public void Test_ToUnityVector()
{
OpenTK.Vector4d openTKvector = new OpenTK.Vector4d(1.0, 2.0, 3.0, 4.0);
Vector4 actual = openTKvector.ToUnityVector();
Vector4 expected = new Vector4(1.0f, 2.0f, 3.0f, 4.0f);
Assert.AreEqual(
actual: actual,
expected: expected
);
}
public static void MultiplyMatrix4x4ByVector4(out OpenTK.Vector4d resultvector,
OpenTK.Matrix4d matrix, OpenTK.Vector4d pvector)
{
resultvector.X = matrix.M11 * pvector.X + matrix.M12 * pvector.Y +
matrix.M13 * pvector.Z + matrix.M14 * pvector.W;
resultvector.Y = matrix.M21 * pvector.X + matrix.M22 * pvector.Y +
matrix.M23 * pvector.Z + matrix.M24 * pvector.W;
resultvector.Z = matrix.M31 * pvector.X + matrix.M32 * pvector.Y +
matrix.M33 * pvector.Z + matrix.M34 * pvector.W;
resultvector.W = matrix.M41 * pvector.X + matrix.M42 * pvector.Y +
matrix.M43 * pvector.Z + matrix.M44 * pvector.W;
}
public static int GluUnProject(double winx, double winy, double winz,
double[] modelview, double[] projection, int[] viewport,
out double objectX, out double objectY, out double objectZ)
{
objectX = 0;
objectY = 0;
objectZ = 0;
// Transformation matrices
OpenTK.Matrix4d projectionM = new OpenTK.Matrix4d(
projection[0], projection[4], projection[8], projection[12],
projection[1], projection[5], projection[9], projection[13],
projection[2], projection[6], projection[10], projection[14],
projection[3], projection[7], projection[11], projection[15]);
OpenTK.Matrix4d modelviewM = new OpenTK.Matrix4d(
modelview[0], modelview[4], modelview[8], modelview[12],
modelview[1], modelview[5], modelview[9], modelview[13],
modelview[2], modelview[6], modelview[10], modelview[14],
modelview[3], modelview[7], modelview[11], modelview[15]);
// Calculation for inverting a matrix, compute projection x modelview
// and store in A[16]
OpenTK.Matrix4d AM = projectionM * modelviewM;
// Now compute the inverse of matrix A
OpenTK.Matrix4d mM = OpenTK.Matrix4d.Invert(AM);
// Transformation of normalized coordinates between -1 and 1
OpenTK.Vector4d inV = new OpenTK.Vector4d();
inV.X = ((winx - viewport[0]) / viewport[2] * 2.0 - 1.0);
inV.Y = ((winy - viewport[1]) / viewport[3] * 2.0 - 1.0);
inV.Z = (2.0 * winz - 1.0);
inV.W = 1.0;
OpenTK.Vector4d outV;
// Objects coordinates
MultiplyMatrix4x4ByVector4(out outV, mM, inV);
if (outV.Z == 0.0)
{
return(0);
}
outV.W = (1.0 / outV.W);
objectX = outV.X * outV.W;
objectY = outV.Y * outV.W;
objectZ = outV.Z * outV.W;
/*
* System.Diagnostics.Debug.WriteLine("GluUnProject");
* System.Diagnostics.Debug.WriteLine("objectX = " + objectX);
* System.Diagnostics.Debug.WriteLine("objectY = " + objectY);
* System.Diagnostics.Debug.WriteLine("objectZ = " + objectZ);
*/
return(1);
}
private static void DetectMapperMarkerVisible(int myMarkerID, ref List <clsPGPoint> pts, bool useDatums)
{
double[] myMatrix = new double[16] {
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
};
ARToolKitFunctions.Instance.arwGetTrackablePatternConfig(myMarkerID, 0, myMatrix, out float width, out float height, out int imageSizeX, out int imageSizeY, out int barcodeID);
double[] mv = new double[16] {
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
};
if (ARToolKitFunctions.Instance.arwQueryTrackableMapperTransformation(myMapperMarkerID, barcodeID, mv))
{
OpenTK.Matrix4d matrix = new OpenTK.Matrix4d(mv[0], mv[1], mv[2], mv[3], mv[4], mv[5], mv[6], mv[7], mv[8], mv[9], mv[10], mv[11], mv[12], mv[13], mv[14], mv[15]);
var pt = new OpenTK.Vector4d(mv[12], mv[13], mv[14], 0);
if (!useDatums)
{
if (myMarkerID < 50)
{
pt = new OpenTK.Vector4d(140.0f, -45.0f, 0.0f, 1);
pt = OpenTK.Vector4d.Transform(pt, matrix);
}
else if (myMarkerID < 100)
{
pt = new OpenTK.Vector4d(140.0, 45.0, 0.0f, 1);
pt = OpenTK.Vector4d.Transform(pt, matrix);
}
}
else
{
if (myMarkerID - 2 >= 0 && myMarkerID - 2 < 50)
{
pt = new OpenTK.Vector4d(160.0f, -45.0f, 0.0f, 1);
pt = OpenTK.Vector4d.Transform(pt, matrix);
}
else if (myMarkerID - 2 >= 50 && myMarkerID - 2 < 100)
{
pt = new OpenTK.Vector4d(160.0, 45.0, 0.0f, 1);
pt = OpenTK.Vector4d.Transform(pt, matrix);
}
}
pts.Add(new clsPGPoint(pt.X, pt.Y, pt.Z, myMarkerID, barcodeID));
}
}
public static LDDModder.Simple3D.Vector4d ToLDD(this OpenTK.Vector4d vector)
{
return(new Simple3D.Vector4d(vector.X, vector.Y, vector.Z, vector.W));
}
/// <summary>
/// 拡張メソッド.
/// </summary>
/// <param name="v"></param>
/// <returns></returns>
public static V4d Mult(this M4d m, V4d v) => new V4d(
m.M11 * v.X + m.M12 * v.Y + m.M13 * v.Z + m.M14 * v.W,
m.M21 * v.X + m.M22 * v.Y + m.M23 * v.Z + m.M24 * v.W,
m.M31 * v.X + m.M32 * v.Y + m.M33 * v.Z + m.M34 * v.W,
m.M41 * v.X + m.M42 * v.Y + m.M43 * v.Z + m.M44 * v.W
);
/// <summary> /// 拡張メソッド. /// </summary> /// <param name="v"></param> /// <returns></returns> public static C4 ToC4(this V4d v) => new C4((float)v.X, (float)v.Y, (float)v.Z, (float)v.W);
/// <summary>
/// 拡張メソッド.
/// </summary>
/// <param name="v"></param>
/// <returns></returns>
public static float[] ToArrayF(this V4d v) => new[] { (float)v.X, (float)v.Y, (float)v.Z, (float)v.W };
/// <summary>
/// 拡張メソッド.
/// </summary>
/// <param name="v"></param>
/// <returns></returns>
public static double[] ToArray(this V4d v) => new[] { v.X, v.Y, v.Z, v.W };
/// <summary> /// 拡張メソッド. /// </summary> /// <param name="v"></param> /// <returns></returns> public static V3f ToV3f(this V4d v) => new V3f((float)v.X, (float)v.Y, (float)v.Z);
/// <summary> /// 拡張メソッド. /// </summary> /// <param name="v"></param> /// <returns></returns> public static V4f ToV4f(this V4d v) => new V4f((float)v.X, (float)v.Y, (float)v.Z, (float)v.W);
