public void ComputeBoundQuad()
{
MyVector3 normal = Normal();
MyVector3 xaxis = new MyVector3(1, 0, 0);
MyVector3 yaxis = new MyVector3(0, 1, 0);
MyVector3 zaxis = new MyVector3(0, 0, 1);
MyVector3 rotAxis = zaxis.Cross(normal).Normalize();
double cos = zaxis.Dot(normal);
if (cos > 1)
{
cos = 1;
}
if (cos < -1)
{
cos = -1;
}
double rotAngle = Math.Acos(cos);
MyMatrix4d R = MyMatrix4d.RotationMatrix(rotAxis, rotAngle);
MyVector3 new_xaxis = (R * new MyVector4(xaxis)).XYZ().Normalize();
MyVector3 new_yaxis = (R * new MyVector4(yaxis)).XYZ().Normalize();
CoordinateFrame frame = new CoordinateFrame(this.planeCenter, new_xaxis, new_yaxis, normal);
double xmin = double.MaxValue; double ymin = double.MaxValue;
double xmax = double.MinValue; double ymax = double.MinValue;
foreach (MyVector3 v in this.planeVertices)
{
MyVector3 u = frame.GetPointLocalCoord(v);
xmin = Math.Min(u.x, xmin);
xmax = Math.Max(u.x, xmax);
ymin = Math.Min(u.y, ymin);
ymax = Math.Max(u.y, ymax);
}
MyVector3 v1 = new MyVector3(xmin, ymin, 0);
MyVector3 v2 = new MyVector3(xmax, ymin, 0);
MyVector3 v3 = new MyVector3(xmax, ymax, 0);
MyVector3 v4 = new MyVector3(xmin, ymax, 0);
SmartCanvas.Point3[] pts3 =
new SmartCanvas.Point3[4] {
new SmartCanvas.Point3(frame.GetPointSpaceCoord(v1)),
new SmartCanvas.Point3(frame.GetPointSpaceCoord(v2)),
new SmartCanvas.Point3(frame.GetPointSpaceCoord(v3)),
new SmartCanvas.Point3(frame.GetPointSpaceCoord(v4))
};
this.boundQuad = new Quad3D(pts3);
}
public void FitRect()
{
// y
// ^
// |
// 0 ---- 3
// | c--|-----> x
// 1 ---- 2
//
// build local coordinate
Vector3 vx = this.cornerPoints3d[2] - this.cornerPoints3d[1];
vx.Normalize();
Vector3 vy = Vector3.Cross(this.Normal, vx);
CoordinateFrame localcoordinate = new CoordinateFrame(vx, vy, this.center);
List <Vector2> corner2d = new List <Vector2>();
foreach (Vector3 p in this.cornerPoints3d)
{
corner2d.Add(localcoordinate.WorldToLocal(p));
}
Line2 axisx = new Line2(Vector2.zero, new Vector2(1, 0));
Line2 l01 = new Line2(corner2d[0], corner2d[1]);
Line2 l23 = new Line2(corner2d[2], corner2d[3]);
Line2 l12 = new Line2(corner2d[1], corner2d[2]);
Line2 l03 = new Line2(corner2d[0], corner2d[3]);
Vector2 mean01 = axisx.Intersection(l01);
Vector2 mean23 = axisx.Intersection(l23);
Vector2 new0 = l03.ProjToLine(mean01);
Vector2 new1 = l12.ProjToLine(mean01);
Vector2 new2 = l12.ProjToLine(mean23);
Vector2 new3 = l03.ProjToLine(mean23);
this.cornerPoints3d.Clear();
this.cornerPoints3d.Add(localcoordinate.LocalToWorld(new0));
this.cornerPoints3d.Add(localcoordinate.LocalToWorld(new1));
this.cornerPoints3d.Add(localcoordinate.LocalToWorld(new2));
this.cornerPoints3d.Add(localcoordinate.LocalToWorld(new3));
this.ComputeCenter();
this.GetSideLength();
}
public void Project3dToBelongPlane()
{
// prepare 2d coordinate
MyVector3 circle_norm = this.belongPlane.Normal();
MyVector3 X = new MyVector3(1, 0, 0);
MyVector3 Y = new MyVector3(0, 1, 0);
MyVector3 Z = new MyVector3(0, 0, 1);
MyVector3 rotAxis = Z.Cross(circle_norm).Normalize();
double angle_cos = Z.Dot(circle_norm);
if (angle_cos > 1)
{
angle_cos = 1;
}
if (angle_cos < -1)
{
angle_cos = -1;
}
double rotAngle = Math.Acos(angle_cos);
MyMatrix4d Mat = MyMatrix4d.RotationMatrix(rotAxis, rotAngle);
MyVector3 X_new = (Mat * new MyVector4(X)).XYZ().Normalize();
MyVector3 Y_new = (Mat * new MyVector4(Y)).XYZ().Normalize();
CoordinateFrame frame = new CoordinateFrame(this.belongPlane.planeCenter, X_new, Y_new, circle_norm);
// projection and denoise(leave out far away points)
MyVector3 tmpc = frame.GetPointLocalCoord(this.center);
this.center2d = new MyVector2(tmpc.x, tmpc.y);
for (int i = 0; i < this.circleSlice3d.Count; i++)
{
MyVector3 vert = this.circleSlice3d[i];
MyVector3 tmp = frame.GetPointLocalCoord(vert);
MyVector2 tmp2 = new MyVector2(tmp.x, tmp.y);
double dist = Math.Abs((tmp2 - this.center2d).Length() - this.radius);
if (dist > 0.5 * this.radius && dist < 0.75 * this.radius)
{
this.circleSlice3d.RemoveAt(i);
i--;
}
else
{
this.circleSlice2d.Add(tmp2);
}
}
}
public MyPlane(MyVector3 point, MyVector3 normal)
{
double d = -point.Dot(normal);
planeEquation = new Plane((float)normal.x, (float)normal.y, (float)normal.z, (float)d);
planeCenter = point;
planeColor = Color.FromArgb(150, 255, 255, 0);
// add three plane points
MyVector3 x = new MyVector3(normal.y, -normal.x, 0);
if (x.x == 0 && x.y == 0)
{
x = new MyVector3(1, 0, 0);
}
MyVector3 y = normal.Cross(x).Normalize();
CoordinateFrame frame = new CoordinateFrame(point, x, y, normal);
double s = 0.8;
MyVector3 v1 = frame.GetPointLocalCoord(new MyVector3(s, s, 0));
MyVector3 v2 = frame.GetPointLocalCoord(new MyVector3(-s, s, 0));
MyVector3 v3 = frame.GetPointLocalCoord(new MyVector3(-s, -s, 0));
MyVector3 v4 = frame.GetPointLocalCoord(new MyVector3(s, -s, 0));
planeVertices.Add(v1);
planeVertices.Add(v2);
planeVertices.Add(v3);
planeVertices.Add(v4);
planePoints.Add(v1);
planePoints.Add(v2);
planePoints.Add(v3);
planePoints.Add(v4);
this.ComputeVertices();
this.ComputeBoundQuad();
this.ComputeCenter();
}
public void BuildLocalFrame()
{
MyVector3 X = new MyVector3(1, 0, 0);
MyVector3 Y = new MyVector3(0, 1, 0);
MyVector3 Z = new MyVector3(0, 0, 1);
MyVector3 rotAxis = Z.Cross(normal).Normalize();
double angle_cos = Z.Dot(normal);
if (angle_cos < -1)
{
angle_cos = -1;
}
if (angle_cos > 1)
{
angle_cos = 1;
}
double rotAngle = Math.Acos(angle_cos);
MyMatrix4d Mat = MyMatrix4d.RotationMatrix(rotAxis, rotAngle);
MyVector3 X_new = (Mat * new MyVector4(X)).XYZ().Normalize();
MyVector3 Y_new = (Mat * new MyVector4(Y)).XYZ().Normalize();
frame = new CoordinateFrame(center, X_new, Y_new, normal);
}
