] * matrix.m[0, 2] + m.m[3, 1] * matrix.m[1, 2] + m.m[3, 2] * matrix.m[2, 2]);
matrix.m[3, 3] = 1.0f;
return(matrix);
}
matrix4x4 createUnitMatrix()
{
matrix4x4 m = new matrix4x4();
m.m[0, 0] = 1.0;
m.m[1, 1] = 1.0;
m.m[2, 2] = 1.0;
m.m[3, 3] = 1.0;
return(m);
}
//FUNC
matrix4x4 getMatrixProjection(double fFovRad, double fAspectRation, double fNear, double fFar)
{
matrix4x4 matProj = new matrix4x4();
matProj.m[0, 0] = fAspectRation * fFovRad;
matProj.m[1, 1] = fFovRad;
matProj.m[2, 2] = fFar / (fFar - fNear);
matProj.m[3, 2] = (-fFar * fNear) / (fFar - fNear);
matProj.m[2, 3] = 1.0;
matProj.m[3, 3] = 0.0;
return(matProj);
}
matrix4x4 getMatrixRotationY(double angle)
{
matrix4x4 matrix = new matrix4x4();
matrix.m[0, 0] = Math.Cos(angle);
matrix.m[0, 2] = Math.Sin(angle);
matrix.m[2, 0] = -Math.Sin(angle);
matrix.m[1, 1] = 1.0f;
matrix.m[2, 2] = Math.Cos(angle);
matrix.m[3, 3] = 1.0f;
return(matrix);
}
matrix4x4 getMatrixRotationX(double angle)
{
matrix4x4 matRotX = new matrix4x4();
matRotX.m[0, 0] = 1;
matRotX.m[1, 1] = Math.Cos(angle);
matRotX.m[1, 2] = Math.Sin(angle);
matRotX.m[2, 1] = -Math.Sin(angle);
matRotX.m[2, 2] = Math.Cos(angle);;
matRotX.m[3, 3] = 1;
return(matRotX);
}
//FUNC
matrix4x4 getMatrixRotationZ(double angle)
{
matrix4x4 matRotZ = new matrix4x4();
matRotZ.m[0, 0] = Math.Cos(angle);
matRotZ.m[0, 1] = Math.Sin(angle);
matRotZ.m[1, 0] = -Math.Sin(angle);
matRotZ.m[1, 1] = Math.Cos(angle);
matRotZ.m[2, 2] = 1;
matRotZ.m[3, 3] = 1;
return(matRotZ);
}
public static matrix4x4 operator *(matrix4x4 m1, matrix4x4 m2)
{
matrix4x4 res = new matrix4x4();
for (int c = 0; c < 4; c++)
{
for (int r = 0; r < 4; r++)
{
res.m[r, c] = m1.m[r, 0] * m2.m[0, c] + m1.m[r, 1] * m2.m[1, c] + m1.m[r, 2] * m2.m[2, c] + m1.m[r, 3] * m2.m[3, c];
}
}
return(res);
}
//FUNC
matrix4x4 getMatrixTranslation(double x, double y, double z)
{
matrix4x4 matrixTranslation = new matrix4x4();
matrixTranslation.m[0, 0] = 1.0;
matrixTranslation.m[1, 1] = 1.0;
matrixTranslation.m[2, 2] = 1.0;
matrixTranslation.m[3, 3] = 1.0;
matrixTranslation.m[3, 0] = x;
matrixTranslation.m[3, 1] = y;
matrixTranslation.m[3, 2] = z;
return(matrixTranslation);
}
//FUNC
matrix4x4 matrixPointAt(vect3D pos, vect3D target, vect3D up)
{
vect3D newForward = target - pos;
newForward.Normalize();
// Calculate new Up direction
vect3D a = newForward * up.DotProduct(newForward);
vect3D newUp = up - a;
newUp.Normalize();
// New Right direction is easy, its just cross product
vect3D newRight = newUp.CrossProduct(newForward);
// Construct Dimensioning and Translation Matrix
matrix4x4 matrix = new matrix4x4();
matrix.m[0, 0] = newRight.x; matrix.m[0, 1] = newRight.y; matrix.m[0, 2] = newRight.z; matrix.m[0, 3] = 0.0f;
matrix.m[1, 0] = newUp.x; matrix.m[1, 1] = newUp.y; matrix.m[1, 2] = newUp.z; matrix.m[1, 3] = 0.0f;
matrix.m[2, 0] = newForward.x; matrix.m[2, 1] = newForward.y; matrix.m[2, 2] = newForward.z; matrix.m[2, 3] = 0.0f;
matrix.m[3, 0] = pos.x; matrix.m[3, 1] = pos.y; matrix.m[3, 2] = pos.z; matrix.m[3, 3] = 1.0f;
return(matrix);
}
private void timerTick(object sender, EventArgs e)
{
canvas.Children.Clear();
double deltaX = 0.2;
double fDelta = 2 * Math.PI / (4 * r / deltaX);
fTheta += fDelta;
matrix4x4 matRotZ = getMatrixRotationZ(0);
matrix4x4 matRotX = getMatrixRotationX(0);
matrix4x4 matRotY = getMatrixRotationY(fTheta);
if (Math.Abs(x) >= r)
{
isHalfRotated = !isHalfRotated;
}
x += isHalfRotated ? deltaX : -deltaX;
double z = isHalfRotated ? -Math.Sqrt(r * r - x * x) : Math.Sqrt(r * r - x * x);
z += 4 * r;
matrix4x4 matTrans = getMatrixTranslation(x, 1, z);;
// all the transformations that we need to do in this matrix
matrix4x4 matWorld = createUnitMatrix();
matWorld = matRotZ * matRotX * matRotY;
matWorld = matWorld * matTrans;
//camera
vect3D vUp = new vect3D(0, 1, 0);
vect3D vTarget = new vect3D(0, 0, 1);
matrix4x4 matCameraRot = getMatrixRotationY(fYaw) * getMatrixRotationX(fXaw);
vLookDir = matCameraRot * vTarget;
vTarget = vCamera + vLookDir;
matrix4x4 matCamera = matrixPointAt(vCamera, vTarget, vUp);
matrix4x4 matView = matrixQuickInverse(matCamera);
List <triangle> trianglesToRaster = new List <triangle>();
foreach (triangle tri in meshCube.tris)
{
triangle triProjected = new triangle();
triangle triTransformed = new triangle();
triangle triViewed = new triangle();
triTransformed.vect[0] = matWorld * tri.vect[0];
triTransformed.vect[1] = matWorld * tri.vect[1];
triTransformed.vect[2] = matWorld * tri.vect[2];
vect3D normal = new vect3D();
vect3D line1 = new vect3D();
vect3D line2 = new vect3D();
line1 = triTransformed.vect[1] - triTransformed.vect[0];
line2 = triTransformed.vect[2] - triTransformed.vect[0];
normal = line1.CrossProduct(line2);
normal.Normalize();
//projecting
// объект виден если угол между нормалью к нему и нашей камерой меньше 90 градусов
// будем проверять это с помощью скалярного произведения векторов
// скалярное произведение векторов угол между которыми > 90 градусов будет < 0
if (normal.DotProduct(triTransformed.vect[0] - vCamera) < 0.0)
{
// illumination (all illumination cooming from direction, not from the point)
// свет тем ярче чем меньше угол между нормалью поверхности с направлением света
vect3D lightDirection = new vect3D(-5.0, -5.0, -5.0);
lightDirection.Normalize();
double dp = normal.DotProduct(lightDirection);
triProjected.luminosity = dp;
triTransformed.luminosity = dp;
triViewed.vect[0] = matView * triTransformed.vect[0];
triViewed.vect[1] = matView * triTransformed.vect[1];
triViewed.vect[2] = matView * triTransformed.vect[2];
triProjected.vect[0] = matProj * triViewed.vect[0];
triProjected.vect[1] = matProj * triViewed.vect[1];
triProjected.vect[2] = matProj * triViewed.vect[2];
triProjected.vect[0] = triProjected.vect[0] / triProjected.vect[0].w;
triProjected.vect[1] = triProjected.vect[1] / triProjected.vect[1].w;
triProjected.vect[2] = triProjected.vect[2] / triProjected.vect[2].w;
//offset into visible mormalized space
vect3D vOffsetView = new vect3D(1, 1, 0);
triProjected.vect[0] = triProjected.vect[0] + vOffsetView;
triProjected.vect[1] = triProjected.vect[1] + vOffsetView;
triProjected.vect[2] = triProjected.vect[2] + vOffsetView;
triProjected.vect[0].x *= canvas.Width / 2.0;
triProjected.vect[0].y *= canvas.Height / 2.0;
triProjected.vect[1].x *= canvas.Width / 2.0;
triProjected.vect[1].y *= canvas.Height / 2.0;
triProjected.vect[2].x *= canvas.Width / 2.0;
triProjected.vect[2].y *= canvas.Height / 2.0;
trianglesToRaster.Add(triProjected);
}
}
// Sort triangles from back to front
try {
trianglesToRaster.Sort();
}
catch (Exception ex)
{
}
foreach (triangle t in trianglesToRaster)
{
DrawTriangle(t, true, true);
}
}
