/// <summary>
/// Link状態の時、FormMainから呼ばれる。rotにもっとも近い回転行列をExperimetal coordinatesの
/// オイラー角で表現する。その後、この回転行列で他のウィンドウに回転命令を出す。
/// </summary>
/// <param name="rot"></param>
public void setRotation(Matrix3D rot)
{
var settings = new List <(V3 Vec, double Angle, bool Variable)>();
var dir = getExpDirections();
settings.Add((dir[0], numericBoxExp1.RadianValue, !checkBoxFix1st.Checked));
if (checkBoxEnable2nd.Checked)
{
settings.Add((dir[1], numericBoxExp2.RadianValue, !checkBoxFix2nd.Checked));
}
if (checkBoxEnable3rd.Checked)
{
settings.Add((dir[2], numericBoxExp3.RadianValue, !checkBoxFix3rd.Checked));
}
var angles = Euler.DecomposeMatrix2(rot * RotBase.Inverse(), settings.ToArray());
skip = true;
numericBoxExp1.RadianValue = angles[0];
if (checkBoxEnable2nd.Checked)
{
numericBoxExp2.RadianValue = angles[1];
}
if (checkBoxEnable3rd.Checked)
{
numericBoxExp3.RadianValue = angles[2];
}
skip = false;
NumericBoxExp_ValueChanged(new object(), new EventArgs());
}
public void Contain(Vector3 boxA, Vector3 boxB, Euler euler, float volume)
{
if (!this.setted || this.volume > volume)
{
Set(boxA, boxB, euler, volume);
}
}
protected void TestReasoner(DalcRdfStore dalcStore)
{
var store = new Store(dalcStore);
Euler engine = new Euler(new N3Reader(new StringReader(eulerRules)));
store.AddReasoner(engine);
Console.WriteLine(
"Is Adam a parent of Bill? " +
store.Contains(
new Statement(baseNs + "persons#1", baseNs + "terms#is_parent", (Entity)(baseNs + "persons#4"))).ToString());
Console.WriteLine(
"Is Eve a parent of Bill? " +
store.Contains(
new Statement(baseNs + "persons#2", baseNs + "terms#is_parent", (Entity)(baseNs + "persons#4"))).ToString());
Console.Write("Children of Eve: ");
var res = store.Select(new Statement(null, baseNs + "terms#is_child", (Entity)(baseNs + "persons#2")));
foreach (var st in res)
{
var nameRes = store.Select(new Statement(st.Subject.Uri, ns_foaf_name, null));
Console.Write(String.Format("({0})", dalcStore.GetDataKey(st.Subject).Id));
foreach (var nameSt in nameRes)
{
Console.Write(nameSt.Object.ToString() + " ");
}
}
Console.WriteLine();
}
static void Main(string[] args)
{
try
{
Console.Write("Input n = ");
n = Double.Parse(Console.ReadLine());
Console.Write("Input k = ");
k = Double.Parse(Console.ReadLine());
}
catch
{
Console.WriteLine("Input Error. Using values: n = {0}, k = {1}", n, k);
}
method = new Euler(n, k);
Console.WriteLine("Forecast:");
foreach (var value in method.Forecast())
{
Console.WriteLine(value.x.ToString() + "\t " + Math.Round(value.y, 4));
}
Console.WriteLine("Correction:");
foreach (var value in method.Correction())
{
Console.WriteLine(value.x.ToString() + "\t " + Math.Round(value.y, 4));
}
Console.ReadKey();
}
/// <summary>
/// Rotates specified vector by specified orientation
/// </summary>
/// <param name="orientation">
/// given orientation
/// </param>
/// <param name="vector">
/// given float vector
/// </param>
/// <returns>
/// rotated float vector
/// </returns>
public static FVector Rotate(Euler orientation, FVector vector)
{
var headingRadians = orientation.Heading * _piTimes2;
var pitchRadians = orientation.Pitch * _piTimes2;
var rollRadians = orientation.Roll * _piTimes2;
var cosHeading = Math.Cos(headingRadians);
var sinHeading = Math.Sin(headingRadians);
var cosPitch = Math.Cos(pitchRadians);
var sinPitch = Math.Sin(pitchRadians);
var cosRoll = Math.Cos(rollRadians);
var sinRoll = Math.Sin(rollRadians);
// Roll around Z axis
var postRollX = vector.X * cosRoll - vector.Y * sinRoll;
var postRollY = vector.X * sinRoll + vector.Y * cosRoll;
var postRollZ = vector.Z;
// Pitch around X axis
var postPitchX = postRollX;
var postPitchY = postRollY * cosPitch - postRollZ * sinPitch;
var postPitchZ = postRollY * sinPitch + postRollZ * cosPitch;
// heading around y axis
return(new FVector {
X = (float)(postPitchX * cosHeading + postPitchZ * sinHeading),
Y = (float)postPitchY,
Z = (float)(-postPitchX * sinHeading + postPitchZ * cosHeading)
});
}
public void Update()
{
PositionApproximation.Run(PositionApproximation.Output);
for (int i = 0; i < Atoms.Count; i++)
{
Atom atom = Atoms[i];
Vector2 p0 = this.PositionApproximation.Output;
Vector2 p1 = atom.PositionApproximation.Output;
if (Intersects(atom))
{
if (!Name.Equals("Proton") && !Name.Equals("Neutrone"))
{
VelocityApproximation = new Euler(new Vector2(), DELTA0)
{
f = VelocityApproximation.f
}
}
;
Vector2 n = p1 - p0;
double l = n.Length();
n /= l;
double overlapped = this.Radius + atom.Radius - l;
this.PositionApproximation.Output += n * overlapped;
}
}
}
public CompiledMeshNode(CompiledModel Mesh, Texture2D Texture, Euler Orientation = null)
{
this.Mesh = Mesh;
this.Texture = Texture;
this.Orientation = Orientation;
if (this.Orientation == null) this.Orientation = new Euler();
}
public void MergeFrom(Pose3D other)
{
if (other == null)
{
return;
}
if (other.position_ != null)
{
if (position_ == null)
{
Position = new global::Ubii.DataStructure.Vector3();
}
Position.MergeFrom(other.Position);
}
switch (other.OrientationCase)
{
case OrientationOneofCase.Quaternion:
if (Quaternion == null)
{
Quaternion = new global::Ubii.DataStructure.Quaternion();
}
Quaternion.MergeFrom(other.Quaternion);
break;
case OrientationOneofCase.Euler:
if (Euler == null)
{
Euler = new global::Ubii.DataStructure.Vector3();
}
Euler.MergeFrom(other.Euler);
break;
}
_unknownFields = pb::UnknownFieldSet.MergeFrom(_unknownFields, other._unknownFields);
}
public Frame Create(string name = null,
IGraphicsProvider component = null,
Vector3 localPosition = default(Vector3),
Euler localRotationEuler = default(Euler),
Vector3 localScale = default(Vector3),
Action <Frame, float> updateCallback = null)
{
if (name == null)
{
if (component != null && component is INameable)
{
name = ((INameable)component).Name;
}
else
{
name = "Node" + _nodes.Count;
}
}
var node = new Frame(name, component);
node.LocalPosition = localPosition;
node.LocalEuler = localRotationEuler;
node.LocalScale = localScale == default(Vector3) ? Vector3.One : localScale;
node.ComputeLocalPose();
node.CommitChanges();
_nodes.Add(node);
if (updateCallback != null)
{
_dynamics.Add(new Dynamic(x => updateCallback(node, x)));
}
node.OnSceneAttach(this);
return(node);
}
private void dataGridView2_CellDoubleClick(object sender, DataGridViewCellEventArgs e)
{
int i = (int)((DataRowView)bindingSource2.Current).Row[0];
if (zoneAxes[i].IsTwoPhoho)
{
for (int j = 0; j < formTEMID.formMain.listBox.Items.Count; j++)
{
if ((Crystal)formTEMID.formMain.listBox.Items[j] == zoneAxis[i].Phase)
{
formTEMID.formMain.listBox.SelectionMode = SelectionMode.One;
formTEMID.formMain.listBox.SelectedIndex = j;
formTEMID.formMain.listBox.SelectionMode = SelectionMode.MultiExtended;
break;
}
}
formTEMID.formMain.SetRotation(Euler.SerchEulerAngleFromZoneAxes(zoneAxes[i].Za1, zoneAxes[i].Za2, formTEMID.formMain.Crystal));
}
else
{
for (int j = 0; j < formTEMID.formMain.listBox.Items.Count; j++)
{
if ((Crystal)formTEMID.formMain.listBox.Items[j] == zoneAxis[i].Phase)
{
formTEMID.formMain.listBox.SelectionMode = SelectionMode.One;
formTEMID.formMain.listBox.SelectedIndex = j;
formTEMID.formMain.listBox.SelectionMode = SelectionMode.MultiExtended;
break;
}
}
formTEMID.formMain.SetRotation(Euler.SerchEulerAngleFromZoneAxes(zoneAxes[i].Za1, zoneAxes[i].Za2, zoneAxes[i].Za3, formTEMID.formMain.Crystal));
}
}
/// <summary>
/// Find the Euler matrix from the output of SolvePnP.
/// </summary>
/// <param name="rotation">The rotation matrix returned by SolvePnp.</param>
/// <returns>The Euler matrix containing pitch, roll, and yaw angles.</returns>
public static MatOfDouble GetEulerMatrix(Mat rotation)
{
// convert the 1x3 rotation vector to a full 3x3 matrix
var r = new MatOfDouble(3, 3);
Cv2.Rodrigues(rotation, r);
// set up some shortcuts to rotation matrix
double m00 = r.At <double>(0, 0);
double m01 = r.At <double>(0, 1);
double m02 = r.At <double>(0, 2);
double m10 = r.At <double>(1, 0);
double m11 = r.At <double>(1, 1);
double m12 = r.At <double>(1, 2);
double m20 = r.At <double>(2, 0);
double m21 = r.At <double>(2, 1);
double m22 = r.At <double>(2, 2);
// set up output variables
Euler euler_out = new Euler();
Euler euler_out2 = new Euler();
if (Math.Abs(m20) >= 1)
{
euler_out.yaw = 0;
euler_out2.yaw = 0;
// From difference of angles formula
if (m20 < 0) //gimbal locked down
{
double delta = Math.Atan2(m01, m02);
euler_out.pitch = Math.PI / 2f;
euler_out2.pitch = Math.PI / 2f;
euler_out.roll = delta;
euler_out2.roll = delta;
}
else // gimbal locked up
{
double delta = Math.Atan2(-m01, -m02);
euler_out.pitch = -Math.PI / 2f;
euler_out2.pitch = -Math.PI / 2f;
euler_out.roll = delta;
euler_out2.roll = delta;
}
}
else
{
euler_out.pitch = -Math.Asin(m20);
euler_out2.pitch = Math.PI - euler_out.pitch;
euler_out.roll = Math.Atan2(m21 / Math.Cos(euler_out.pitch), m22 / Math.Cos(euler_out.pitch));
euler_out2.roll = Math.Atan2(m21 / Math.Cos(euler_out2.pitch), m22 / Math.Cos(euler_out2.pitch));
euler_out.yaw = Math.Atan2(m10 / Math.Cos(euler_out.pitch), m00 / Math.Cos(euler_out.pitch));
euler_out2.yaw = Math.Atan2(m10 / Math.Cos(euler_out2.pitch), m00 / Math.Cos(euler_out2.pitch));
}
// return result
return(new MatOfDouble(1, 3, new double[] { euler_out.yaw, euler_out.roll, euler_out.pitch }));
}
public void IsPrimeTest()
{
// expected
var primesBelow100 = new List <int>
{
2,
3,
5,
7,
11,
13,
17,
19,
23,
29,
31,
37,
41,
43,
47,
53,
59,
61,
67,
71,
73,
79,
83,
89,
97,
};
var got = (from n in Py.RangeExcl(-10, 100) where Euler.IsPrime(n) select n).ToList();
Assert.Equal(primesBelow100, got);
}
public static Camera FromOrientation(string name, Vector3 position = default(Vector3), Euler orientation = default(Euler), float zn = 1f, float zf = 1000f)
{
Vector3 front, up, right;
Euler.GetFrame(orientation, out right, out up, out front);
return(new Camera(name, position, right, up, front, zn, zf));
}
private void BackgroundWorker()
{
running = true;
OnStarted(this, new EventArgs());
while (running)
{
if (!(Api.WaitNextFrame()))
{
Thread.Sleep(10);
}
var frame = new Frame();
var euler = new Euler();
var cinemizerRot = new Quat();
var cinemizerEuler = new Euler();
if (Api.GetFrame(ref frame))
{
Api.QuatGetEuler(ref euler, frame.Rot);
Api.RotateTrackerToCinemizer(ref cinemizerRot, frame.Rot);
Api.QuatGetEuler(ref cinemizerEuler, cinemizerRot);
Euler = cinemizerEuler;
newData = true;
}
}
}
public override object EditValue(System.ComponentModel.ITypeDescriptorContext context, IServiceProvider provider, object value)
{
IWindowsFormsEditorService edSvc =
(IWindowsFormsEditorService)provider.GetService(typeof(IWindowsFormsEditorService));
if (edSvc == null)
{
return(value);
}
pd = context.PropertyDescriptor;
component = context.Instance;
if (pd == null)
{
return(value);
}
Vector3 v = (Vector3)value;
using (EulerEditor ctrol = new EulerEditor(Euler.FromDirection(v)))
{
ctrol.EulerChanged += ctrol_EulerChanged;
edSvc.DropDownControl(ctrol);
return(ctrol.Orientation.ToDirection());
}
}
public MeshNode(Mesh Mesh, Texture2D Texture, Euler Orientation = null)
{
this.Mesh = Mesh;
this.Texture = Texture;
this.Orientation = Orientation;
if (this.Orientation == null) this.Orientation = new Euler();
}
public void GraphV2WithCycleShouldReturnRightEulerCycle()
{
var euler = new Euler(new Graph(_dirPath + "v2GraphWithCycle.json"));
var cycle = euler.FindEulerCycle(0);
cycle.Should().BeEquivalentTo(new Queue <int>(new[] { 0, 1, 2, 3, 4, 0 }));
PrintCycle(cycle);
}
public void Set(Vector3 boxA, Vector3 boxB, Euler euler, float volume)
{
this.boxA = boxA;
this.boxB = boxB;
this.euler = euler;
this.volume = volume;
this.setted = true;
}
private void tbOk_Click(object sender, EventArgs e)
{
DialogResult = System.Windows.Forms.DialogResult.OK;
orientation.Heading = Euler.ToRadians((float)acHeading.Angle);
orientation.Pitch = Euler.ToRadians((float)acPitch.Angle);
orientation.Roll = Euler.ToRadians((float)acRoll.Angle);
Close();
}
private float GetPitchDelta(float dt)
{
var remaining = Euler.Diff(TotalPitch, TargetPitch);
var sign = Math.Sign(remaining);
var delta = Math.Min(AimingSpeed * dt, Mathf.Abs(remaining));
return((Pitch + delta * sign).Clamp360());
}
public void EulerTestSmallest_EvenlyDivisible_ByNumber_From_1to11()
{
var euler = new Euler();
var result = euler.SmallestMultiple(11, 11);
Assert.AreEqual(27720, result);
}
public void EulerTestSmallest_EvenlyDivisible_ByNumber_From_1to20()
{
var euler = new Euler();
var result = euler.SmallestMultiple(20, 20);
Assert.AreEqual(232792560, result);
}
public void Set(ref MinBounding minBounding)
{
this.boxA = minBounding.boxA;
this.boxB = minBounding.boxB;
this.euler = minBounding.euler;
this.volume = minBounding.volume;
this.setted = minBounding.setted;
}
public EulerEditor(Euler euler)
{
InitializeComponent();
angleControl1.Angle = euler.HeadingAngle;
angleControl2.Angle = euler.PitchAngle;
angleControl3.Angle = euler.RollAngle;
}
private void OrientationInterface_StateChanged(object sender, TimeValue timestamp, int sensor, Quaternion report)
{
Euler euler = quatToEuler(report);
data[0] = euler.yaw;
data[1] = euler.roll; // should be pitch, but for reasons I don't understand roll an pitch are mixed up
data[2] = euler.pitch; //should be roll
}
/// <summary>
/// 角度をセット.
/// </summary>
/// <param name="fromExp">trueの時は、Experimental coordinatesの制限を解除して、オイラー角を更新する。</param>
public void SetRotation(bool renewExpEuler = true)
{
if (skip)
{
return;
}
numericBoxPhi.RadianValue = FormMain.Phi;
numericBoxTheta.RadianValue = FormMain.Theta;
numericBoxPsi.RadianValue = FormMain.Psi;
var rotMatrix = Euler.SetEulerAngle(numericBoxPhi.RadianValue, numericBoxTheta.RadianValue, numericBoxPsi.RadianValue);
skip = true;
numericBox11.Value = RotReciPro.E11;
numericBox12.Value = RotReciPro.E12;
numericBox13.Value = RotReciPro.E13;
numericBox21.Value = RotReciPro.E21;
numericBox22.Value = RotReciPro.E22;
numericBox23.Value = RotReciPro.E23;
numericBox31.Value = RotReciPro.E31;
numericBox32.Value = RotReciPro.E32;
numericBox33.Value = RotReciPro.E33;
skip = false;
if (renewExpEuler && Linked)
{
skip = true;
checkBoxEnable2nd.Checked = checkBoxEnable3rd.Checked = true;
checkBoxFix1st.Checked = checkBoxFix2nd.Checked = checkBoxFix3rd.Checked = false;
var settings = new List <(V3 Vec, double Angle, bool Variable)>();
var dir = getExpDirections();
settings.Add((dir[0], numericBoxExp1.RadianValue, !checkBoxFix1st.Checked));
settings.Add((dir[1], numericBoxExp2.RadianValue, !checkBoxFix2nd.Checked));
settings.Add((dir[2], numericBoxExp3.RadianValue, !checkBoxFix3rd.Checked));
var angles = Euler.DecomposeMatrix2(RotReciPro * RotBase.Inverse(), settings.ToArray());
numericBoxExp1.RadianValue = angles[0];
numericBoxExp2.RadianValue = angles[1];
numericBoxExp3.RadianValue = angles[2];
skip = false;
}
//ReciPro coordinatesの描画
var dirReciPro = new[] { new V3(0, 0, 1), new V3(1, 0, 0), new V3(0, 0, 1) };
var angleReciPro = new[] { FormMain.Phi, FormMain.Theta, FormMain.Psi };
setGonio(glControlReciProGonio, dirReciPro, angleReciPro);
setObject(glControlReciProObjects, dirReciPro, angleReciPro);
setAxes(glControlReciProAxes);
//Experimetal coordinatesの描画
var dirExp = getExpDirections();
var angleExp = new[] { numericBoxExp1.RadianValue, numericBoxExp2.RadianValue, numericBoxExp3.RadianValue };
setGonio(glControlExpGonio, dirExp, angleExp);
setObject(glControlExpObjects, dirExp, angleExp);
setAxes(glControlExpAxes);
}
public SceneNode(Renderable Renderable, Euler Euler = null)
{
this.Orientation = Euler;
if (this.Orientation == null)
{
this.Orientation = new Euler();
}
this.Renderable = Renderable;
}
private void angleControl3_AngleChanged(object sender, EventArgs e)
{
if (EulerChanged != null)
{
EulerChanged(this, new Euler(Euler.ToRadians((float)angleControl1.Angle),
Euler.ToRadians((float)angleControl2.Angle),
Euler.ToRadians((float)angleControl3.Angle)));
}
}
public static void Main()
{
Euler euler = new Euler();
// 解を計算(初期値, 収束条件)
double xn = euler.calc(0, 0, 1, 100);
// 結果表示
System.Console.WriteLine(xn); // x(1)=9.99973438601112
}
// Update is called once per frame
void Update()
{
deltatime += Time.deltaTime;
arPanelAngle = arPanel.transform.localEulerAngles;
/*
* if (deltatime > 1.0f) {
* //StartCoroutine (GetSensorData ());
* setTarget (axisdata);
*
* deltatime -= 1.0f;
* }
*/
if (isCalibrate)
{
//キャリブレーション中 3秒
if (deltatime > 3.0f)
{
//終了
CaliburationEnd();
}
}
if (eulerdata != null)
{
SetTargetEuler(eulerdata);
}
//MqttTest();
mqttController.OnMessageReceived.Subscribe(message => {
//データ成型
string json = "";
string[] arr = message.Split('{');
json = string.Join("{\"", arr);
string[] semiArr = json.Split(':');
json = string.Join("\":", semiArr);
string[] comArr = json.Split(',');
json = string.Join(",\"", comArr);
NineAxis list = JsonUtility.FromJson <NineAxis> (json);
axisdata = list;
});
mqttEuler.OnMessageReceived.Subscribe(message => {
//データ成型
string json = "";
string[] arr = message.Split('{');
json = string.Join("{\"", arr);
string[] semiArr = json.Split(':');
json = string.Join("\":", semiArr);
string[] comArr = json.Split(',');
json = string.Join(",\"", comArr);
Euler data = JsonUtility.FromJson <Euler> (json);
eulerdata = data;
if (isCalibrate)
{
calEulerList.Add(data);
}
});
}
public SpriteNode(Mesh mesh, Euler Orientation = null)
{
this.Mesh = mesh;
this.Orientation = Orientation;
if (this.Orientation == null)
{
this.Orientation = new Euler();
}
}
void SetTargetEuler(Euler euler)
{
float targetPitch = euler.pitch - calibrateEuler.pitch + arPanelAngle.x + 90.0f;
float targetHead = euler.head - calibrateEuler.head + arPanelAngle.y;
float targetRoll = euler.roll - calibrateEuler.roll;
target.transform.rotation = Quaternion.Euler(
targetPitch,
targetHead,
targetRoll);
target2.transform.rotation = Quaternion.Euler(
targetPitch,
targetHead,
targetRoll);
if (targetStateNum == 0)
{
//平常時
if (targetPitch < -30.0f)
{
warningText.text = "Warning!\n危険な体勢です！";
spotLight.SetActive(true);
}
else
{
warningText.text = "";
spotLight.SetActive(false);
}
}
//睡眠時
else if (targetStateNum == 1)
{
if (targetPitch < -30.0f)
{
warningText.text = "Warning!\n危険な体勢です！";
spotLight.SetActive(true);
}
else
{
warningText.text = "";
spotLight.SetActive(false);
}
}
else if (targetStateNum == 2)
{
//食事
if (targetPitch < -30.0f || targetPitch > 30.0f || targetRoll < -45.0f || targetRoll > 45.0f)
{
warningText.text = "Warning!\n危険な体勢です！";
spotLight.SetActive(true);
}
else
{
warningText.text = "";
spotLight.SetActive(false);
}
}
}
public ActionResult Index(string req = "xx")
{
decimal resultado = 0;
Euler euler = new Euler();
if (req!=null &&
req.Length>0)
{
resultado = euler.Solve();
}
ViewBag.Message = "Resolução do Euler!";
ViewBag.Resultado = resultado;
return View();
}
public static void Main(string[] args)
{
if (args.Length < 2) {
Console.WriteLine("Usage: euler.exe axioms.n3 axioms... {questions.n3 | -sparql query.sparql}");
return;
}
// Load Axioms
bool sparql = false;
MemoryStore axioms = new MemoryStore();
for (int i = 0; i < args.Length-1; i++) {
if (i > 0 && i == args.Length-2 && args[i] == "-sparql") {
sparql = true;
break;
}
N3Reader axiomsreader = new N3Reader(args[i]);
axiomsreader.BaseUri = "http://www.example.org/arbitrary/base#";
axioms.Import(axiomsreader);
}
Euler engine = new Euler(axioms);
// Load question
if (!sparql) {
MemoryStore question = new MemoryStore();
question.Import(new N3Reader(args[args.Length-1]));
Proof[] proofs = engine.Prove(null, question.ToArray());
foreach (Proof p in proofs) {
Console.WriteLine(p.ToString());
}
} else {
using (StreamReader fs = new StreamReader(args[args.Length-1])) {
string q = fs.ReadToEnd();
Store store = new Store();
store.AddReasoner(engine);
SparqlEngine s = new SparqlEngine(q);
s.Run(store, Console.Out);
}
}
}
protected override void OnLoad(EventArgs e)
{
RdfStore = new MemoryStore();
RdfStore.Import(
new RdfXmlReader(@"c:\temp\_1.rdf"));
string depRules = @"
@prefix n: <urn:schemas-nreco:metadata:terms#>.
@prefix rdf: <http://www.w3.org/1999/02/22-rdf-syntax-ns#>.
@prefix rdfs: <http://www.w3.org/2000/01/rdf-schema#>.
{ ?a n:dependentFrom ?b . ?b n:dependentFrom ?c .} => {?a n:dependentFrom ?c}.
{ ?a n:dependentFrom ?b } => { ?b n:usedBy ?a}.
{ ?a n:usedBy ?b . ?b n:usedBy ?c .} => {?a n:usedBy ?c}.
";
Euler engine = new Euler(new N3Reader(new StringReader(depRules)));
RdfStore.AddReasoner(new RDFS(RdfStore));
RdfStore.AddReasoner(engine);
string rdfQuery = @"
@prefix rdfs: <http://www.w3.org/2000/01/rdf-schema#>.
@prefix rdf: <http://www.w3.org/1999/02/22-rdf-syntax-ns#>.
@prefix p: <urn:schemas-nreco:metadata:dotnet:property#>.
@prefix t: <urn:schemas-nreco:metadata:dotnet:type#>.
@prefix w: <file:///d:/Vitalik/GoogleCode/NReco/examples/NReco.Examples.WebApp/web/#>.
@prefix cso: <http://cos.ontoware.org/cso#>.
@prefix n: <urn:schemas-nreco:metadata:terms#>.
w:db n:usedBy ?t2.
";
Query query = new GraphMatch(new N3Reader(new StringReader(rdfQuery)));
StringWriter wr = new StringWriter();
QueryResultSink sink = new SparqlXmlQuerySink(wr);
query.Run(RdfStore, sink);
Result = wr.ToString();
base.OnLoad(e);
}
//public static double FourBytes(int a1, int a2, int a3, int a4)
//{
// double a;
// a = a1 * System.Math.Pow((double)2, 24) + a2 * System.Math.Pow((double)2, 16) + a3 * System.Math.Pow((double)2, 8) + a4;
// if (a > 2147483648)
// {
// a -= 4294967296;
// }
// return a;
//}
//public static CQuaternion getRawQuat(int[] raw, int count)//count =23;//一个节点一次的数据是23 包含id 回车换行等等信息。
//{
// double q0, q1, q2, q3, mag;
// q0 = FourBytes(raw[3], raw[4], raw[5], raw[6]) / System.Math.Pow((double)2, 30);
// q1 = FourBytes(raw[7], raw[8], raw[9], raw[10]) / System.Math.Pow((double)2, 30);
// q2 = FourBytes(raw[11], raw[12], raw[13], raw[14]) / System.Math.Pow((double)2, 30);
// q3 = FourBytes(raw[15], raw[16], raw[17], raw[18]) / System.Math.Pow((double)2, 30);
// mag = System.Math.Sqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
// CQuaternion result = new CQuaternion(q0 / mag, q1 / mag, q2 / mag, q3 / mag);
// return result;
//}
public static Euler Quat2angle(double q_0, double q_1, double q_2, double q_3, int type)
{
double r11 = 0;
double r12 = 0;
double r21 = 0;
double r31 = 0;
double r32 = 0;
Euler result = new Euler();
switch (type)
{
case 1: //'zyx
r11 = 2 * (q_1 * q_2 + q_0 * q_3);
r12 = System.Math.Pow(q_0, 2) + System.Math.Pow(q_1, 2) - System.Math.Pow(q_2, 2) - System.Math.Pow(q_3, 2);
r21 = -2 * (q_1 * q_3 - q_0 * q_2);
r31 = 2 * (q_2 * q_3 + q_0 * q_1);
r32 = System.Math.Pow(q_0, 2) - System.Math.Pow(q_1, 2) - System.Math.Pow(q_2, 2) + System.Math.Pow(q_3, 2);
break;
case 2: //'zxy'
r11 = -2 * (q_1 * q_2 - q_0 * q_3);
r12 = System.Math.Pow(q_0, 2) - System.Math.Pow(q_1, 2) + System.Math.Pow(q_2, 2) - System.Math.Pow(q_3, 2);
r21 = 2 * (q_2 * q_3 + q_0 * q_1);
r31 = -2 * (q_1 * q_3 - q_0 * q_2);
r32 = System.Math.Pow(q_0, 2) - System.Math.Pow(q_1, 2) - System.Math.Pow(q_2, 2) + System.Math.Pow(q_3, 2);
break;
case 3: //'yxz'
r11 = 2 * (q_1 * q_3 + q_0 * q_2);
r12 = System.Math.Pow(q_0, 2) - System.Math.Pow(q_1, 2) - System.Math.Pow(q_2, 2) + System.Math.Pow(q_3, 2);
r21 = -2 * (q_2 * q_3 - q_0 * q_1);
r31 = 2 * (q_1 * q_2 + q_0 * q_3);
r32 = System.Math.Pow(q_0, 2) - System.Math.Pow(q_1, 2) + System.Math.Pow(q_2, 2) - System.Math.Pow(q_3, 2);
break;
case 4: //'yzx'
r11 = -2 * (q_1 * q_3 - q_0 * q_2);
r12 = System.Math.Pow(q_0, 2) + System.Math.Pow(q_1, 2) - System.Math.Pow(q_2, 2) - System.Math.Pow(q_3, 2);
r21 = 2 * (q_1 * q_2 + q_0 * q_3);
r31 = -2 * (q_2 * q_3 - q_0 * q_1);
r32 = System.Math.Pow(q_0, 2) - System.Math.Pow(q_1, 2) + System.Math.Pow(q_2, 2) - System.Math.Pow(q_3, 2);
break;
case 5: //'xyz'
r11 = -2 * (q_2 * q_3 - q_0 * q_1);
r12 = System.Math.Pow(q_0, 2) - System.Math.Pow(q_1, 2) - System.Math.Pow(q_2, 2) + System.Math.Pow(q_3, 2);
r21 = 2 * (q_1 * q_3 + q_0 * q_2);
r31 = -2 * (q_1 * q_2 - q_0 * q_3);
r32 = System.Math.Pow(q_0, 2) + System.Math.Pow(q_1, 2) - System.Math.Pow(q_2, 2) - System.Math.Pow(q_3, 2);
break;
case 6: //'xzy'
r11 = 2 * (q_2 * q_3 + q_0 * q_1);
r12 = System.Math.Pow(q_0, 2) - System.Math.Pow(q_1, 2) + System.Math.Pow(q_2, 2) - System.Math.Pow(q_3, 2);
r21 = -2 * (q_1 * q_2 - q_0 * q_3);
r31 = 2 * (q_1 * q_3 + q_0 * q_2);
r32 = System.Math.Pow(q_0, 2) + System.Math.Pow(q_1, 2) - System.Math.Pow(q_2, 2) - System.Math.Pow(q_3, 2);
break;
}
result.Eul_1 = System.Math.Atan2(r11, r12);
result.Eul_2 = System.Math.Asin(r21);
result.Eul_3 = System.Math.Atan2(r31, r32);
return result;
}
public BranchNode(Euler Orientation = null)
{
this.Orientation = Orientation;
if (this.Orientation == null) this.Orientation = new Euler();
}
public static void Main()
{
// Create the instance data
MemoryStore dataModel = new MemoryStore();
BNode paris = new BNode("paris");
BNode orleans = new BNode("orleans");
BNode chartres = new BNode("chartres");
BNode amiens = new BNode("amiens");
BNode blois = new BNode("blois");
BNode bourges = new BNode("bourges");
BNode tours = new BNode("tours");
BNode lemans = new BNode("lemans");
BNode angers = new BNode("angers");
BNode nantes = new BNode("nantes");
Entity oneway = new Entity("http://www.agfa.com/w3c/euler/graph.axiom#oneway");
Entity path = new Entity("http://www.agfa.com/w3c/euler/graph.axiom#path");
dataModel.Add(new Statement(paris, oneway, orleans));
dataModel.Add(new Statement(paris, oneway, chartres));
dataModel.Add(new Statement(paris, oneway, amiens));
dataModel.Add(new Statement(orleans, oneway, blois));
dataModel.Add(new Statement(orleans, oneway, bourges));
dataModel.Add(new Statement(blois, oneway, tours));
dataModel.Add(new Statement(chartres, oneway, lemans));
dataModel.Add(new Statement(lemans, oneway, angers));
dataModel.Add(new Statement(lemans, oneway, tours));
dataModel.Add(new Statement(angers, oneway, nantes));
// Create the inference rules by reading them from a N3 string.
string rules =
"@prefix : <http://www.agfa.com/w3c/euler/graph.axiom#>.\n" +
"\n" +
"{ ?a :oneway ?b } => { ?a :path ?b } .\n" +
"{ ?a :path ?b . ?b :path ?c . } => { ?a :path ?c } .\n";
// Create our question in the form of a statement to test.
Statement question = new Statement(paris, path, nantes);
// Create the Euler engine
Euler engine = new Euler(new N3Reader(new StringReader(rules)));
// First Method of Inference:
// Ask the engine whether there is a path from paris to nantes.
// The Prove method will return a list of proofs, or an empty
// array if it could not find a proof.
foreach (Proof p in engine.Prove(dataModel, new Statement[] { question })) {
Console.WriteLine(p.ToString());
}
// Second Method of Inference:
// Apply the engine to the data model and then use the data
// model's Contains method to see if the statement is "in"
// the model + reasoning.
dataModel.AddReasoner(engine);
Console.WriteLine("Euler Says the Question is: " + dataModel.Contains(question));
}
/*@brief Get the matrix represented as euler angles around ZYX
@param yaw Yaw around X axis
@param pitch Pitch around Y axis
@param roll around X axis
@param solution_number Which solution of two possible solutions ( 1 or 2) are possible values*/
public void getEulerZYX( out float yaw, out float pitch, out float roll, int solution_number = 1 )
{
Euler euler_out = new Euler();
Euler euler_out2 = new Euler(); //second solution
//get the pointer to the raw data
// Check that pitch is not at a singularity
if( btScalar.btFabs( m_el2.x ) >= 1 )
{
euler_out.yaw = 0;
euler_out2.yaw = 0;
// From difference of angles formula
float delta = btScalar.btAtan2( m_el0.x, m_el0.z );
if( m_el2.x > 0 ) //gimbal locked up
{
euler_out.pitch = btScalar.SIMD_HALF_PI;
euler_out2.pitch = btScalar.SIMD_HALF_PI;
euler_out.roll = euler_out.pitch + delta;
euler_out2.roll = euler_out.pitch + delta;
}
else // gimbal locked down
{
euler_out.pitch = -btScalar.SIMD_HALF_PI;
euler_out2.pitch = -btScalar.SIMD_HALF_PI;
euler_out.roll = -euler_out.pitch + delta;
euler_out2.roll = -euler_out.pitch + delta;
}
}
else
{
euler_out.pitch = -btScalar.btAsin( m_el2.x );
euler_out2.pitch = btScalar.SIMD_PI - euler_out.pitch;
euler_out.roll = btScalar.btAtan2( m_el2.y / btScalar.btCos( euler_out.pitch ),
m_el2.z / btScalar.btCos( euler_out.pitch ) );
euler_out2.roll = btScalar.btAtan2( m_el2.y / btScalar.btCos( euler_out2.pitch ),
m_el2.z / btScalar.btCos( euler_out2.pitch ) );
euler_out.yaw = btScalar.btAtan2( m_el1.x / btScalar.btCos( euler_out.pitch ),
m_el0.x / btScalar.btCos( euler_out.pitch ) );
euler_out2.yaw = btScalar.btAtan2( m_el1.x / btScalar.btCos( euler_out2.pitch ),
m_el0.x / btScalar.btCos( euler_out2.pitch ) );
}
if( solution_number == 1 )
{
yaw = euler_out.yaw;
pitch = euler_out.pitch;
roll = euler_out.roll;
}
else
{
yaw = euler_out2.yaw;
pitch = euler_out2.pitch;
roll = euler_out2.roll;
}
}
public SceneNode(Renderable Renderable, Euler Euler = null)
{
this.Orientation = Euler;
if (this.Orientation == null) this.Orientation = new Euler();
this.Renderable = Renderable;
}
private static void EulerQuery (SelectableSource source, string rules, Statement[] queries)
{
Store store = new Store (source);
Euler engine = new Euler(new N3Reader(new StringReader(rules)));
foreach (Proof p in engine.Prove (store, queries)) {
foreach (Statement s in p.Proved)
Console.WriteLine(s);
}
}
public virtual void LoadData(BZNReader reader)
{
IBZNToken tok;
tok = reader.ReadToken();
if (!tok.Validate("illumination", BinaryFieldType.DATA_FLOAT)) throw new Exception("Failed to parse illumination/FLOAT");
illumination = tok.GetSingle();
tok = reader.ReadToken();
if (!tok.Validate("pos", BinaryFieldType.DATA_VEC3D)) throw new Exception("Failed to parse pos/VEC3D");
pos = tok.GetVector3D();
if (reader.BinaryMode)
{
tok = reader.ReadToken();
if (!tok.Validate(null, BinaryFieldType.DATA_FLOAT)) throw new Exception("Failed to parse euler's FLOAT");
float euler_mass = tok.GetSingle();
tok = reader.ReadToken();
if (!tok.Validate(null, BinaryFieldType.DATA_FLOAT)) throw new Exception("Failed to parse euler's FLOAT");
float euler_mass_inv = tok.GetSingle();
tok = reader.ReadToken();
if (!tok.Validate(null, BinaryFieldType.DATA_FLOAT)) throw new Exception("Failed to parse euler's FLOAT");
float euler_v_mag = tok.GetSingle();
tok = reader.ReadToken();
if (!tok.Validate(null, BinaryFieldType.DATA_FLOAT)) throw new Exception("Failed to parse euler's FLOAT");
float euler_v_mag_inv = tok.GetSingle();
tok = reader.ReadToken();
if (!tok.Validate(null, BinaryFieldType.DATA_FLOAT)) throw new Exception("Failed to parse euler's FLOAT");
float euler_I = tok.GetSingle();
tok = reader.ReadToken();
if (!tok.Validate(null, BinaryFieldType.DATA_FLOAT)) throw new Exception("Failed to parse euler's FLOAT");
float euler_k_i = tok.GetSingle();
tok = reader.ReadToken();
if (!tok.Validate(null, BinaryFieldType.DATA_VEC3D)) throw new Exception("Failed to parse euler's VEC3D");
Vector3D euler_v = tok.GetVector3D();
tok = reader.ReadToken();
if (!tok.Validate(null, BinaryFieldType.DATA_VEC3D)) throw new Exception("Failed to parse euler's VEC3D");
Vector3D euler_omega = tok.GetVector3D();
tok = reader.ReadToken();
if (!tok.Validate(null, BinaryFieldType.DATA_VEC3D)) throw new Exception("Failed to parse euler's VEC3D");
Vector3D euler_Accel = tok.GetVector3D();
euler = new Euler()
{
mass = euler_mass,
mass_inv = euler_mass_inv,
v_mag = euler_v_mag,
v_mag_inv = euler_v_mag_inv,
I = euler_I,
k_i = euler_k_i,
v = euler_v,
omega = euler_omega,
Accel = euler_Accel
};
}
else
{
tok = reader.ReadToken();
if (!tok.Validate("euler", BinaryFieldType.DATA_FLOAT)) throw new Exception("Failed to parse euler");
euler = tok.GetEuler();
}
tok = reader.ReadToken();
if (!tok.Validate("seqNo", BinaryFieldType.DATA_LONG)) throw new Exception("Failed to parse seqNo/SHORT");
//seqNo = tok.GetUInt16();
seqNo = tok.GetUInt32();
if (reader.N64)
{
tok = reader.ReadToken();
if (!tok.Validate("name", BinaryFieldType.DATA_CHAR)) throw new Exception("Failed to parse name/CHAR");
name = tok.GetString();
}
else
{
if (reader.Version > 1030)
{
tok = reader.ReadToken();
if (!tok.Validate("name", BinaryFieldType.DATA_CHAR)) throw new Exception("Failed to parse name/CHAR");
name = tok.GetString();
}
}
tok = reader.ReadToken();
if (!tok.Validate("isObjective", BinaryFieldType.DATA_BOOL)) throw new Exception("Failed to parse isObjective/BOOL");
isObjective = tok.GetBoolean();
tok = reader.ReadToken();
if (!tok.Validate("isSelected", BinaryFieldType.DATA_BOOL)) throw new Exception("Failed to parse isSelected/BOOL");
isSelected = tok.GetBoolean();
tok = reader.ReadToken();
if (!tok.Validate("isVisible", BinaryFieldType.DATA_LONG)) throw new Exception("Failed to parse isVisible/LONG");
isVisible = tok.GetUInt32H();
tok = reader.ReadToken();
if (!tok.Validate("seen", BinaryFieldType.DATA_LONG)) throw new Exception("Failed to parse seen/LONG");
seen = tok.GetUInt32();
if (reader.N64)
{
}
else
{
//[10:03:38 PM] Kenneth Miller: I think I may have figured out what that stuff is, maybe
//[10:03:50 PM] Kenneth Miller: They're timestamps
//[10:04:04 PM] Kenneth Miller: playerShot, playerCollide, friendShot, friendCollide, enemyShot, groundCollide
//[10:04:13 PM] Kenneth Miller: the default value is -HUGE_NUMBER (-1e30)
//[10:04:26 PM] Kenneth Miller: And due to the nature of the game, groundCollide is the most likely to get set first
//[10:05:02 PM] Kenneth Miller: Old versions of the mission format used to contain those values but later versions only include them in the savegame
//[10:05:05 PM] Kenneth Miller: (not the mission)
//[10:05:31 PM] Kenneth Miller: (version 1033 was where they were removed from the mission)
if (reader.Version < 1033)
{
tok = reader.ReadToken(); // float (-HUGE_NUMBER)
tok = reader.ReadToken(); // float (-HUGE_NUMBER)
tok = reader.ReadToken(); // float (-HUGE_NUMBER)
tok = reader.ReadToken(); // float (-HUGE_NUMBER)
tok = reader.ReadToken(); // float (-HUGE_NUMBER)
tok = reader.ReadToken(); // float
}
}
tok = reader.ReadToken();
if (!tok.Validate("healthRatio", BinaryFieldType.DATA_FLOAT)) throw new Exception("Failed to parse healthRatio/FLOAT");
healthRatio = tok.GetSingle();
tok = reader.ReadToken();
if (!tok.Validate("curHealth", BinaryFieldType.DATA_LONG)) throw new Exception("Failed to parse curHealth/LONG");
curHealth = tok.GetUInt32();
tok = reader.ReadToken();
if (!tok.Validate("maxHealth", BinaryFieldType.DATA_LONG)) throw new Exception("Failed to parse maxHealth/LONG");
maxHealth = tok.GetUInt32();
tok = reader.ReadToken();
if (!tok.Validate("ammoRatio", BinaryFieldType.DATA_FLOAT)) throw new Exception("Failed to parse ammoRatio/FLOAT");
ammoRatio = tok.GetSingle();
tok = reader.ReadToken();
if (!tok.Validate("curAmmo", BinaryFieldType.DATA_LONG)) throw new Exception("Failed to parse curAmmo/LONG");
curAmmo = tok.GetUInt32();
tok = reader.ReadToken();
if (!tok.Validate("maxAmmo", BinaryFieldType.DATA_LONG)) throw new Exception("Failed to parse maxAmmo/LONG");
maxAmmo = tok.GetUInt32();
tok = reader.ReadToken();
if (!tok.Validate("priority", BinaryFieldType.DATA_LONG)) throw new Exception("Failed to parse priority/LONG");
priority = tok.GetUInt32();
tok = reader.ReadToken();
if (!tok.Validate("what", BinaryFieldType.DATA_VOID)) throw new Exception("Failed to parse what/VOID");
what = tok.GetUInt32H();
tok = reader.ReadToken();
if (!tok.Validate("who", BinaryFieldType.DATA_LONG)) throw new Exception("Failed to parse who/LONG");
who = tok.GetInt32();
tok = reader.ReadToken();
if (!tok.Validate("where", BinaryFieldType.DATA_PTR)) throw new Exception("Failed to parse where/PTR");
where = tok.GetUInt32H();
tok = reader.ReadToken();
if (!tok.Validate("param", BinaryFieldType.DATA_LONG)) throw new Exception("Failed to parse param/LONG");
param = tok.GetUInt32();
tok = reader.ReadToken();
if (!tok.Validate("aiProcess", BinaryFieldType.DATA_BOOL)) throw new Exception("Failed to parse aiProcess/BOOL");
aiProcess = tok.GetBoolean();
tok = reader.ReadToken();
if (!tok.Validate("isCargo", BinaryFieldType.DATA_BOOL)) throw new Exception("Failed to parse isCargo/BOOL");
isCargo = tok.GetBoolean();
tok = reader.ReadToken();
if (!tok.Validate("independence", BinaryFieldType.DATA_LONG)) throw new Exception("Failed to parse independence/LONG");
independence = tok.GetUInt32();
if (reader.N64)
{
tok = reader.ReadToken();
UInt16 curPilotID = tok.GetUInt16();
if (!BZNFile.BZn64IdMap.ContainsKey(curPilotID)) throw new InvalidCastException(string.Format("Cannot convert n64 curPilotID enumeration 0x(0:X2} to string curPilotID", curPilotID));
curPilot = BZNFile.BZn64IdMap[curPilotID];
}
else
{
if (reader.Version > 1022)
{
tok = reader.ReadToken();
if (!tok.Validate("curPilot", BinaryFieldType.DATA_ID)) throw new Exception("Failed to parse curPilot/ID");
curPilot = tok.GetString();
}
else
{
tok = reader.ReadToken();
if (!tok.Validate("hasPilot", BinaryFieldType.DATA_BOOL)) throw new Exception("Failed to parse hasPilot/BOOL");
bool hasPilot = tok.GetBoolean();
curPilot = hasPilot ? isUser ? PrjID[0] + "suser" : PrjID[0] + "spilo" : string.Empty;
}
}
if (reader.N64)
{
tok = reader.ReadToken();
if (!tok.Validate("perceivedTeam", BinaryFieldType.DATA_LONG)) throw new Exception("Failed to parse perceivedTeam/LONG");
perceivedTeam = tok.GetInt32();
}
else
{
if (reader.Version > 1030)
{
tok = reader.ReadToken();
if (!tok.Validate("perceivedTeam", BinaryFieldType.DATA_LONG)) throw new Exception("Failed to parse perceivedTeam/LONG");
perceivedTeam = tok.GetInt32();
}
else
{
perceivedTeam = -1;
}
}
}
public static Matrix4 MakeRotationFromEuler(Euler euler)
{
var res = Matrix4.Identity;
var te = res.elements;
float x = euler.x, y = euler.y, z = euler.z;
float a = Mathf.Cos(x), b = Mathf.Sin(x);
float c = Mathf.Cos(y), d = Mathf.Sin(y);
float e = Mathf.Cos(z), f = Mathf.Sin(z);
if (euler.order == Euler.OrderMode.XYZ)
{
float ae = a * e, af = a * f, be = b * e, bf = b * f;
te[0] = c * e;
te[4] = -c * f;
te[8] = d;
te[1] = af + be * d;
te[5] = ae - bf * d;
te[9] = -b * c;
te[2] = bf - ae * d;
te[6] = be + af * d;
te[10] = a * c;
}
else if (euler.order == Euler.OrderMode.YXZ)
{
float ce = c * e, cf = c * f, de = d * e, df = d * f;
te[0] = ce + df * b;
te[4] = de * b - cf;
te[8] = a * d;
te[1] = a * f;
te[5] = a * e;
te[9] = -b;
te[2] = cf * b - de;
te[6] = df + ce * b;
te[10] = a * c;
}
else if (euler.order == Euler.OrderMode.ZXY)
{
float ce = c * e, cf = c * f, de = d * e, df = d * f;
te[0] = ce - df * b;
te[4] = -a * f;
te[8] = de + cf * b;
te[1] = cf + de * b;
te[5] = a * e;
te[9] = df - ce * b;
te[2] = -a * d;
te[6] = b;
te[10] = a * c;
}
else if (euler.order == Euler.OrderMode.ZYX)
{
float ae = a * e, af = a * f, be = b * e, bf = b * f;
te[0] = c * e;
te[4] = be * d - af;
te[8] = ae * d + bf;
te[1] = c * f;
te[5] = bf * d + ae;
te[9] = af * d - be;
te[2] = -d;
te[6] = b * c;
te[10] = a * c;
}
else if (euler.order == Euler.OrderMode.YZX)
{
float ac = a * c, ad = a * d, bc = b * c, bd = b * d;
te[0] = c * e;
te[4] = bd - ac * f;
te[8] = bc * f + ad;
te[1] = f;
te[5] = a * e;
te[9] = -b * e;
te[2] = -d * e;
te[6] = ad * f + bc;
te[10] = ac - bd * f;
}
else if (euler.order == Euler.OrderMode.XZY)
{
float ac = a * c, ad = a * d, bc = b * c, bd = b * d;
te[0] = c * e;
te[4] = -f;
te[8] = d * e;
te[1] = ac * f + bd;
te[5] = a * e;
te[9] = ad * f - bc;
te[2] = bc * f - ad;
te[6] = b * e;
te[10] = bd * f + ac;
}
// last column
te[3] = 0;
te[7] = 0;
te[11] = 0;
// bottom row
te[12] = 0;
te[13] = 0;
te[14] = 0;
te[15] = 1;
return res;
}
public Renderable(GraphicsDevice device, GuiDriver module, int width, int height, Euler Euler = null)
{
this.module = module;
this.Orientation = Euler;
if (this.Orientation == null) this.Orientation = new Euler();
uiCamera = new Render.Cameras.OrthographicCamera(new Viewport(0, 0, width, height));
uiRoot = new UIItem(new Rectangle(0, 0, width, height));
uiRoot.settings = new PropertySet();
uiCamera.focus = new Vector2(width / 2, height / 2);
renderTarget = new RenderTarget2D(device, uiCamera.Viewport.Width, uiCamera.Viewport.Height);
var rawGuiQuad = Geo.Gen.CreateQuad();
rawGuiQuad = Geo.Gen.FacetCopy(rawGuiQuad);
quadModel = Geo.CompiledModel.CompileModel(rawGuiQuad, device);
uiRoot.defaults = module.defaultSettings;
}
