/// <summary>
/// Create the primitives to be drawed
/// X ---- Width
/// Z ---- Height
/// </summary>
public override void Initialize( )
{
if (rectangleMesh != null)
{
rectangleMesh.Dispose();
}
model = base.source as RectangleModel;
//Create the mesh
rectangleMesh = new AutoMesh(d3d, Mesh.Box(d3d.Dx, model.Width, model.Height, 0.0f));
//Get the bounding box
rectangleMesh.BoundingBox(out minVector3, out maxVector3);
minVector3.TransformCoordinate(model.WorldMatrix);
maxVector3.TransformCoordinate(model.WorldMatrix);
Vector3 minClone = minVector3;
Vector3 maxClone = maxVector3;
minVector3.X = minClone.X < maxClone.X ? minClone.X : maxClone.X;
minVector3.Y = minClone.Y < maxClone.Y ? minClone.Y : maxClone.Y;
minVector3.Z = minClone.Z < maxClone.Z ? minClone.Z : maxClone.Z;
maxVector3.X = minClone.X < maxClone.X ? maxClone.X : minClone.X;
maxVector3.Y = minClone.Y < maxClone.Y ? maxClone.Y : minClone.Y;
maxVector3.Z = minClone.Z < maxClone.Z ? maxClone.Z : minClone.Z;
model.MaxVector3 = maxVector3;
model.MinVector3 = minVector3;
}
/// <summary>
/// Clean up any resources being used.
/// </summary>
protected override void PerformDispose( )
{
if (lineRender != null)
{
lineRender.Dispose( );
}
if (xAxisCone != null)
{
xAxisCone.Dispose( );
xAxisCone = null;
}
if (yAxisCone != null)
{
yAxisCone.Dispose( );
yAxisCone = null;
}
if (zAxisCone != null)
{
zAxisCone.Dispose( );
zAxisCone = null;
}
}
/// <summary>
/// Create the primitives to be drawed
/// Z ---- length
/// </summary>
public override void Initialize( )
{
if (roundMesh != null)
{
roundMesh.Dispose();
}
model = source as RoundModel;
//Create the mesh
roundMesh = new AutoMesh(d3d, Mesh.Cylinder(d3d.Dx, model.Radius, model.Radius, 0.0f, Direct3dRender.DefaultSlices, Direct3dRender.DefaultStacks));
//Get the bounding box
roundMesh.BoundingBox(out minVector3, out maxVector3);
minVector3.TransformCoordinate(model.WorldMatrix);
maxVector3.TransformCoordinate(model.WorldMatrix);
Vector3 minClone = minVector3;
Vector3 maxClone = maxVector3;
minVector3.X = minClone.X < maxClone.X ? minClone.X : maxClone.X;
minVector3.Y = minClone.Y < maxClone.Y ? minClone.Y : maxClone.Y;
minVector3.Z = minClone.Z < maxClone.Z ? minClone.Z : maxClone.Z;
maxVector3.X = minClone.X < maxClone.X ? maxClone.X : minClone.X;
maxVector3.Y = minClone.Y < maxClone.Y ? maxClone.Y : minClone.Y;
maxVector3.Z = minClone.Z < maxClone.Z ? maxClone.Z : minClone.Z;
model.MinVector3 = minVector3;
model.MaxVector3 = maxVector3;
}
/// <summary>
/// User wants to add normals to the mesh
/// </summary>
private void buttonAddNormals_Click(object sender, EventArgs e)
{
AutoMesh mesh = mMesh.Clone(d3dModel, MeshFlags.Managed,
mMesh.M.VertexFormat | VertexFormats.Normal,
Format.A8R8G8B8, Usage.AutoGenerateMipMap, Pool.Managed);
mesh.M.ComputeNormals();
mMesh.Dispose();
mMesh = mesh;
DisplayMeshInfo();
}
/// <summary>
/// Create the primitives to be drawed
/// </summary>
public override void Initialize()
{
if (sphereMesh != null)
{
sphereMesh.Dispose();
}
model = source as SphereModel;
//Create the mesh
sphereMesh = new AutoMesh(d3d, Mesh.Sphere(d3d.Dx, model.Radius, Direct3dRender.DefaultSlices, Direct3dRender.DefaultStacks));
//Get the bounding box
sphereMesh.BoundingBox(out minVector3, out maxVector3);
minVector3.TransformCoordinate(model.WorldMatrix);
maxVector3.TransformCoordinate(model.WorldMatrix);
model.MinVector3 = minVector3;
model.MaxVector3 = maxVector3;
}
/// <summary>
/// Create the primitives to be drawed
/// X ---- Width
/// Y ---- Depth
/// Z ---- Height
/// </summary>
public override void Initialize( )
{
if (cuboidMesh != null)
{
cuboidMesh.Dispose();
}
model = source as CuboidModel;
//Create the mesh
cuboidMesh = new AutoMesh(d3d, Mesh.Box(d3d.Dx, model.Width, model.Depth, model.Height));
//Get the bounding box
cuboidMesh.BoundingBox(out minVector3, out maxVector3);
minVector3.TransformCoordinate(model.WorldMatrix);
maxVector3.TransformCoordinate(model.WorldMatrix);
model.MinVector3 = minVector3;
model.MaxVector3 = maxVector3;
}
void Start()
{
if (_mesh == null)
{
_mesh = getAutoMesh();
}
_jitterAmount = Mathf.Clamp01(_jitterAmount);
Vector3[] vertices;
Vector3[] normals;
if (_jitterAmount < float.Epsilon)
{
vertices = _mesh.getVertices();
normals = _mesh.getNormals();
}
else
{
_mesh.getMorphed
(
(vertex, index) =>
{
return(vertex + Random.insideUnitSphere * _jitterAmount * 0.5f);
},
out vertices, out normals);
}
int[] indices = _mesh.getIndices();
var mesh = new Mesh();
mesh.vertices = vertices;
mesh.normals = normals;
mesh.triangles = indices;
this.GetComponent <MeshFilter> ().mesh = mesh;
}
public override void Initialize( )
{
//Create a plane,on which camera
Plane cameraPlane = Plane.FromPointNormal(camera.Eye * 2.0f, -camera.Look);
//top left corner
Vector3 topleftNear = new Vector3(0, 0, 0);
Vector3 topleftFar = new Vector3(0, 0, 1);
topleftNear.Unproject(d3d.Dx.Viewport, camera.ProjectionMatrix, camera.ViewMatrix, Matrix.Identity);
topleftFar.Unproject(d3d.Dx.Viewport, camera.ProjectionMatrix, camera.ViewMatrix, Matrix.Identity);
Vector3 topleft_cameraPlane_Intersect = Plane.IntersectLine(cameraPlane, topleftNear, topleftFar);
//bottom right
Vector3 bottomrightNear = new Vector3(d3d.ClientSize.Width, d3d.ClientSize.Height, 0);
Vector3 bottomrightFar = new Vector3(d3d.ClientSize.Width, d3d.ClientSize.Height, 1);
bottomrightNear.Unproject(d3d.Dx.Viewport, camera.ProjectionMatrix, camera.ViewMatrix, Matrix.Identity);
bottomrightFar.Unproject(d3d.Dx.Viewport, camera.ProjectionMatrix, camera.ViewMatrix, Matrix.Identity);
Vector3 bottomright_cameraPlane_Intersect = Plane.IntersectLine(cameraPlane, bottomrightNear, bottomrightFar);
//Use two points to make four plane
List <Plane> planes = new List <Plane> ( );
planes.Add(cameraPlane);
planes.Add(Plane.FromPointNormal(topleft_cameraPlane_Intersect, -camera.Right));
planes.Add(Plane.FromPointNormal(topleft_cameraPlane_Intersect, camera.Up));
planes.Add(Plane.FromPointNormal(bottomright_cameraPlane_Intersect, -camera.Up));
planes.Add(Plane.FromPointNormal(bottomright_cameraPlane_Intersect, camera.Right));
//Process the x axis
Vector3 xAxisDirection = new Vector3(1, 0, 0);
List <Vector3> xAxisIntersects = new List <Vector3> ( );
// Console.WriteLine ( "NEW INTIALIZE!" );
for (int i = 0; i < planes.Count; i++)
{
if (Math.Abs(Plane.DotNormal(planes[i], xAxisDirection)) <= 1e-6) //parallel
{
//Console.WriteLine ( "PLANE = {0} Parallel" , i );
continue;
}
Vector3 inter = Plane.IntersectLine(planes[i], origin, origin + new Vector3(10000f, 0, 0));
if (inter.X < 0)
{
continue;
}
//Vector3 interProj = Vector3.Project ( inter , d3d.Dx.Viewport , camera.ProjectionMatrix , camera.ViewMatrix , Matrix.Identity );
//interProj must be in the range of the viewport
// if (Math.Floor ( interProj.X ) + 1 >= 0 && Math.Floor ( interProj.X ) + 1 <= d3d.Dx.Viewport.Width
// && Math.Floor ( interProj.Y ) + 1 >= 0 && Math.Floor ( interProj.Y ) + 1 <= d3d.Dx.Viewport.Height)
{
xAxisIntersects.Add(inter);
//Console.WriteLine ( "PLANE = {3} , X = {0},Y = {1},Z = {2} , dot = {4}" , inter.X , inter.Y , inter.Z , i , Math.Abs ( Plane.DotNormal ( planes[i] , xAxisDirection ) ) );
}
}
xAxisIntersects.Sort(CompareVector3ByLength);
//Process the y axis
Vector3 yAxisDirection = new Vector3(0, 1, 0);
List <Vector3> yAxisIntersects = new List <Vector3> ( );
for (int i = 0; i < planes.Count; i++)
{
if (Math.Abs(Plane.DotNormal(planes[i], yAxisDirection)) <= 1e-6) //parallel
{
continue;
}
Vector3 inter = Plane.IntersectLine(planes[i], origin, origin + new Vector3(0, 10000f, 0));
if (inter.Y < 0)
{
continue;
}
//Vector3 interProj = Vector3.Project ( inter , d3d.Dx.Viewport , camera.ProjectionMatrix , camera.ViewMatrix , Matrix.Identity );
//interProj must be in the range of the viewport
// if (Math.Floor ( interProj.X ) + 1 >= 0 && Math.Floor ( interProj.X ) + 1 <= d3d.Dx.Viewport.Width
// && Math.Floor ( interProj.Y ) + 1 >= 0 && Math.Floor ( interProj.Y ) + 1 <= d3d.Dx.Viewport.Height)
{
yAxisIntersects.Add(inter);
}
}
yAxisIntersects.Sort(CompareVector3ByLength);
//Process the z axis1
Vector3 zAxisDirection = new Vector3(0, 0, 1);
List <Vector3> zAxisIntersects = new List <Vector3> ( );
for (int i = 0; i < planes.Count; i++)
{
if (Math.Abs(Plane.DotNormal(planes[i], zAxisDirection)) <= 1e-6) //parallel
{
continue;
}
Vector3 inter = Plane.IntersectLine(planes[i], origin, origin + new Vector3(0, 0, 10000f));
if (inter.Z < 0)
{
continue;
}
//Vector3 interProj = Vector3.Project ( inter , d3d.Dx.Viewport , camera.ProjectionMatrix , camera.ViewMatrix , Matrix.Identity );
//interProj must be in the range of the viewport
// if (Math.Floor ( interProj.X ) + 1 >= 0 && Math.Floor ( interProj.X ) + 1 <= d3d.Dx.Viewport.Width
// && Math.Floor ( interProj.Y ) + 1 >= 0 && Math.Floor ( interProj.Y ) + 1 <= d3d.Dx.Viewport.Height)
{
zAxisIntersects.Add(inter);
}
}
zAxisIntersects.Sort(CompareVector3ByLength);
//Process the origin
Vector3 originProj = Vector3.Project(origin, d3d.Dx.Viewport, camera.ProjectionMatrix, camera.ViewMatrix, Matrix.Identity);
xAxis.Clear( );
yAxis.Clear( );
zAxis.Clear( );
if (xAxisCone != null)
{
xAxisCone.Dispose( );
xAxisCone = null;
}
if (yAxisCone != null)
{
yAxisCone.Dispose( );
yAxisCone = null;
}
if (zAxisCone != null)
{
zAxisCone.Dispose( );
zAxisCone = null;
}
if (originProj.X >= 0 && originProj.X <= d3d.Dx.Viewport.Width &&
originProj.Y >= 0 && originProj.Y <= d3d.Dx.Viewport.Height)
{
//Origin is in the range of viewport
//X Axis
if (xAxisIntersects.Count >= 1)
{
float xAxisLength = Vector3.Subtract(xAxisIntersects[0], origin).Length( );
xAxis.Add(origin);
xAxis.Add(origin + new Vector3(xAxisLength * 0.9f, 0, 0));
}
//Y Axis
if (yAxisIntersects.Count >= 1)
{
float yAxisLength = Vector3.Subtract(yAxisIntersects[0], origin).Length( );
yAxis.Add(origin);
yAxis.Add(origin + new Vector3(0, yAxisLength * 0.9f, 0));
}
//Z Axis
if (zAxisIntersects.Count >= 1)
{
float zAxisLength = Vector3.Subtract(zAxisIntersects[0], origin).Length( );
zAxis.Add(origin);
zAxis.Add(origin + new Vector3(0, 0, zAxisLength * 0.9f));
}
}
else
{
//origin is out of the range of viewport
//X Axis
if (xAxisIntersects.Count >= 2)
{
float xAxisLength = Vector3.Subtract(xAxisIntersects[1], xAxisIntersects[0]).Length( );
xAxis.Add(xAxisIntersects[0]);
xAxis.Add(xAxisIntersects[0] + new Vector3(xAxisLength * 0.9f, 0, 0));
}
//Y Axis
if (yAxisIntersects.Count >= 2)
{
float yAxisLength = Vector3.Subtract(yAxisIntersects[1], yAxisIntersects[0]).Length( );
yAxis.Add(yAxisIntersects[0]);
yAxis.Add(yAxisIntersects[0] + new Vector3(0, yAxisLength * 0.9f, 0));
}
//Z Axis
if (zAxisIntersects.Count >= 2)
{
float zAxisLength = Vector3.Subtract(zAxisIntersects[1], zAxisIntersects[0]).Length( );
zAxis.Add(zAxisIntersects[0]);
zAxis.Add(zAxisIntersects[0] + new Vector3(0, 0, zAxisLength * 0.9f));
}
}
if (xAxis.Count == 2)
{
float radius = camera.ViewportWidth * 0.008f;
xAxisCone = new AutoMesh(d3d, Mesh.Cylinder(d3d.Dx, radius, 0, radius * 3, Direct3dRender.DefaultSlices, Direct3dRender.DefaultStacks));
xAxisConeMatrix = Matrix.RotationY((float)Math.PI / 2) * Matrix.Translation(xAxis[1] + new Vector3(radius * 1.5f, 0, 0));
xAxisText = xAxis[1] + new Vector3(0, radius * 2.0f, 0);
xAxisText.Project(d3d.Dx.Viewport, camera.ProjectionMatrix, camera.ViewMatrix, Matrix.Identity);
}
if (yAxis.Count == 2)
{
float radius = camera.ViewportWidth * 0.008f;
yAxisCone = new AutoMesh(d3d, Mesh.Cylinder(d3d.Dx, radius, 0, radius * 3, Direct3dRender.DefaultSlices, Direct3dRender.DefaultStacks));
yAxisConeMatrix = Matrix.RotationX(-(float)Math.PI / 2) * Matrix.Translation(yAxis[1] + new Vector3(0, radius * 1.5f, 0));
yAxisText = yAxis[1] + new Vector3(radius * 2.0f, 0, 0);
yAxisText.Project(d3d.Dx.Viewport, camera.ProjectionMatrix, camera.ViewMatrix, Matrix.Identity);
}
if (zAxis.Count == 2)
{
float radius = camera.ViewportWidth * 0.008f;
zAxisCone = new AutoMesh(d3d, Mesh.Cylinder(d3d.Dx, radius, 0, radius * 3, Direct3dRender.DefaultSlices, Direct3dRender.DefaultStacks));
zAxisConeMatrix = Matrix.Translation(zAxis[1] + new Vector3(0, 0, radius * 1.5f));
zAxisText = zAxis[1] + new Vector3(radius * 2.0f, 0, 0);
zAxisText.Project(d3d.Dx.Viewport, camera.ProjectionMatrix, camera.ViewMatrix, Matrix.Identity);
}
}
public void viewGrid(Gosub.Direct3d d3d, Microsoft.DirectX.Direct3D.Device dx,
occupancygrid grid)
{
bool ground_plane_drawn = false;
mCellMesh = new AutoMesh(d3d, Mesh.Box(dx, 1, 1, 1));
//show the grid cells
for (int z = grid.dimension - 1; z >= 0; z--)
{
int plane_hits = 0;
for (int x = 1; x < grid.dimension - 1; x++)
{
for (int y = 1; y < grid.dimension - 1; y++)
{
if (grid.display_cell[x, y, z])
{
plane_hits++;
occupancyGridCell c = grid.cell[x, y, z];
int r = 0;
int g = 0;
int b = 255;
if (c != null)
{
r = c.colour[0];
g = c.colour[1];
b = c.colour[2];
}
dx.Transform.World = Matrix.Translation(-grid.dimension / 2, -grid.dimension / 2, -grid.dimension / 2) //Center model
//* Matrix.Scaling(1, 1, 1) // Make it bigger
//* Matrix.RotationYawPitchRoll(0, 0, 0)
* Matrix.Translation(grid.dimension - 1 - x, y, z)
* Matrix.RotationYawPitchRoll(0, tilt, 0); // Then move it where you want
dx.Material = GraphicsUtility.InitMaterial(Color.FromArgb(r, g, b));
mCellMesh.M.DrawSubset(0);
}
//for (int z = 0; z < grid.dimension; z++)
{
if (z == grid.dimension / 2)
{
if ((x == 1) || (x == grid.dimension - 2) || (y == 1) || (y == grid.dimension - 2))
{
dx.Transform.World = Matrix.Translation(-grid.dimension / 2, -grid.dimension / 2, -grid.dimension / 2) //Center model
* Matrix.Translation(x, y, z)
* Matrix.RotationYawPitchRoll(0, tilt, 0); // Then move it where you want
dx.Material = GraphicsUtility.InitMaterial(Color.Green);
mCellMesh.M.DrawSubset(0);
}
}
}
}
}
if ((plane_hits > 30) && (!ground_plane_drawn))
{
ground_plane_drawn = true;
for (int x = 1; x < grid.dimension - 1; x++)
{
for (int y = 1; y < grid.dimension - 1; y++)
{
if (grid.empty[x, y])
{
//occupancyGridCell c = grid.cell[x, y, z];
int r = 0;
int g = 0;
int b = 255;
dx.Transform.World = Matrix.Translation(-grid.dimension / 2, -grid.dimension / 2, -grid.dimension / 2) //Center model
//* Matrix.Scaling(1, 1, 1) // Make it bigger
//* Matrix.RotationYawPitchRoll(0, 0, 0)
* Matrix.Translation(grid.dimension - 1 - x, y, z)
* Matrix.RotationYawPitchRoll(0, tilt, 0); // Then move it where you want
dx.Material = GraphicsUtility.InitMaterial(Color.FromArgb(r, g, b));
mCellMesh.M.DrawSubset(0);
}
}
}
}
}
}
/// <summary>
/// Setup the form by loading the mesh
/// </summary>
private void FormViewMesh_Shown(object sender, EventArgs e)
{
// ToDo: Show a message form while loading
AutoMesh autoMesh = null;
// Load the mesh (or fail and exit)
try
{
autoMesh = AutoMesh.LoadFromXFile(mFileName, MeshFlags.SystemMemory, d3dModel);
}
catch
{
// Dispose whatever we have
try { autoMesh.Dispose(); } catch { }
autoMesh = null;
MessageBox.Show(this, "Error loading mesh");
Hide();
return;
}
// Detect unsupported texture formats
VertexFormats format = autoMesh.M.VertexFormat;
if ( (format & VertexFormats.TextureCountMask) != VertexFormats.Texture0
&& (format & VertexFormats.Texture1) != VertexFormats.Texture1 )
{
MessageBox.Show(this, "Multiple textures not supported");
autoMesh.Dispose();
Hide();
return;
}
// Unsupported vertex formats
VertexFormats unsupported = VertexFormats.Specular
| VertexFormats.LastBetaD3DColor
| VertexFormats.LastBetaUByte4
| VertexFormats.PointSize
| VertexFormats.Transformed;
if ( (int)(format & unsupported) != 0)
{
MessageBox.Show(this, "Unsupported vertex format");
autoMesh.Dispose();
Hide();
return;
}
// No position (sometimes this happens)
if ( (format & VertexFormats.Position) != VertexFormats.Position )
{
MessageBox.Show(this, "Unsupported vertex format (no position detected!)");
autoMesh.Dispose();
Hide();
return;
}
// Clone to new format, using 32 bit pixel format.
try
{
mMesh = autoMesh.Clone(d3dModel, MeshFlags.Managed, autoMesh.M.VertexFormat,
Format.A8R8G8B8, Usage.AutoGenerateMipMap, Pool.Managed);
}
catch
{
MessageBox.Show(this, "Error cloning mesh");
try { autoMesh.Dispose(); } catch { }
try { mMesh.Dispose(); } catch { }
Hide();
return;
}
autoMesh.Dispose();
autoMesh = null;
// Display mesh info
DisplayMeshInfo();
}