public void Matrix3()
{
FMat3 fm = FMat3.FromQuaternion(FQuat.Euler(( Fix64 )30, ( Fix64 )(-20), ( Fix64 )49.342f));
Mat3 m = Mat3.FromQuaternion(Quat.Euler(30, -20, 49.342f));
FVec3 fv = new FVec3(12.5f, 9, 8);
FVec3 fv2 = new FVec3(4, 6, 9);
Vec3 v = new Vec3(12.5f, 9, 8);
Vec3 v2 = new Vec3(4, 6, 9);
fv = fm.TransformPoint(fv);
fv2 = fm.TransformVector(fv2);
v = m.TransformPoint(v);
v2 = m.TransformVector(v2);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
this._output.WriteLine(fv.ToString());
this._output.WriteLine(fv2.ToString());
this._output.WriteLine(v.ToString());
this._output.WriteLine(v2.ToString());
fm = FMat3.LookAt(fv, fv2);
m = Mat3.LookAt(v, v2);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fv = fm.Euler();
v = m.Euler();
this._output.WriteLine(fv.ToString());
this._output.WriteLine(v.ToString());
fm = FMat3.FromEuler(fv);
m = Mat3.FromEuler(v);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat3.FromScale(fv);
m = Mat3.FromScale(v);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat3.FromCross(fv);
m = Mat3.FromCross(v);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat3.FromOuterProduct(fv, fv2);
m = Mat3.FromOuterProduct(v, v2);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat3.FromRotationAxis(( Fix64 )35, fv);
m = Mat3.FromRotationAxis(35, v);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
fm = FMat3.NonhomogeneousInverse(fm);
m = Mat3.NonhomogeneousInvert(m);
this._output.WriteLine(fm.ToString());
this._output.WriteLine(m.ToString());
}
static void AddThicknessLine(Camera camera, Vec3 start, Vec3 end, float thickness)
{
Vec3 diff = end - start;
Vec3 direction = diff.GetNormalize();
Quat rotation = Quat.FromDirectionZAxisUp(direction);
float length = diff.Length();
float thickness2 = thickness;
Mat4 t = new Mat4(rotation.ToMat3() * Mat3.FromScale(new Vec3(length, thickness2, thickness2)),
(start + end) * .5f);
if (addThicknessLinePositions == null)
{
GeometryGenerator.GenerateBox(new Vec3(1, 1, 1), out addThicknessLinePositions, out addThicknessLineIndices);
}
camera.DebugGeometry.AddVertexIndexBuffer(addThicknessLinePositions, addThicknessLineIndices, t, false, true);
}
ColorValue RenderPixel(Vec2I pixelIndex)
{
int triangleIndex = lightmapTriangleMap[pixelIndex.Y][pixelIndex.X];
if (triangleIndex == -1)
{
return(new ColorValue(-1, -1, -1, -1));
}
Mesh mesh = lightmapMeshObject.Mesh;
Mat4 transform = new Mat4(lightmapMeshObject.Rotation.ToMat3() *
Mat3.FromScale(lightmapMeshObject.Scale), lightmapMeshObject.Position);
Vec3 position;
Vec3 normal;
{
Vec2 texCoord = GetTexCoordByPixelIndex(pixelIndex);
int index0 = mesh.Indices[triangleIndex * 3 + 0];
int index1 = mesh.Indices[triangleIndex * 3 + 1];
int index2 = mesh.Indices[triangleIndex * 3 + 2];
Vec3 position0 = transform * mesh.Positions[index0];
Vec3 position1 = transform * mesh.Positions[index1];
Vec3 position2 = transform * mesh.Positions[index2];
Vec3 normal0 = lightmapMeshObject.Rotation * mesh.Normals[index0];
Vec3 normal1 = lightmapMeshObject.Rotation * mesh.Normals[index1];
Vec3 normal2 = lightmapMeshObject.Rotation * mesh.Normals[index2];
Vec2 texCoord0 = mesh.LightmapTexCoords[index0];
Vec2 texCoord1 = mesh.LightmapTexCoords[index1];
Vec2 texCoord2 = mesh.LightmapTexCoords[index2];
float coef0;
float coef1;
GetTriangePositionCoefficients(ref texCoord0, ref texCoord1, ref texCoord2,
ref texCoord, out coef0, out coef1);
//calculate position
{
Vec3 p01 = Vec3.Lerp(position0, position1, coef0);
Vec3 p02 = Vec3.Lerp(position0, position2, coef0);
position = Vec3.Lerp(p01, p02, coef1);
}
//calculate normal
{
Vec3 p01 = Vec3.Lerp(normal0, normal1, coef0);
Vec3 p02 = Vec3.Lerp(normal0, normal2, coef0);
normal = Vec3.Lerp(p01, p02, coef1);
normal.Normalize();
}
}
//calculate pixel color
ColorValue resultColor = new ColorValue(0, 0, 0);
foreach (MyLight light in lights)
{
//simple culling method. need use grid
if (!light.Bounds.IsContainsPoint(position))
{
continue;
}
//calculate illumination
float illumination = light.GetIllumination(position, normal);
if (illumination <= .00001f)
{
continue;
}
//check for direct visibility
bool shadowed = false;
if (calculateShadows)
{
Ray ray = light.GetCheckVisibilityRay(position);
RayCastResult result = physicsScene.RayCast(ray, contactGroup);
if (result.Shape != null)
{
shadowed = true;
}
}
ColorValue color = light.DiffuseColor * illumination;
if (shadowed)
{
color *= new ColorValue(1, 1, 1) - shadowColor;
}
resultColor += color;
}
resultColor.Alpha = 1;
return(resultColor);
}
bool ParseColladaNode(XmlNode colladaNode)
{
//globalScale, yAxisUp
{
XmlNode assetNode = XmlUtils.FindChildNode(colladaNode, "asset");
if (assetNode != null)
{
XmlNode upAxisNode = XmlUtils.FindChildNode(assetNode, "up_axis");
if (upAxisNode != null)
{
if (upAxisNode.InnerText == "Z_UP")
{
yAxisUp = false;
}
else if (upAxisNode.InnerText == "X_UP")
{
Error("X up axis is not supported.");
return(false);
}
}
XmlNode unitNode = XmlUtils.FindChildNode(assetNode, "unit");
if (unitNode != null)
{
string meterStr = XmlUtils.GetAttribute(unitNode, "meter");
if (!string.IsNullOrEmpty(meterStr))
{
string fixedStr = meterStr.Replace(',', '.');
if (!float.TryParse(fixedStr, out globalScale))
{
Error("Invalid \"meter\" attribute of \"unit\" node.");
return(false);
}
}
}
}
}
//library_geometries
if (!ParseGeometries(colladaNode))
{
return(false);
}
//library_visual_scenes
foreach (XmlNode visualScenesNode in colladaNode.ChildNodes)
{
if (visualScenesNode.Name != "library_visual_scenes")
{
continue;
}
foreach (XmlNode visualSceneNode in visualScenesNode.ChildNodes)
{
if (visualSceneNode.Name != "visual_scene")
{
continue;
}
foreach (XmlNode nodeNode in visualSceneNode.ChildNodes)
{
if (nodeNode.Name != "node")
{
continue;
}
Mat4 currentTransform = Mat4.Identity;
if (globalScale != 1)
{
Mat4 m = Mat3.FromScale(new Vec3(globalScale, globalScale, globalScale)).ToMat4();
currentTransform *= m;
}
if (yAxisUp)
{
Mat4 mayaToNeoAxisRotation = new Mat4(
new Vec4(0, 1, 0, 0),
new Vec4(0, 0, 1, 0),
new Vec4(1, 0, 0, 0),
new Vec4(0, 0, 0, 1));
currentTransform *= mayaToNeoAxisRotation;
}
if (!ParseNode(currentTransform, nodeNode))
{
return(false);
}
}
}
}
return(true);
}
bool ParseNode(Mat4 nodeTransform, XmlNode node)
{
string nodeId = XmlUtils.GetAttribute(node, "id");
Mat4 currentTransform = nodeTransform;
foreach (XmlNode childNode in node.ChildNodes)
{
if (childNode.Name == "matrix")
{
float[] values = ConvertStringToFloatArray(childNode.InnerText);
if (values == null || values.Length != 16)
{
Error("Invalid format of \"matrix\" node. Node \"{0}\".", nodeId);
return(false);
}
Mat4 matrix = new Mat4(values);
currentTransform *= matrix;
continue;
}
if (childNode.Name == "translate")
{
float[] values = ConvertStringToFloatArray(childNode.InnerText);
if (values == null || values.Length != 3)
{
Error("Invalid format of \"translate\" node. Node \"{0}\".", nodeId);
return(false);
}
Vec3 translate = new Vec3(values[0], values[1], values[2]);
currentTransform *= Mat4.FromTranslate(translate);
continue;
}
if (childNode.Name == "rotate")
{
float[] values = ConvertStringToFloatArray(childNode.InnerText);
if (values == null || values.Length != 4)
{
Error("Invalid format of \"rotate\" node. Node \"{0}\".", nodeId);
return(false);
}
Vec3 axis = new Vec3(values[0], values[1], values[2]);
Radian angle = new Degree(values[3]).InRadians();
if (axis != Vec3.Zero)
{
axis.Normalize();
float halfAngle = .5f * angle;
float sin = MathFunctions.Sin(halfAngle);
float cos = MathFunctions.Cos(halfAngle);
Quat r = new Quat(axis * sin, cos);
r.Normalize();
currentTransform *= r.ToMat3().ToMat4();
}
continue;
}
if (childNode.Name == "scale")
{
float[] values = ConvertStringToFloatArray(childNode.InnerText);
if (values == null || values.Length != 3)
{
Error("Invalid format of \"scale\" node. Node \"{0}\".", nodeId);
return(false);
}
Vec3 scale = new Vec3(values[0], values[1], values[2]);
currentTransform *= Mat3.FromScale(scale).ToMat4();
continue;
}
if (childNode.Name == "node")
{
if (!ParseNode(currentTransform, childNode))
{
return(false);
}
continue;
}
if (childNode.Name == "instance_geometry")
{
if (!ParseNodeInstanceGeometry(currentTransform, childNode))
{
return(false);
}
continue;
}
}
return(true);
}