public static Matrix4x4 DrawColumns( Matrix4x4 matrix )
{
matrix.SetColumn( 0, EditorGUI.Vector4Field( GetRekt(), "", matrix.GetColumn( 0 ) ) );
matrix.SetColumn( 1, EditorGUI.Vector4Field( GetRekt(), "", matrix.GetColumn( 1 ) ) );
matrix.SetColumn( 2, EditorGUI.Vector4Field( GetRekt(), "", matrix.GetColumn( 2 ) ) );
matrix.SetColumn( 3, EditorGUI.Vector4Field( GetRekt(), "", matrix.GetColumn( 3 ) ) );
return matrix;
}
public static Vector3 Scale(this UnityEngine.Matrix4x4 trsMatrix)
{
var scale = new Vector3(
trsMatrix.GetColumn(0).magnitude,
trsMatrix.GetColumn(1).magnitude,
trsMatrix.GetColumn(2).magnitude);
return(scale);
}
public static void DrawAxis(Matrix4x4 frame)
{
Vector3 X = frame.GetColumn (0)*AxisSize;
Vector3 Y = frame.GetColumn (1)*AxisSize;
Vector3 Z = frame.GetColumn (2)*AxisSize;
Vector3 pos = frame.GetColumn (3);
Debug.DrawLine (pos,pos+X,Color.red);
Debug.DrawLine (pos,pos+Y,Color.green);
Debug.DrawLine (pos,pos+Z,Color.blue);
}
/// <summary>
/// Add two matricies together.
/// </summary>
/// <param name="lhs">Left-hand side.</param>
/// <param name="rhs">Right-hand side</param>
/// <returns>Sum.</returns>
public static Matrix AddMatrix(this Matrix lhs, Matrix rhs)
{
Matrix result = Matrix.identity;
result.SetColumn(0, lhs.GetColumn(0) + rhs.GetColumn(0));
result.SetColumn(1, lhs.GetColumn(1) + rhs.GetColumn(1));
result.SetColumn(2, lhs.GetColumn(2) + rhs.GetColumn(2));
result.SetColumn(3, lhs.GetColumn(3) + rhs.GetColumn(3));
return(result);
}
/// <summary>
/// Subtract one matrix from another.
/// </summary>
/// <param name="lhs">Left-hand side.</param>
/// <param name="rhs">Right-hand side</param>
/// <returns>Difference.</returns>
public static Matrix SubtractMatrix(this Matrix lhs, Matrix rhs)
{
Matrix result = Matrix.identity;
result.SetColumn(0, lhs.GetColumn(0) - rhs.GetColumn(0));
result.SetColumn(1, lhs.GetColumn(1) - rhs.GetColumn(1));
result.SetColumn(2, lhs.GetColumn(2) - rhs.GetColumn(2));
result.SetColumn(3, lhs.GetColumn(3) - rhs.GetColumn(3));
return(result);
}
public static Quaternion MatrixToQuaternion(ref Matrix4x4 source)
{
// adapted from http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm
Matrix4x4 matrix = new Matrix4x4();
matrix.SetColumn(0, source.GetColumn(0));
matrix.SetColumn(1, source.GetColumn(1));
matrix.SetColumn(2, source.GetColumn(2));
matrix.SetColumn(3, new Vector4(0.0f, 0.0f, 0.0f, 1.0f));
float trace = Trace(ref matrix);
if (trace > 0.0f)
{
float s = Mathf.Sqrt(trace + 1.0f) * 2.0f; // 4 * qw in Jon's equ
return new Quaternion(
(matrix[2,1] - matrix[1,2]) / s,
(matrix[0,2] - matrix[2,0]) / s,
(matrix[1,0] - matrix[0,1]) / s,
0.25f * s);
}
else if (matrix[0,0] > matrix[1,1] && matrix[0,0] > matrix[2,2])
{
float s = Mathf.Sqrt(1.0f + matrix[0,0] - matrix[1,1] - matrix[2,2]) * 2.0f; // 4 * qx
return new Quaternion(
0.25f * s,
(matrix[0,1] + matrix[1,0]) / s,
(matrix[0,2] + matrix[2,0]) / s,
(matrix[2,1] - matrix[1,2]) / s);
}
else if (matrix[1,1] > matrix[2,2])
{
float s = Mathf.Sqrt(1.0f + matrix[1,1] - matrix[0,0] - matrix[2,2]) * 2.0f; // 4 * qw
return new Quaternion(
(matrix[0,1] + matrix[1,0]) / s,
0.25f * s,
(matrix[1,2] + matrix[2,1]) / s,
(matrix[0,2] - matrix[2,0]) / s);
}
else
{
float s = Mathf.Sqrt(1.0f + matrix[2,2] - matrix[0,0] - matrix[1,1]) * 2.0f; // 4 * qz
return new Quaternion(
(matrix[0,2] + matrix[2,0]) / s,
(matrix[1,2] + matrix[2,1]) / s,
0.25f * s,
(matrix[1,0] - matrix[0,1]) / s);
}
}
void LateUpdate()
{
for (int i = 0; i < _trackedTravellers.Count; i++)
{
PortalTraveller traveller = _trackedTravellers[i];
Transform travellerT = traveller.transform;
Matrix4x4 m = otherPortal.transform.localToWorldMatrix * transform.worldToLocalMatrix * travellerT.localToWorldMatrix;
Vector3 offsetFromPortal = travellerT.position - transform.position;
int portalSide = Math.Sign(Vector3.Dot(offsetFromPortal, transform.forward));
int portalSideOld = Math.Sign(Vector3.Dot(traveller.prevOffsetFromPortal, transform.forward));
// Teleport the traveller if it has crossed from one side of the portal to the other
if (portalSide != portalSideOld)
{
traveller.Teleport(transform, otherPortal.transform, m.GetColumn(3), m.rotation);
// Can't rely on OnTriggerEnter/Exit to be called next frame since it depends on when FixedUpdate runs
otherPortal.OnTravellerEnterPortal(traveller);
_trackedTravellers.RemoveAt(i);
i--;
}
else
{
traveller.prevOffsetFromPortal = offsetFromPortal;
}
}
}
private void ApplyTransformation(out UnityEngine.Matrix4x4 Transformation)
{
//Calculating Centroids from both coordinate system
Accord.Math.Vector3 centroidA = CalculateCentroid(UnitytoAccord(ReadFrameLowerLeft), UnitytoAccord(ReadFrameLowerRight), UnitytoAccord(ReadFrameUpperLeft), UnitytoAccord(ReadFrameUpperRight));
Accord.Math.Vector3 centroidB = CalculateCentroid(UnitytoAccord(FrameLowerLeft), UnitytoAccord(FrameLowerRight), UnitytoAccord(FrameUpperLeft), UnitytoAccord(FrameUpperRight));
Matrix3x3 H = CovarianceMatrixStep(UnitytoAccord(ReadFrameLowerLeft) - centroidA, UnitytoAccord(FrameLowerLeft) - centroidB)
+ CovarianceMatrixStep(UnitytoAccord(ReadFrameLowerRight) - centroidA, UnitytoAccord(FrameLowerRight) - centroidB)
+ CovarianceMatrixStep(UnitytoAccord(ReadFrameUpperLeft) - centroidA, UnitytoAccord(FrameUpperLeft) - centroidB)
+ CovarianceMatrixStep(UnitytoAccord(ReadFrameUpperRight) - centroidA, UnitytoAccord(FrameUpperRight) - centroidB);
Matrix3x3 U;
Accord.Math.Vector3 E;
Matrix3x3 V;
Matrix3x3 R;
H.SVD(out U, out E, out V);
R = V * U.Transpose();
Debug.Log("Row " + R.GetRow(0));
Debug.Log("Row " + R.GetRow(1));
Debug.Log("Row " + R.GetRow(2));
if (R.Determinant < 0)
{
V.V02 = (-V.V02);
V.V12 = (-V.V12);
V.V22 = (-V.V22);
R = V * U.Transpose();
Debug.LogWarning("Reflection case");
}
Accord.Math.Vector3 Translation;
Translation = (NegativeMatrix(R) * centroidA + centroidB);
Debug.Log("Translation is" + Translation);
Transformation = UnityEngine.Matrix4x4.identity;
Transformation = AccordToUnityMatrix(Transformation, R, Translation);
Debug.Log("Trans" + Transformation.GetRow(0));
Debug.Log("Trans" + Transformation.GetRow(1));
Debug.Log("Trans" + Transformation.GetRow(2));
Debug.Log("Trans" + Transformation.GetRow(3));
Transformation.SetTRS(AccordtoUnity(Translation), Quaternion.LookRotation(Transformation.GetColumn(1),
Transformation.GetColumn(2)), UnityEngine.Vector3.one);
}
// Get a Transform ofject from a Matrix
public static void TransformFromMatrix(Matrix4x4 matrix, Transform trans)
{
//trans.localRotation = QuaternionFromMatrix(matrix);
trans.rotation = QuaternionFromMatrix(matrix);
Vector3 tmp = matrix.GetColumn(3); // uses implicit conversion from Vector4 to Vector3
// We need to invert the translation on the Y axis
tmp.y = -tmp.y;
//trans.localPosition = tmp;
//tmp.z = 250;
trans.position = tmp;
}
static public int GetColumn(IntPtr l)
{
try{
UnityEngine.Matrix4x4 self = (UnityEngine.Matrix4x4)checkSelf(l);
System.Int32 a1;
checkType(l, 2, out a1);
UnityEngine.Vector4 ret = self.GetColumn(a1);
pushValue(l, ret);
return(1);
}
catch (Exception e) {
LuaDLL.luaL_error(l, e.ToString());
return(0);
}
}
private void UpdateCameraParentPose()
{
Interlocked.Exchange(ref updateCameraToWorldMatrix, _cameraToWorldMatrix);
UnityEngine.Matrix4x4 cameraToWorldMatrix = ConvertFloatArrayToMatrix4x4(updateCameraToWorldMatrix);
Transform locatableCameraTransform = controller.LocatableCameraRoot.transform;
// Note: we can't just directly convert the matrix into the rotation/position that Unity expects.
// We need to convert it. See https://forum.unity.com/threads/locatable-camera-in-unity.398803/
Vector3 position = cameraToWorldMatrix.MultiplyPoint(Vector3.zero);
Quaternion rotation = Quaternion.LookRotation(-cameraToWorldMatrix.GetColumn(2), cameraToWorldMatrix.GetColumn(1));
locatableCameraTransform.position = position;
locatableCameraTransform.rotation = rotation;
}
static int GetColumn(IntPtr L)
{
try
{
ToLua.CheckArgsCount(L, 2);
UnityEngine.Matrix4x4 obj = (UnityEngine.Matrix4x4)ToLua.CheckObject(L, 1, typeof(UnityEngine.Matrix4x4));
int arg0 = (int)LuaDLL.luaL_checknumber(L, 2);
UnityEngine.Vector4 o = obj.GetColumn(arg0);
ToLua.Push(L, o);
ToLua.SetBack(L, 1, obj);
return(1);
}
catch (Exception e)
{
return(LuaDLL.toluaL_exception(L, e));
}
}
/// <summary>
/// Extract scale from transform matrix.
/// </summary>
/// <param name="matrix">Transform matrix. This parameter is passed by reference
/// to improve performance; no changes will be made to it.</param>
/// <returns>
/// Scale vector.
/// </returns>
public static Vector3 ExtractScaleFromMatrix(ref Matrix4x4 matrix) {
Vector3 scale = new Vector3(
matrix.GetColumn(0).magnitude,
matrix.GetColumn(1).magnitude,
matrix.GetColumn(2).magnitude
);
if (Vector3.Cross(matrix.GetColumn(0), matrix.GetColumn(1)).normalized != (Vector3)matrix.GetColumn(2).normalized)
{
scale.x *= -1;
}
return scale;
}
// Function to apply transformation to 4th point/object
void ApplyTransformation()
{
//Calculating Centroids from both coordinate system
centroidA = (UnitytoAccord(CubeReg.transform.position) + UnitytoAccord(SphereReg.transform.position)
+ UnitytoAccord(CylinderReg.transform.position)) / 3;
centroidB = (UnitytoAccord(CubeTransformed.transform.position) + UnitytoAccord(SphereTransformed.transform.position)
+ UnitytoAccord(CylinderTransformed.transform.position)) / 3;
//Debug.Log("Centroid A is" + centroidA + " Centroid B is" + centroidB);
// Calculating Covariance Matrix
H = CovarianceMatrixStep(UnitytoAccord(CubeReg.transform.position) - centroidA, UnitytoAccord(CubeTransformed.transform.position) - centroidB)
+ CovarianceMatrixStep(UnitytoAccord(SphereReg.transform.position) - centroidA, UnitytoAccord(SphereTransformed.transform.position) - centroidB)
+ CovarianceMatrixStep(UnitytoAccord(CylinderReg.transform.position) - centroidA, UnitytoAccord(CylinderTransformed.transform.position) - centroidB);
H.SVD(out U, out E, out V);
R = V * U.Transpose();
//special reflection case
if (R.Determinant < 0)
{
V.V02 = (-V.V02);
V.V12 = (-V.V12);
V.V22 = (-V.V22);
R = V * U.Transpose();
Debug.LogWarning("Reflection case");
}
Translation = NegativeMatrix(R) * centroidA + centroidB;
//Debug.Log("Translation is" + Translation);
TransformationMatrix = AccordToUnityMatrix(TransformationMatrix, R, Translation);
//Debug.Log(TransformationMatrix);
// Transformaiton Matrix for Unity
TransformationMatrix.SetTRS(AccordtoUnity(Translation), Quaternion.LookRotation(TransformationMatrix.GetColumn(1),
TransformationMatrix.GetColumn(2)), UnityEngine.Vector3.one);
// Applying Translation and rotation to 4th point/object
TestObject.transform.position = TransformationMatrix.MultiplyPoint(InitPosition);
TestObject.transform.rotation = Quaternion.LookRotation(TransformationMatrix.GetColumn(1), TransformationMatrix.GetColumn(2)) * InitQT;
}
private GameObject[] cubes; //A list of every cube in the scene
#endregion Fields
#region Methods
/*
* Used to apply transformations made to one Character to the other.
*
* @param transformation Matrix of the transformations applied to the Character calling the function
* @param smallChar true if called by the small Character, false if called by the big one
*/
public void Notify(Matrix4x4 transformation, bool smallChar)
{
GameObject charToAlter = (smallChar) ? smallCharacter : bigCharacter,
otherChar = (smallChar) ? bigCharacter : smallCharacter;
CharController charController = charToAlter.GetComponent<CharController> (),
otherController = otherChar.GetComponent<CharController> ();
//Extracting infos from the Matrix
Vector3 translation = transformation.GetColumn (3),
scale = new Vector3(transformation.GetColumn (0).magnitude,
transformation.GetColumn (1).magnitude,
transformation.GetColumn (2).magnitude);
Quaternion rotation = Quaternion.LookRotation (transformation.GetColumn(2),
transformation.GetColumn(1));
//Reproducing translation
float dirCoef = (otherController.DistCamToCenter (translation) < otherController.DistCamToCenter (Vector3.zero))
? -1f : 1f;
translation = charController.charCamera.transform.forward * translation.magnitude * scale.magnitude * dirCoef;
charController.TranslateBy (translation);
/*
* Version using the Matrix4x4 infos only.
* Translation is okay, but could not get the rotation to work.
* Solved problem of the angle direction conservation with a custom function,
* but does not alter the rotation correctly
Quaternion relativeRotation = Quaternion.Inverse (otherChar.transform.rotation) * charToAlter.transform.rotation;
translation *= scale.magnitude;
translation = relativeRotation * translation;
charController.TranslateBy (translation);
if (translation.Equals (Vector3.zero)) {
rotation = relativeRotation * rotation;
charController.RotateAroundCenter (QuaternionToEulerSigned(rotation));
}
*/
}
Vector4 multiply(Vector4 point, Matrix4x4 mat)
{
Vector4 returnVal = new Vector4();
Vector4 col0 = mat.GetColumn(0); Vector4 col1 = mat.GetColumn(1); Vector4 col2 = mat.GetColumn(2); Vector4 col3 = mat.GetColumn(3);
returnVal.x = col0.x*point.x + col0.y*point.y + col0.z*point.z + col0.w*point.w;
returnVal.y = col1.x*point.x + col1.y*point.y + col1.z*point.z + col1.w*point.w;
returnVal.z = col2.x*point.x + col2.y*point.y + col2.z*point.z + col2.w*point.w;
returnVal.w = col3.x*point.x + col3.y*point.y + col3.z*point.z + col3.w*point.w;
return returnVal;
}
private static void DrawSingleMarker(ARMarker m, Matrix4x4 mat, bool selected)
{
float pattWidth = m.PatternWidth;
Vector3 origin = mat.GetColumn(3);
Vector3 right = mat.GetColumn(0);
Vector3 up = mat.GetColumn(1);
//float d = selected ? 1.0f : 0.0f;
DrawRectangle(origin, up, right, pattWidth * 0.5f, pattWidth * 0.5f, selected ? MarkerBorderSelected : MarkerBorderUnselected); // Inside border.
DrawRectangle(origin, up, right, pattWidth, pattWidth, selected ? MarkerBorderSelected : MarkerBorderUnselected); // Edge.
DrawRectangle(origin, up, right, pattWidth * 1.05f, pattWidth * 1.05f, selected ? MarkerEdgeSelected : MarkerEdgeUnselected); // Highlighting.
//Gizmos.DrawGUITexture(new Rect(origin.x, origin.y, 20, 20), m.MarkerImage);
float wordUnitSize = pattWidth * 0.02f;
DrawWord(m.Tag, wordUnitSize, origin - up * (pattWidth * 0.6f + (wordUnitSize * 4)) - right * (pattWidth * 0.525f), up, right * 0.5f);
}
/// <summary>
/// Vector3 translation from the 4x4 matrix
/// </summary>
/// <param name="m">
/// A 4x4 transformation matrix <see cref="Matrix4x4"/>
/// </param>
/// <returns>
/// A translation vector <see cref="Vector3"/>
/// </returns>
public static Vector3 TranslationFromMatrix(Matrix4x4 m)
{
Vector4 pos = m.GetColumn(3);
Vector3 returnPos=new Vector3(pos.x,pos.y,pos.z);
return returnPos;
}
public static Vector3 MatrixToScale(Matrix4x4 m)
{
//var xs = m.GetColumn(0);
//var ys = m.GetColumn(1);
//var zs = m.GetColumn(2);
//var sc = new Vector3();
//sc.x = Vector3.Magnitude(new Vector3(xs.x, xs.y, xs.z));
//sc.y = Vector3.Magnitude(new Vector3(ys.x, ys.y, ys.z));
//sc.z = Vector3.Magnitude(new Vector3(zs.x, zs.y, zs.z));
//return sc;
return new Vector3(m.GetColumn(0).magnitude, m.GetColumn(1).magnitude, m.GetColumn(2).magnitude);
}
public static void TransformFromMatrix(Matrix4x4 matrix, Transform trans)
{
trans.rotation = Util.QuaternionFromMatrix(matrix);
trans.position = matrix.GetColumn(3); // uses implicit conversion from Vector4 to Vector3
}
/// <summary>
/// Add a standalone model when not combining.
/// </summary>
private static GameObject AddStandaloneModel(
DaggerfallUnity dfUnity,
ref ModelData modelData,
Matrix4x4 matrix,
Transform parent,
bool overrideStatic = false,
bool ignoreCollider = false)
{
// Determine static flag
bool isStatic = (dfUnity.Option_SetStaticFlags && !overrideStatic) ? true : false;
// Add GameObject
uint modelID = (uint)modelData.DFMesh.ObjectId;
GameObject go = GameObjectHelper.CreateDaggerfallMeshGameObject(modelID, parent, isStatic, null, ignoreCollider);
go.transform.position = matrix.GetColumn(3);
go.transform.rotation = GameObjectHelper.QuaternionFromMatrix(matrix);
return go;
}
static Quaternion QuaternionFromMatrixColumns(Matrix4x4 m)
{
return Quaternion.LookRotation (-m.GetColumn (2), m.GetColumn (1)); // forward, up
}
protected void Set(Matrix4x4 matrix) {
Matrix = matrix;
Position = matrix.GetColumn(3);
Orientation = Quaternion.LookRotation(matrix.GetColumn(2), matrix.GetColumn(1));
}
public static void Matrix2Transform(Transform transform, Matrix4x4 mat)
{
transform.position = mat.GetColumn(3);
transform.rotation = ConvertCoord.QuaternionFromMatrix(mat);
transform.localScale = Vector3.one;
}
private static Quaternion QuaternionFromMatrix(Matrix4x4 m)
{
// Adapted from: http://forum.unity3d.com/threads/is-it-possible-to-get-a-quaternion-from-a-matrix4x4.142325/
return Quaternion.LookRotation(m.GetColumn(2), m.GetColumn(1));
// [DEPRECATED]
/*
// Adapted from: http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm
Quaternion q = new Quaternion();
q.w = (float)Mathf.Sqrt(Mathf.Max(0.0f, 1.0f + m.m00 + m.m11 + m.m22)) * 0.5f;
q.x = (float)Mathf.Sqrt(Mathf.Max(0.0f, 1.0f + m.m00 - m.m11 - m.m22)) * 0.5f;
q.y = (float)Mathf.Sqrt(Mathf.Max(0.0f, 1.0f - m.m00 + m.m11 - m.m22)) * 0.5f;
q.z = (float)Mathf.Sqrt(Mathf.Max(0.0f, 1.0f - m.m00 - m.m11 + m.m22)) * 0.5f;
q.x *= Mathf.Sign(m.m21 - m.m12);
q.y *= Mathf.Sign(m.m02 - m.m20);
q.z *= Mathf.Sign(m.m10 - m.m01);
return q;
//*/
}
public static Vector3 Translation(this UnityEngine.Matrix4x4 trsMatrix)
{
return(trsMatrix.GetColumn(3));
}
private static Quaternion QuaternionFromMatrix (Matrix4x4 m)
{
Quaternion q = Quaternion.LookRotation (m.GetColumn (2), m.GetColumn (1));
return q;
}
//Gets a quaternion from a matrix
public static Quaternion QuaternionFromMatrix(Matrix4x4 m)
{
return Quaternion.LookRotation(m.GetColumn(2), m.GetColumn(1));
}
static bool Matrix4x4_GetColumn__Int32(JSVCall vc, int argc)
{
int len = argc;
if (len == 1)
{
System.Int32 arg0 = (System.Int32)JSApi.getInt32((int)JSApi.GetType.Arg);
UnityEngine.Matrix4x4 argThis = (UnityEngine.Matrix4x4)vc.csObj; JSMgr.datax.setObject((int)JSApi.SetType.Rval, argThis.GetColumn(arg0));
JSMgr.changeJSObj(vc.jsObjID, argThis);
}
return(true);
}
/// <summary>
/// Get quaternion from matrix.
/// </summary>
/// <param name="matrix">Input matrix.</param>
/// <returns>Rotation in quaternion form.</returns>
public static Quaternion GetRotation(this Matrix matrix)
{
return(Quaternion.LookRotation(matrix.GetColumn(2), matrix.GetColumn(1)));
}
public static Matrix4x4 MatrixSlerp(Matrix4x4 a, Matrix4x4 b, float t)
{
t = Mathf.Clamp01(t);
Matrix4x4 m = MatrixFromQuaternion(Quaternion.Slerp(QuaternionFromMatrix(a),QuaternionFromMatrix(b),t));
m.SetColumn(3,a.GetColumn(3)*(1-t)+b.GetColumn(3)*t);
m[3,3] = 1;
return m;
}
public static Quaternion QuaternionFromMatrix(Matrix4x4 m)
{
// Trap the case where the matrix passed in has an invalid rotation submatrix.
if (m.GetColumn(2) == Vector4.zero) {
ARController.Log("QuaternionFromMatrix got zero matrix.");
return Quaternion.identity;
}
return Quaternion.LookRotation(m.GetColumn(2), m.GetColumn(1));
}
public static void TranslateMatrix(ref Matrix4x4 m, Vector3 position)
{
m.SetColumn(3,(Vector3)(m.GetColumn(3))+position);
m[3,3] = 1;
}
public static void decomposeMatrix(Matrix4x4 matrix, out Vector3 position, out Quaternion rotation,
out Vector3 scale)
{
// Extract new local position
position = matrix.GetColumn(3);
// Extract new local rotation
rotation = Quaternion.LookRotation(
matrix.GetColumn(2),
matrix.GetColumn(1)
);
// Extract new local scale
scale = new Vector3(
matrix.GetColumn(0).magnitude,
matrix.GetColumn(1).magnitude,
matrix.GetColumn(2).magnitude
);
}
public static Vector3 MatrixToTranslation(Matrix4x4 m)
{
var col = m.GetColumn(3);
return new Vector3(col.x, col.y, col.z);
}
private static void DrawNFTMarker(ARMarker m, Matrix4x4 mat, bool selected)
{
float pattWidth = m.NFTWidth;
float pattHeight = m.NFTHeight;
//Debug.Log("DrawNFTMarker got pattWidth=" + pattWidth + ", pattHeight=" + pattHeight + ".");
if (pattWidth > 0.0f && pattHeight > 0.0f) {
float biggestSide = Math.Max(pattWidth, pattHeight);
Vector3 origin = mat.GetColumn(3);
Vector3 right = mat.GetColumn(0);
Vector3 up = mat.GetColumn(1);
Vector3 centre = origin + right*0.5f*pattWidth + up*0.5f*pattHeight;
//float d = selected ? 1.0f : 0.0f;
DrawRectangle(centre, up, right, pattWidth, pattHeight, selected ? MarkerBorderSelected : MarkerBorderUnselected);
DrawRectangle(centre, up, right, pattWidth + biggestSide*0.05f, pattHeight + biggestSide*0.05f, selected ? MarkerEdgeSelected : MarkerEdgeUnselected);
//Gizmos.DrawGUITexture(new Rect(centre.x, centre.y, 20, 20), m.MarkerImage);
float wordUnitSize = pattHeight * 0.02f;
DrawWord(m.Tag, wordUnitSize, centre - up*(pattHeight*0.6f + (wordUnitSize*4)) - right*pattWidth*0.525f, up, right*0.5f);
}
}
private static void MergeMeshInto(Mesh meshToMerge, Material[] ms, Matrix4x4 transformMatrix, List<Vector3> vertices, List<Vector3> normals, List<Vector2> uv1s, List<Vector2> uv2s, Dictionary<Material, List<int>> subMeshes) {
if(meshToMerge == null) return;
int vertexOffset = vertices.Count;
Vector3[] vs = meshToMerge.vertices;
for(int i=0;i<vs.Length;i++) {
vs[i] = transformMatrix.MultiplyPoint3x4(vs[i]);
}
vertices.AddRange(vs);
Quaternion rotation = Quaternion.LookRotation(transformMatrix.GetColumn(2), transformMatrix.GetColumn(1));
Vector3[] ns = meshToMerge.normals;
if(ns!=null && ns.Length>0) {
for(int i=0;i<ns.Length;i++) ns[i] = rotation * ns[i];
normals.AddRange(ns);
}
Vector2[] uvs = meshToMerge.uv;
if(uvs!=null && uvs.Length>0) uv1s.AddRange(uvs);
uvs = meshToMerge.uv2;
if(uvs!=null && uvs.Length>0) uv2s.AddRange(uvs);
for(int i=0;i<ms.Length;i++) {
if(i<meshToMerge.subMeshCount) {
int[] ts = meshToMerge.GetTriangles(i);
if(ts.Length>0) {
if(ms[i]!=null && !subMeshes.ContainsKey(ms[i])) {
subMeshes.Add(ms[i], new List<int>());
}
List<int> subMesh = subMeshes[ms[i]];
for(int t=0;t<ts.Length;t++) {
ts[t] += vertexOffset;
}
subMesh.AddRange(ts);
}
}
}
}
public static Quaternion Rotation(this UnityEngine.Matrix4x4 trsMatrix)
{
return(Quaternion.LookRotation(trsMatrix.GetColumn(2), trsMatrix.GetColumn(1)));
}
public static Matrix4x4 OrthogonalizeMatrix(Matrix4x4 m)
{
Matrix4x4 identity = Matrix4x4.identity;
Vector3 vector = m.GetColumn(0);
Vector3 vector2 = m.GetColumn(1);
Vector3 normalized = m.GetColumn(2).normalized;
vector = Vector3.Cross(vector2, normalized).normalized;
vector2 = Vector3.Cross(normalized, vector).normalized;
identity.SetColumn(0, vector);
identity.SetColumn(1, vector2);
identity.SetColumn(2, normalized);
return identity;
}
private static GameObject AddStandaloneModel(
DaggerfallUnity dfUnity,
ref ModelData modelData,
Matrix4x4 matrix,
Transform parent)
{
uint modelID = (uint)modelData.DFMesh.ObjectId;
// Add GameObject
GameObject go = GameObjectHelper.CreateDaggerfallMeshGameObject(modelID, parent, dfUnity.Option_SetStaticFlags);
go.transform.position = matrix.GetColumn(3);
go.transform.rotation = GameObjectHelper.QuaternionFromMatrix(matrix);
// Is this a city gate?
if (IsCityGate(modelID))
{
DaggerfallCityGate gate = go.AddComponent<DaggerfallCityGate>();
gate.SetOpen(!dfUnity.Option_CloseCityGates);
}
return go;
}
//Gets a position from a matrix
public static Vector3 PositionFromMatrix(Matrix4x4 m)
{
Vector4 vector4Position = m.GetColumn(3);
return new Vector3(vector4Position.x, vector4Position.y, vector4Position.z);
}
public static GameObject Load(string meshPath, float scaleX = 1, float scaleY = 1, float scaleZ = 1)
{
if (!File.Exists(meshPath))
{
return(null);
}
AssimpContext importer = new AssimpContext();
Scene scene = importer.ImportFile(meshPath);
if (scene == null)
{
return(null);
}
string parentDir = Directory.GetParent(meshPath).FullName;
// Materials
List <UnityEngine.Material> uMaterials = new List <Material>();
if (scene.HasMaterials)
{
foreach (var m in scene.Materials)
{
UnityEngine.Material uMaterial = new UnityEngine.Material(Shader.Find("Standard"));
// Albedo
if (m.HasColorDiffuse)
{
Color color = new Color(
m.ColorDiffuse.R,
m.ColorDiffuse.G,
m.ColorDiffuse.B,
m.ColorDiffuse.A
);
uMaterial.color = color;
}
// Emission
if (m.HasColorEmissive)
{
Color color = new Color(
m.ColorEmissive.R,
m.ColorEmissive.G,
m.ColorEmissive.B,
m.ColorEmissive.A
);
uMaterial.SetColor("_EmissionColor", color);
uMaterial.EnableKeyword("_EMISSION");
}
// Reflectivity
if (m.HasReflectivity)
{
uMaterial.SetFloat("_Glossiness", m.Reflectivity);
}
// Texture
if (m.HasTextureDiffuse)
{
Texture2D uTexture = new Texture2D(2, 2);
string texturePath = Path.Combine(parentDir, m.TextureDiffuse.FilePath);
byte[] byteArray = File.ReadAllBytes(texturePath);
bool isLoaded = uTexture.LoadImage(byteArray);
if (!isLoaded)
{
throw new Exception("Cannot find texture file: " + texturePath);
}
uMaterial.SetTexture("_MainTex", uTexture);
}
uMaterials.Add(uMaterial);
}
}
// Mesh
List <MeshMaterialBinding> uMeshAndMats = new List <MeshMaterialBinding>();
if (scene.HasMeshes)
{
foreach (var m in scene.Meshes)
{
List <Vector3> uVertices = new List <Vector3>();
List <Vector3> uNormals = new List <Vector3>();
List <Vector2> uUv = new List <Vector2>();
List <int> uIndices = new List <int>();
// Vertices
if (m.HasVertices)
{
foreach (var v in m.Vertices)
{
uVertices.Add(new Vector3(-v.X, v.Y, v.Z));
}
}
// Normals
if (m.HasNormals)
{
foreach (var n in m.Normals)
{
uNormals.Add(new Vector3(-n.X, n.Y, n.Z));
}
}
// Triangles
if (m.HasFaces)
{
foreach (var f in m.Faces)
{
// Ignore non-triangle faces
if (f.IndexCount != 3)
{
continue;
}
uIndices.Add(f.Indices[2]);
uIndices.Add(f.Indices[1]);
uIndices.Add(f.Indices[0]);
}
}
// Uv (texture coordinate)
if (m.HasTextureCoords(0))
{
foreach (var uv in m.TextureCoordinateChannels[0])
{
uUv.Add(new Vector2(uv.X, uv.Y));
}
}
UnityEngine.Mesh uMesh = new UnityEngine.Mesh();
uMesh.vertices = uVertices.ToArray();
uMesh.normals = uNormals.ToArray();
uMesh.triangles = uIndices.ToArray();
uMesh.uv = uUv.ToArray();
uMeshAndMats.Add(new MeshMaterialBinding(m.Name, uMesh, uMaterials[m.MaterialIndex]));
}
}
// Create GameObjects from nodes
GameObject NodeToGameObject(Node node)
{
GameObject uOb = new GameObject(node.Name);
// Set Mesh
if (node.HasMeshes)
{
foreach (var mIdx in node.MeshIndices)
{
var uMeshAndMat = uMeshAndMats[mIdx];
GameObject uSubOb = new GameObject(uMeshAndMat.MeshName);
uSubOb.AddComponent <MeshFilter>();
uSubOb.AddComponent <MeshRenderer>();
uSubOb.AddComponent <MeshCollider>();
uSubOb.GetComponent <MeshFilter>().mesh = uMeshAndMat.Mesh;
uSubOb.GetComponent <MeshRenderer>().material = uMeshAndMat.Material;
uSubOb.transform.SetParent(uOb.transform, true);
uSubOb.transform.localScale = new Vector3(scaleX, scaleY, scaleZ);
}
}
// Transform
UnityEngine.Matrix4x4 uTransform = new UnityEngine.Matrix4x4();
uTransform.SetColumn(0, new Vector4(
node.Transform.A1,
node.Transform.B1,
node.Transform.C1,
node.Transform.D1
));
uTransform.SetColumn(1, new Vector4(
node.Transform.A2,
node.Transform.B2,
node.Transform.C2,
node.Transform.D2
));
uTransform.SetColumn(2, new Vector4(
node.Transform.A3,
node.Transform.B3,
node.Transform.C3,
node.Transform.D3
));
uTransform.SetColumn(3, new Vector4(
node.Transform.A4,
node.Transform.B4,
node.Transform.C4,
node.Transform.D4
));
var euler = uTransform.rotation.eulerAngles;
uOb.transform.localPosition = uTransform.GetColumn(3);
uOb.transform.localRotation = UnityEngine.Quaternion.Euler(euler.x, -euler.y, euler.z);
// uOb.transform.localRotation = UnityEngine.Quaternion.LookRotation(uTransform.GetColumn(2), uTransform.GetColumn(1));
if (node.HasChildren)
{
foreach (var cn in node.Children)
{
var uObChild = NodeToGameObject(cn);
uObChild.transform.SetParent(uOb.transform, false);
}
}
return(uOb);
}
return(NodeToGameObject(scene.RootNode));;
}
// convert the matrix to quaternion, taking care of the mirroring
private Quaternion ConvertMatrixToQuat(Matrix4x4 mOrient, int joint, bool flip)
{
Vector4 vZ = mOrient.GetColumn(2);
Vector4 vY = mOrient.GetColumn(1);
if(!flip)
{
vZ.y = -vZ.y;
vY.x = -vY.x;
vY.z = -vY.z;
}
else
{
vZ.x = -vZ.x;
vZ.y = -vZ.y;
vY.z = -vY.z;
}
if(vZ.x != 0.0f || vZ.y != 0.0f || vZ.z != 0.0f)
return Quaternion.LookRotation(vZ, vY);
else
return Quaternion.identity;
}
public static Vector3 PositionFromMatrix(Matrix4x4 m)
{
return m.GetColumn(3);
}
