private int AddBone(int bodyIdx, JointType jointType0, JointType jointType1, int startIdx)
{
Point3f joint0 = bodies[bodyIdx].lJoints[(int)jointType0].position;
Point3f joint1 = bodies[bodyIdx].lJoints[(int)jointType1].position;
AddLine(startIdx, joint0.X, joint0.Y, joint0.Z, joint1.X, joint1.Y, joint1.Z);
return(2);
}
public static Point3f Apply3DTransform(Point3f point, AffineTransform transform)
{
Point3f newPoint = new Point3f();
//matrix multiplication
newPoint.X = (transform.R[0, 0] * point.X) + (transform.R[0, 1] * point.Y) + (transform.R[0, 2] * point.Z) + transform.t[0];
newPoint.Y = (transform.R[1, 0] * point.X) + (transform.R[1, 1] * point.Y) + (transform.R[1, 2] * point.Z) + transform.t[1];
newPoint.Z = (transform.R[2, 0] * point.X) + (transform.R[2, 1] * point.Y) + (transform.R[2, 2] * point.Z) + transform.t[2];
return(newPoint);
}
//parse list of vertices received by client into list of point3f to allow transformations
public static List <Point3f> VerticesToPoint3f(List <Single> vertices)
{
if (vertices.Count % 3 != 0)
{
throw new System.ArgumentOutOfRangeException("list of vertices must divide by 3");
}
List <Point3f> points = new List <Point3f>();
for (int i = 0; i < vertices.Count / 3; i++)
{
var point = new Point3f();
point.X = vertices[i * 3];
point.Y = vertices[i * 3 + 1];
point.Z = vertices[i * 3 + 2];
points.Add(point);
}
return(points);
}