private void testMatrices()
{
var v = new JVertex3D(3, 4, 5, 1);
var vr = new JVertex3D(0, 0, 5, 1);
// trnaslation
var a = new JTranslationMatrix3D(new JVertex3D(1, 0, 0, 0));
var b = new JTranslationMatrix3D(new JVertex3D(0, 1, 0, 0));
var c1 = b * v;
var c2 = a * b * v;
// scale
var s = new JScaleMatrix3D(new JVertex3D(2, 0.5, 1, 0));
var vs = s * v;
// quaternion
var qxz = new JQuaternion3D(new JVertex3D(1, 0, 0, 0), new JVertex3D(0, 0, 1, 0));
var rxz = new JRotationMatrix3D(qxz);
var vrxz = rxz * vr;
// rotate
var qx = new JQuaternion3D(new JVertex3D(1, 0, 0, 0), Math.PI / 2);
var qy = new JQuaternion3D(new JVertex3D(0, 1, 0, 0), Math.PI / 2);
var qz = new JQuaternion3D(new JVertex3D(0, 0, 1, 0), Math.PI / 2);
var rx = new JRotationMatrix3D(qx);
var ry = new JRotationMatrix3D(qy);
var rz = new JRotationMatrix3D(qz);
var vrx = rx * vr;
var vry = ry * vr;
var vrz = rz * vr;
}
private void drawBodies(JCamera cam)
{
// get transformation matrix from world space to view space (W2V)
var translateW2V = new JTranslationMatrix3D(-cam.Position);
var rotateW2V = new JRotationMatrix3D(-cam.Rotation);
var tW2V = translateW2V * rotateW2V;
// get transformation matrix from view space to projected space (V2P)
var tV2P = new JOrthoProject3D(cam);
// W2P
var tW2P = tV2P * tW2V;
foreach (JBody3D b in bodies)
{
// get transformation matrix from body space to world space (B2W)
var scaleB2W = new JScaleMatrix3D(b.Scale);
var translateB2W = new JTranslationMatrix3D(b.Position);
var rotateB2W = new JRotationMatrix3D(b.Rotation);
var tB2W = translateB2W * scaleB2W * rotateB2W;
foreach (JRigidBody3D rb in b.RigidBodies)
{
// get transformation matrix form rigidbody space to body spacy (RB2B)
var scaleRB2B = new JScaleMatrix3D(rb.Scale);
var translateRB2B = new JTranslationMatrix3D(rb.Position);
var rotateRB2B = new JRotationMatrix3D(rb.Rotation);
var tRB2B = translateRB2B * scaleRB2B * rotateRB2B;
// get full transformation matrix to projected space
var t = tW2P * tB2W * tRB2B;
// draw all vertices
foreach (JVertex3D v in rb.Vertices)
{
var r = t * v;
var p = cam.GetImagePoint(r);
graphicsGame.Point(rb.Color, p);
}
// draw all lines
foreach (JLine3D l in rb.Lines)
{
var start = t * l.Start;
var stop = t * l.Stop;
var p1 = cam.GetImagePoint(start);
var p2 = cam.GetImagePoint(stop);
graphicsGame.Line(rb.Color, p1, p2);
}
}
}
}
