void CompositionTarget_Rendering(object sender, EventArgs e)
{
if (_timer.OnInterval())
{
CheckCommand();
}
_rubikscube.Animator.Start(null);
_rubikscube.Animator.Update();
//camera movement
if (_cameraMove != 0)
{
_cameraZ += _cameraMove;
Vector3D p = new Vector3D(0, 0, _cameraZ);//120); //60;
p = Ext3D.Transform(p, _cameraRotate); _camera.Position = new Point3D(p.X, p.Y, p.Z);
//Debug.WriteLine(_camera.Position);
if (_cameraZ <= _cameraNear || _cameraZ >= _cameraFar)
{
_cameraMove = 0;
OnLayoutUpdated();
}
}
}
public virtual Matrix3D Rotate(Axis axis, double deltaAngle, bool isFromSaved)
{
Quaternion3D rotationQ = Quaternion3D.Identity;
switch (axis)
{
case Axis.X:
rotationQ *= Quaternion3D.CreateFromAxisAngle(_unitX, deltaAngle);
break;
case Axis.Y:
rotationQ *= Quaternion3D.CreateFromAxisAngle(_unitY, deltaAngle);
break;
case Axis.Z:
rotationQ *= Quaternion3D.CreateFromAxisAngle(_unitZ, deltaAngle);
break;
}
Matrix3D matrix = Ext3D.CreateFromQuaternion(rotationQ);
if (isFromSaved)
{
_transform = matrix * _savedTransform;
}
else
{
_transform = matrix * _transform;
}
return(matrix);
}
public void RotateUnit(Axis axis, double rotation)
{
Matrix3D transform = Matrix3D.Identity;
switch (axis)
{
case Axis.X:
transform = Ext3D.CreateRotationX(rotation);
break;
case Axis.Y:
transform = Ext3D.CreateRotationY(rotation);
break;
case Axis.Z:
transform = Ext3D.CreateRotationZ(rotation);
break;
}
_axisTransform = _axisTransform * transform;
transform = _axisTransform;
transform.Invert();
_unitX = Ext3D.Transform(Ext3D.UnitX, transform);
_unitY = Ext3D.Transform(Ext3D.UnitY, transform);
_unitZ = Ext3D.Transform(Ext3D.UnitZ, transform);
}
public override void Restore()
{
base.Restore();
foreach (CubieFace face in Faces.Values)
{
face.Restore();
}
_center = Ext3D.Transform(_center, base.Transform);
}
public override Matrix3D Rotate(Axis axis, double deltaAngle, bool isFromSaved)
{
Matrix3D matrix = base.Rotate(axis, deltaAngle, isFromSaved);
_center = Ext3D.Transform(_center, base.Transform);
foreach (CubieFace face in Faces.Values)
{
face.DoTransform(matrix, isFromSaved);
}
return(matrix);
}
public override void DoTransform(double deltaAngle)
{
// Debug.WriteLine("start DoTransform");
foreach (CubicleFace face in AffectedFaces)
{
Cubie cubie = face.CubieFace.Cubie;
CubieFace cubieFace = face.CubieFace;
//cubicle.Cubie.Rotate(BasicOp.Axis, deltaAngle, false);
Vector3D axis = face.CubieFace.Cubie.UnitX;
if (Axis == Axis.X)
{
axis = face.CubieFace.Cubie.UnitX;
}
else if (Axis == Axis.Y)
{
axis = face.CubieFace.Cubie.UnitY;
}
else if (Axis == Axis.Z)
{
axis = face.CubieFace.Cubie.UnitZ;
}
Quaternion3D rot = Quaternion3D.CreateFromAxisAngle(axis, deltaAngle);
Matrix3D rotMatrix = Ext3D.CreateFromQuaternion(rot);
Matrix3D matrix = cubie.Transform;// Matrix.Invert(cubie.Transform);
matrix.Invert();
Matrix3D rotation = Ext3D.CreateTranslation(Ext3D.Transform(-AxisTranslationFromOrigin, matrix)) * rotMatrix * Ext3D.CreateTranslation(Ext3D.Transform(AxisTranslationFromOrigin, matrix));
if (IsAxisMoving)
{
Vector3D v1;
if (!_axisTranslation.ContainsKey(cubieFace))
{
Matrix3D m = (cubieFace as ITransform).Transform; m.Invert();
v1 = Ext3D.Transform(Axis2TranslationFromOrigin, m);
_axisTranslation.Add(cubieFace, v1);
}
v1 = _axisTranslation[cubieFace];
Matrix3D r = rotation; r.Invert();
v1 = Ext3D.Transform(v1, r);// Matrix.Invert(rotation));
Matrix3D rotationAxis = Ext3D.CreateTranslation(-v1) * rotMatrix * Ext3D.CreateTranslation(v1);
rotation = rotationAxis * rotation;
_axisTranslation[cubieFace] = v1;
}
(cubieFace as ITransform).DoTransform(rotation, false);
}
}
private void Track(Point currentPosition)
{
Vector3D currentPosition3D = currentPosition.ProjectToTrackball(
_viewport.ActualWidth, _viewport.ActualHeight);
Vector3D axis = Vector3D.CrossProduct(_previousPosition3D, currentPosition3D);
double angle = Ext3D.AngleBetween(_previousPosition3D, currentPosition3D);
axis = Ext3D.Transform(axis, _cameraRotate);
Methods.RotateCameraResult rcr = _camera.RotateCamera(axis, -angle);
_cameraRotate *= rcr.RotateMatrix;
_viewMatrix = rcr.ViewMatrix;
OnLayoutUpdated();
_previousPosition3D = currentPosition3D;
}
/// <summary>
/// Only if deep is true, then HitCubieResult could have some value
/// </summary>
/// <param name="pt"></param>
/// <param name="deep"></param>
/// <param name="hitResult"></param>
/// <returns></returns>
public bool HitTest(Point pt, bool deep, out HitResult hitResult)
{
hitResult = null;
Ray3D ray = Ext3D.Unproject(pt, _viewpoint, _model.Transform, _inverseViewMatrix, _inverseProjectionMatrix);
//Debug.WriteLine(string.Format("ray: {0}", ray));
double?d = this.BoundingBox.Intersects(ray);
if (!deep)
{
if (d != null)
{
//Debug.WriteLine(string.Format("first ray: {0}, distance:{1}", ray, (double)d));
hitResult = new HitResult()
{
Distance = (double)d, HitCubicle = null, HitPoint = ray.Origin + (double)d * ray.Direction
};
}
}
else
{
List <HitResult> results = new List <HitResult>();
if (d != null)
{
double?d1;
foreach (Cubicle cubicle in _cubicles.Values)
{
Matrix3D localToWorld = _model.Transform; localToWorld.Invert();// *cubicle.Cubie.Transform;
ray = Ext3D.Unproject(pt, _viewpoint, localToWorld, _inverseViewMatrix, _inverseProjectionMatrix);
//d1 = cubicle.Cubie.BoundingBox.Intersects(ray);
d1 = cubicle.BoundingBox.Intersects(ray);
if (d1 != null)
{
HitResult result = new HitResult()
{
Distance = (double)d1, HitCubicle = cubicle, HitPoint = ray.Origin + (double)d1 * ray.Direction
};
results.Add(result);
}
}
results.Sort((x, y) => x.Distance.CompareTo(y.Distance));
if (results.Count > 0)
{
hitResult = results[0];
}
}
}
return(d != null);
}
void ResetCamera()
{
_cameraZ = _cameraNear; _cameraMove = 0;
_camera.Position = new Point3D(0, 0, _cameraNear); //60
_camera.LookDirection = new Vector3D(0, 0, -1);
_camera.UpDirection = new Vector3D(0, 1, 0);
_camera.FieldOfView = 80;
Matrix3D vm = Matrix3D.Identity;
_cameraRotate = _camera.RotateCamera(new Vector3D(0, 1, 0), Math.PI / 6).RotateMatrix;
Vector3D axis = new Vector3D(1, 0, 0); axis = Ext3D.Transform(axis, _cameraRotate);
Methods.RotateCameraResult rcr = _camera.RotateCamera(axis, -Math.PI / 6);
_cameraRotate *= rcr.RotateMatrix;
_viewMatrix = rcr.ViewMatrix;
}
public static RotateCameraResult RotateCamera(this PerspectiveCamera camera, Vector3D axis, double angle)
{
axis.Normalize();
Quaternion3D q = Quaternion3D.CreateFromAxisAngle(axis, angle);
Matrix3D m = Ext3D.CreateFromQuaternion(q);
Vector3D p = new Vector3D(camera.Position.X, camera.Position.Y, camera.Position.Z);
Vector3D pos = Ext3D.Transform(p, m);
camera.Position = new Point3D(pos.X, pos.Y, pos.Z);
Vector3D d = new Vector3D(camera.LookDirection.X, camera.LookDirection.Y, camera.LookDirection.Z);
camera.LookDirection = Ext3D.Transform(d, m);
Vector3D up = new Vector3D(camera.UpDirection.X, camera.UpDirection.Y, camera.UpDirection.Z);
camera.UpDirection = Ext3D.Transform(up, m);
return(new RotateCameraResult
{
RotateMatrix = m,
ViewMatrix = CalculateViewMatrix(camera.Position, camera.LookDirection, camera.UpDirection)
});
}
public double TestAngle(Point pt, HitResult prevHit, Axis axis)
{
Ray3D ray = Ext3D.Unproject(pt, _viewpoint, _model.Transform, _inverseViewMatrix, _inverseProjectionMatrix);
//Plane yz = new Plane(-1, 0, 0, prevHit.HitPoint.X);
//Point3 pyz; double? d = yz.Intersects(ray); Debug.WriteLine(string.Format("second ray: {0}: distance: {1}", ray, (double)d));
//Debug.WriteLine(string.Format("second ray: {0}", ray));
double angle = 0;
switch (axis)
{
case Axis.X:
Plane3D yz = new Plane3D(new Vector3D(-1, 0, 0), prevHit.HitPoint.X); Point3D oyz = new Point3D(prevHit.HitPoint.X, 0, 0);
Point3D pyz; yz.Intersect(ray, out pyz); Vector3D from = prevHit.HitPoint - oyz; Vector3D to = pyz - oyz;
angle = Ext3D.AngleBetween(from, to);
if (Vector3D.DotProduct(Ext3D.UnitX, Vector3D.CrossProduct(from, to)) < 0)
{
angle = -angle;
}
break;
case Axis.Z:
Plane3D xy = new Plane3D(new Vector3D(0, 0, -1), prevHit.HitPoint.Z); Point3D oxy = new Point3D(0, 0, prevHit.HitPoint.Z);
Point3D pxy; xy.Intersect(ray, out pxy); from = prevHit.HitPoint - oxy; to = pxy - oxy;
angle = Ext3D.AngleBetween(from, to);
if (Vector3D.DotProduct(Ext3D.UnitZ, Vector3D.CrossProduct(from, to)) < 0)
{
angle = -angle;
}
break;
case Axis.Y:
Plane3D zx = new Plane3D(new Vector3D(0, -1, 0), prevHit.HitPoint.Y); Point3D ozx = new Point3D(0, prevHit.HitPoint.Y, 0);
Point3D pzx; zx.Intersect(ray, out pzx); from = prevHit.HitPoint - ozx; to = pzx - ozx;
angle = Ext3D.AngleBetween(from, to);
if (Vector3D.DotProduct(Ext3D.UnitY, Vector3D.CrossProduct(from, to)) < 0)
{
angle = -angle;
}
break;
}
/*
* if (angle < 2)
* angle = null;
* else
* {
* Debug.WriteLine(string.Format("axis: {0}, angle:{1}", axis, angle));
* }
*/
return(angle);
}
public double?TestAngle(Point pt, HitResult prevHit, out Axis axis)
{
HitResult hitResult;
bool hit = HitTest(pt, true, out hitResult);
double? angle = null;
axis = Axis.X;
if (hit)
{
Vector3D from, to;
angle = 0;
axis = Axis.Z;
Point3D oxy = new Point3D(0, 0, prevHit.HitPoint.Z); from = prevHit.HitPoint - oxy; to = new Point3D(hitResult.HitPoint.X, hitResult.HitPoint.Y, prevHit.HitPoint.Z) - oxy;
double xyAngle = Ext3D.AngleBetween(from, to);
angle = xyAngle;
if (Vector3D.DotProduct(Ext3D.UnitZ, Vector3D.CrossProduct(from, to)) < 0)
{
angle = -angle;
}
//plane yz, where x = prevHit.X, Axis.X
Point3D oyz = new Point3D(prevHit.HitPoint.X, 0, 0); from = prevHit.HitPoint - oyz; to = new Point3D(prevHit.HitPoint.X, hitResult.HitPoint.Y, hitResult.HitPoint.Z) - oyz;
double yzAngle = Ext3D.AngleBetween(from, to);
if (System.Math.Abs(yzAngle) > System.Math.Abs((double)angle))
{
angle = yzAngle;
axis = Axis.X;
if (Vector3D.DotProduct(Ext3D.UnitX, Vector3D.CrossProduct(from, to)) < 0)
{
angle = -angle;
}
}
//plane zx, where y = prevHit.Y, Axis.Y
Point3D ozx = new Point3D(0, prevHit.HitPoint.Y, 0); from = prevHit.HitPoint - ozx; to = new Point3D(hitResult.HitPoint.X, prevHit.HitPoint.Y, hitResult.HitPoint.Z) - ozx;
double zxAngle = Ext3D.AngleBetween(from, to);
if (System.Math.Abs(zxAngle) > System.Math.Abs((double)angle))
{
angle = zxAngle;
axis = Axis.Y;
if (Vector3D.DotProduct(Ext3D.UnitY, Vector3D.CrossProduct(from, to)) < 0)
{
angle = -angle;
}
}
double threshold = Angle.DegreesToRadians(1.0);
if (angle != null)
{
//Debug.WriteLine(string.Format("angle: {0}, threshold:{1}", angle, threshold));
if (System.Math.Abs((double)angle) < threshold)
{
//Debug.WriteLine("non null to null");
angle = null;
}
}
//else
//Debug.WriteLine("null angle");
}
return(angle);
}
