public void SetFromZ(ref Vec3f z)
{
Vec3f tmpZ = mZ = Vector.Normalize(z);
Vec3f tmpX = (Math.Abs(tmpZ.x) > 0.99f) ? new Vec3f(0, 1, 0) : new Vec3f(1, 0, 0);
mY = Vector.Normalize(Vector.Cross(ref tmpZ, ref tmpX));
mX = Vector.Cross(ref mY, ref tmpZ);
}
public static void vecAdd (Vec3f* a, Vec3f* b, Vec3f* ptr) {
vecStore(
a->x + b->x,
a->y + b->y,
a->z + b->z,
ptr
);
}
public static void vecScale (Vec3f* a, float scale, Vec3f* ptr) {
vecStore(
a->x * scale,
a->y * scale,
a->z * scale,
ptr
);
}
public ONB(
Vec3f x,
Vec3f y,
Vec3f z)
{
mX = x;
mY = y;
mZ = z;
}
private IEnumerator DrawLine(Vec3f[] traj, LineRenderer lr)
{
lr.SetVertexCount(traj.Length);
for (int i = 0; i < traj.Length; ++i) {
lr.SetPosition(i, new Vector3(float.NaN, float.NaN, float.NaN));
}
for (int i = 0; i < traj.Length; ++i) {
lr.SetPosition(i, Trans(traj[i]));
yield return new WaitForSeconds(0.05f);
}
}
public MakeShadowTest()
{
this.sizeofMat = 6;
this.package = new ShadowPackage();
this.rnd = new Random();
this.center = new Point3f();
this.shadowCalor = new Scalar[sizeofMat];
this.players = new _playrer[sizeofMat];
this.pt = new Point[sizeofMat];
this.kinect = KinectSensor.GetDefault();
this.joints = new Joint[this.sizeofMat];
this.moveCenter = new Point3f();
this.vecofCenter = new Vec3f();
this.param = new Parameter();
}
public static void vecStore (float x, float y, float z, Vec3f* ptr) {
ptr->x = x;
ptr->y = y;
ptr->z = z;
}
public static void sampleEnv (Vec3f* dir, Vec3f* ptr) {
var y = dir->y;
var amt = y * 0.5f + 0.5f;
var keep = 1.0f - amt;
vecStore(
keep * 0.1f + amt * 0.1f,
keep * 1.0f + amt * 0.1f,
keep * 0.1f + amt * 1.0f,
ptr
);
}
public static float vecNLDot (Vec3f* a, Vec3f* b) {
var value = vecDot(a, b);
if (value < 0)
return 0;
else
return value;
}
public static float vecDot (Vec3f* a, Vec3f* b) {
return (a->x * b->x) + (a->y * b->y) + (a->z * b->z);
}
public static float vecLen (Vec3f* ptr) {
var x = ptr->x;
var y = ptr->y;
var z = ptr->z;
return fsqrt((x * x) + (y * y) + (z * z));
}
public static void vecNormalize (Vec3f* ptr) {
var x = ptr->x;
var y = ptr->y;
var z = ptr->z;
float invLen = 1.0f / fsqrt((x * x) + (y * y) + (z * z));
vecStore(x * invLen, y * invLen, z * invLen, ptr);
}
public Vec3f ToWorld(ref Vec3f a)
{
return mX * a.x + mY * a.y + mZ * a.z;
}
public Vec3f ToLocal(ref Vec3f a)
{
return new Vec3f(Vector.Dot(ref a, ref mX), Vector.Dot(ref a, ref mY), Vector.Dot(ref a, ref mZ));
}
public Ray(Vec3f origin, Vec3f direction)
{
Origin = origin;
Direction = direction;
}
public void setTargetVelocity( Vec3f vel )
{
this.walkVelocityMeterPerSec = vel.__data[2];
}
public void setTargetUpVelocity(Vec3f vel)
{
// RedirectToFrontNavigationMediator in Radiant, WiiTurnNavigationMediator auch
this.upVelocityDegPerSec = vel[1] * Mathf.Rad2Deg;
}
public static Vec3f Cos(Vec3f radians)
{
return new Vec3f()
{
x = (float)Math.Cos(radians.x),
y = (float)Math.Cos(radians.y),
z = (float)Math.Sin(radians.z)
};
}
private Vector3 Trans(Vec3f vec)
{
return vec * (true ? 50f : 0.1f) + (Vec3f.UnitZ * 100f);
}
public static extern void core_Mat_push_back_Vec3f(IntPtr self, Vec3f v);
/// <summary>
/// converts point coordinates from homogeneous to normal pixel coordinates ((x,y,z)->(x/z, y/z))
/// </summary>
/// <param name="src">Input vector of N-dimensional points.</param>
/// <returns>Output vector of N-1-dimensional points.</returns>
public static Vec3f[] ConvertPointsFromHomogeneous(IEnumerable<Vec4f> src)
{
if (src == null)
throw new ArgumentNullException("src");
Vec4f[] srcA = EnumerableEx.ToArray(src);
Vec3f[] dstA = new Vec3f[srcA.Length];
NativeMethods.calib3d_convertPointsFromHomogeneous_array2(srcA, dstA, srcA.Length);
return dstA;
}
public ONB()
{
mX = new Vec3f(1, 0, 0);
mY = new Vec3f(0, 1, 0);
mZ = new Vec3f(0, 0, 1);
}