//Methods
List<Vector3d> calcNodalWindLoads(List<Vector3d> vertexNormals, Vector3d wind, bool scale)
{
List<Vector3d> windload = new List<Vector3d>();
double w = wind.Length; //kN/m2
Vector3d wDir = new Vector3d(wind);
wDir.Unitize();
for(int i=0; i<vertexNormals.Count; i++)
{
//Calculate projection onto wind direction
Vector3d vN = vertexNormals[i];
double vertexArea = vN.Length; //m2
vN.Unitize();
double dotProduct = Vector3d.Multiply(vN, wDir);
//Calculate wind force
Vector3d force = vN * vertexArea * w * 1e3; //N
if(dotProduct < 0.0)
{
force.Reverse();
}
if (scale)
{
force *= Math.Abs(dotProduct);
}
windload.Add(force);
}
return windload;
}
/// <summary>
/// Makes a plane that includes a line and a vector and goes through a bounding box.
/// </summary>
/// <param name="lineInPlane">A line that will lie on the plane.</param>
/// <param name="vectorInPlane">A vector the direction of which will be in plane.</param>
/// <param name="box">A box to cut through.</param>
/// <returns>A new plane surface on success, or null on error.</returns>
public static PlaneSurface CreateThroughBox(Line lineInPlane, Vector3d vectorInPlane, BoundingBox box)
{
IntPtr ptr = UnsafeNativeMethods.RHC_RhinoPlaneThroughBox(ref lineInPlane, vectorInPlane, ref box);
if (IntPtr.Zero == ptr)
return null;
return new PlaneSurface(ptr, null);
}
public readonly Vector3d v; // Velocity in primary's inertial frame
#endregion Fields
#region Constructors
// Straightforward constructor
public Orbpos(Vector3d r, Vector3d v, double t, double mu)
{
this.r = r;
this.v = v;
this.t = t;
this.mu = mu;
}
//
public Movil(ref ObjectId line, ref ObjectId mobile, double minSeparation, double maxSeparation, bool loopTravel)
{
this.line = line;
this.mobile = mobile;
this.dPromMin = minSeparation;
this.dPromMax = maxSeparation;
this.loopTravel = loopTravel;
this.goal = false;
this.ruta = Lab3.DBMan.OpenEnity(line) as Polyline;
this.bloque = Lab3.DBMan.OpenEnity(mobile) as BlockReference;
this.bloqueCentro = new Point3d((bloque.GeometricExtents.MinPoint.X +
bloque.GeometricExtents.MaxPoint.X) / 2,
(bloque.GeometricExtents.MinPoint.Y +
bloque.GeometricExtents.MaxPoint.Y) / 2,
0);
this.numeroSegmentos = this.ruta.NumberOfVertices - 1;
this.segmentoActualIndex = 0;
this.segmentoActual = this.ruta.GetLineSegment2dAt(segmentoActualIndex);
Lab3.DBMan.UpdateBlockPosition(new Point3d(this.segmentoActual.StartPoint.X, this.segmentoActual.StartPoint.Y, 0), mobile);
//
AttributeManager attribute = new AttributeManager(mobile);
attribute.SetAttribute("Velocity", this.velocity+" [Kms/hr]");
//
this.pointActualCurve = 0;
this.velocityScale = 0.00001f;
this.velocity = this.UpdateDireccion();
Lab3.DBMan.UpdateBlockRotation(new Vector2d(this.velocity.X, this.velocity.Y).Angle, this.mobile);
}
public HUDQuad(RenderSet render_set, Vector3d p, Vector3d s)
: this(render_set, p,
p + new Vector3d(s.X, 0.0, 0.0),
p + new Vector3d(s.X, s.Y, 0.0),
p + new Vector3d(0.0, s.Y, 0.0))
{
}
/// <summary>
/// Orbit foo, this finds the nodes of two orbits
/// </summary>
/// <returns>
/// The true anomaly of the ascending node(descing node is 180degrees off)
/// </returns>
/// <param name='orbit'>
/// Orbit.
/// </param>
/// <param name='tgtorbit'>
/// Target Orbit
/// </param>
public static double FindAN(Orbit orbit, Orbit tgtorbit)
{
double rad = Math.PI/180;
double Lan1 = orbit.LAN;
double inc1 = orbit.inclination;
double Lan2 = tgtorbit.LAN;
double inc2 = tgtorbit.inclination;
//see braeunig.us/space... cross product of two orbital planes gives the node location
var a = new Vector3d(Math.Sin(inc1*rad)*Math.Cos(Lan1*rad), Math.Sin(inc1*rad)*Math.Sin(Lan1*rad),
Math.Cos(inc1*rad));
var b = new Vector3d(Math.Sin(inc2*rad)*Math.Cos(Lan2*rad), Math.Sin(inc2*rad)*Math.Sin(Lan2*rad),
Math.Cos(inc2*rad));
var c = new Vector3d(0, 0, 0);
c = Vector3d.Cross(a, b);
var coord = new double[] {0, 0};
coord = LatLonofVector(c); //get the coordinates lat/lon of the ascending node
double lat = coord[0];
double lon = coord[1];
//go look at the diagrams at braeunig.us/space
double α = lon - Lan1; //its all greek to me
if (α < 0) α += 360;
double λ = Math.Atan(Math.Tan(α*rad)/Math.Cos(inc1*rad))/rad;
double x = 180 + (λ - orbit.argumentOfPeriapsis);
if (x > 360) return 360 - x;
else return x;
}
// Perturb an orbit by a deltaV vector
public static void Perturb(this Orbit orbit, Vector3d deltaVV, double UniversalTime, double deltaTime)
{
// If there is a deltaV, perturb orbit
if (deltaVV.magnitude <= 0) return;
// Transpose deltaVV Y and Z to match orbit frame
Vector3d deltaVV_orbit = deltaVV.xzy;
Vector3d position = orbit.getRelativePositionAtUT(UniversalTime);
//Orbit orbit2 = orbit.Clone();
//orbit2.UpdateFromStateVectors(position, orbit.getOrbitalVelocityAtUT(UniversalTime) + deltaVV_orbit, orbit.referenceBody, UniversalTime);
//if (!double.IsNaN(orbit2.inclination) && !double.IsNaN(orbit2.eccentricity) && !double.IsNaN(orbit2.semiMajorAxis) && orbit2.timeToAp > deltaTime)
//{
// orbit.inclination = orbit2.inclination;
// orbit.eccentricity = orbit2.eccentricity;
// orbit.semiMajorAxis = orbit2.semiMajorAxis;
// orbit.LAN = orbit2.LAN;
// orbit.argumentOfPeriapsis = orbit2.argumentOfPeriapsis;
// orbit.meanAnomalyAtEpoch = orbit2.meanAnomalyAtEpoch;
// orbit.epoch = orbit2.epoch;
// orbit.referenceBody = orbit2.referenceBody;
// orbit.Init();
// orbit.UpdateFromUT(UniversalTime);
//}
//else
//{
orbit.UpdateFromStateVectors(position, orbit.getOrbitalVelocityAtUT(UniversalTime) + deltaVV_orbit, orbit.referenceBody, UniversalTime);
orbit.Init();
orbit.UpdateFromUT(UniversalTime);
//}
}
public MengerCube( Vector3d center, double sidelength, eSides[] visibleSides, eSides[] parentsVisibility )
{
Center = center;
SideLength = sidelength;
/* List<eSides> Sides = new List<eSides>();
foreach ( eSides s in visibleSides )
{
bool isVisible = false;
foreach ( eSides p in parentsVisibility )
{
if ( (int)p == (int)s )
{
isVisible = true;
break;
}
}
if ( isVisible )
{
Sides.Add( s );
}
}
VisibleSides = Sides.ToArray();*/
VisibleSides = visibleSides;
VisibilityToInherit = visibleSides;
}
public void Set(Vector3d vec)
{
Vector = vec;
XValue.Value = (decimal)Vector.X;
YValue.Value = (decimal)Vector.Y;
ZValue.Value = (decimal)Vector.Z;
if (UseDecimalIncrement)
{
XValue.Increment = (decimal)0.001;
YValue.Increment = (decimal)0.001;
ZValue.Increment = (decimal)0.001;
}
else
{
XValue.Increment = (decimal)1;
YValue.Increment = (decimal)1;
ZValue.Increment = (decimal)1;
}
XYLock.Enabled = UseLocks;
if (!UseLocks)
YValue.Enabled = true;
}
public Vertex(Vector3d p, /*Vector3d n,*/ Vector2d tc, Vector4 c)
{
Position = p;
//Normal = n;
TexCoord = tc;
Color = c;
}
public void RunCalculations(
Vessel vessel,
Quaternion gymbal)
{
// Calculations thanks to Mechjeb
Vector3d CoM = vessel.findWorldCenterOfMass();
Vector3d up = (CoM - vessel.mainBody.position).normalized;
Vector3d velocityVesselOrbit = vessel.orbit.GetVel();
Vector3d velocityVesselOrbitUnit = velocityVesselOrbit.normalized;
Vector3d radialPlus = Vector3d.Exclude(velocityVesselOrbit, up).normalized;
Vector3d velocityVesselSurface = velocityVesselOrbit - vessel.mainBody.getRFrmVel(CoM);
Vector3d velocityVesselSurfaceUnit = velocityVesselSurface.normalized;
RadialPlus = gymbal * radialPlus;
NormalPlus = gymbal * -Vector3d.Cross(radialPlus, velocityVesselOrbitUnit);
ProgradeOrbit = gymbal * velocityVesselOrbitUnit;
ProgradeSurface = gymbal * velocityVesselSurfaceUnit;
if (vessel.patchedConicSolver.maneuverNodes.Count > 0)
{
Vector3d burnVector = vessel.patchedConicSolver.maneuverNodes[0].GetBurnVector(vessel.orbit);
ManeuverPlus = gymbal * burnVector.normalized;
ManeuverPresent = true;
}
else
{
ManeuverPresent = false;
}
}
public static void DrawBox(Vector3d mvMin, Vector3d mvMax)
{
Vector3d[] v = new Vector3d[8];
v[0] = new Vector3d(mvMin.X, mvMin.Y, mvMin.Z);
v[1] = new Vector3d(mvMax.X, mvMin.Y, mvMin.Z);
v[2] = new Vector3d(mvMax.X, mvMax.Y, mvMin.Z);
v[3] = new Vector3d(mvMin.X, mvMax.Y, mvMin.Z);
v[4] = new Vector3d(mvMin.X, mvMin.Y, mvMax.Z);
v[5] = new Vector3d(mvMax.X, mvMin.Y, mvMax.Z);
v[6] = new Vector3d(mvMax.X, mvMax.Y, mvMax.Z);
v[7] = new Vector3d(mvMin.X, mvMax.Y, mvMax.Z);
GL.PushAttrib(AttribMask.AllAttribBits);
GL.Disable(EnableCap.Lighting);
GL.Color4(Color4.Red);
GL.Begin(PrimitiveType.Lines);
GL.Vertex3(v[0]); GL.Vertex3(v[1]);
GL.Vertex3(v[1]); GL.Vertex3(v[2]);
GL.Vertex3(v[2]); GL.Vertex3(v[3]);
GL.Vertex3(v[3]); GL.Vertex3(v[0]);
GL.Vertex3(v[4]); GL.Vertex3(v[5]);
GL.Vertex3(v[5]); GL.Vertex3(v[6]);
GL.Vertex3(v[6]); GL.Vertex3(v[7]);
GL.Vertex3(v[7]); GL.Vertex3(v[4]);
GL.Vertex3(v[0]); GL.Vertex3(v[4]);
GL.Vertex3(v[1]); GL.Vertex3(v[5]);
GL.Vertex3(v[2]); GL.Vertex3(v[6]);
GL.Vertex3(v[3]); GL.Vertex3(v[7]);
GL.End();
GL.PopAttrib();
}
public static Vector3d GetRotateVector(Vector3d v, double xr, double yr, double zr)
{
v = v.TransformBy(Matrix3d.Rotation(xr * System.Math.PI / 180, Vector3d.XAxis, Point3d.Origin));
v = v.TransformBy(Matrix3d.Rotation(yr * System.Math.PI / 180, Vector3d.YAxis, Point3d.Origin));
v = v.TransformBy(Matrix3d.Rotation(zr * System.Math.PI / 180, Vector3d.ZAxis, Point3d.Origin));
return v;
}
public override Mesh Generate(Point3d P, Vector3d V)
{
Vector3d diffx;
Vector3d diffy;
Vector3d diffz = new Vector3d(V);
double proj;
diffx = new Vector3d(0, 0, 1);
proj = System.Math.Abs(Vector3d.Multiply(diffz, diffx));
if (0.99 < proj && 1.01 > proj) diffx = new Vector3d(1, 0, 0);
diffy = diffz;
diffy = Vector3d.CrossProduct(diffy, diffx);
diffx = Vector3d.CrossProduct(diffy, diffz);
diffx.Unitize();
diffy.Unitize();
diffz.Unitize();
Mesh M = new Mesh();
M.Vertices.SetVertex(0, P + diffz * 0.25);
M.Vertices.SetVertex(1, P + (diffx * 0.7072 + diffy * -.5 + diffz * -.5) * 0.25);
M.Vertices.SetVertex(2, P + (diffy + diffz * -.5) * 0.25);
M.Vertices.SetVertex(3, P + (diffx * -0.7072 + diffy * -.5 + diffz * -.5) * 0.25);
M.Faces.SetFace(0, 0, 1, 2);
M.Faces.SetFace(1, 0, 2, 3);
M.Faces.SetFace(2, 0, 3, 1);
M.Faces.SetFace(3, 3, 2, 1);
M.FaceNormals.ComputeFaceNormals();
//M.ComputeVertexNormals();
return M;
}
/// <summary>
/// Проводит десериалзиацию
/// </summary>
/// <param name="package">Содержимое пакета</param>
/// <returns>Структура из трех величин</returns>
public override Vector3d Do(string package)
{
string sub = "";
Vector3d result = new Vector3d();
int index1 = 0;
int index2 = package.LastIndexOf('>');
for (int i = index2 - 1; i >= 0; i--)
{
if (package[i] == '<')
{
index1 = i;
break;
}
}
if ((index1 != -1) && (index2 != -1) && (index2 >= index1))
sub = package.Substring(index1 + 1, index2 - index1 - 1);
else
throw new ExceptionServer("Block borders are not found");
string[] parameters = sub.Split(';');
result.X = double.Parse(parameters[0].Replace(',', '.'), CultureInfo.InvariantCulture); // Pitch
result.Y = double.Parse(parameters[1].Replace(',', '.'), CultureInfo.InvariantCulture); // Roll
result.Z = double.Parse(parameters[2].Replace(',', '.'), CultureInfo.InvariantCulture); // Yaw
return result;
}
/// <summary>
/// Calculates distance between a hole edge and all other holes. This distance is used to calculate the force between the points and assign an acceleration to a point.
/// </summary>
/// <param name="others"></param>
/// <param name="p"></param>
/// <returns></returns>
private void CalculateAcceleration(IList<Hole> others)
{
this.newAccelerationVector = Vector3d.Zero;
double minimumDenominatorToAvoidDivideByZero = 5;
for (int i = 0; i < others.Count; i++)
{
Hole other = others[i];
Vector3d VectorPointToPointInfluence = other.point - this.point;
double distanceBetweenPoints = VectorPointToPointInfluence.Length;
if (distanceBetweenPoints < double.Epsilon)
{
continue;
}
double distanceBetweenHoles = distanceBetweenPoints - other.radius - this.radius;
if (distanceBetweenHoles <= 0) //checks if holes intersect.
{
distanceBetweenHoles = 0;
}
VectorPointToPointInfluence.Unitize();
VectorPointToPointInfluence *= -this.force / (minimumDenominatorToAvoidDivideByZero + distanceBetweenHoles * distanceBetweenHoles);
VectorPointToPointInfluence = AdjustAccelerationForColourSensitivity(VectorPointToPointInfluence, other);
this.newAccelerationVector += VectorPointToPointInfluence;
}
this.newAccelerationVector = this.ConstrainVectorToMeshFace(this.newAccelerationVector);
}
public static Vector3d Cross(Vector3d lhs, Vector3d rhs)
{
return new Vector3d(
lhs.y * rhs.z - lhs.z * rhs.y,
lhs.z * rhs.x - lhs.x * rhs.z,
lhs.x * rhs.y - lhs.y * rhs.x);
}
/// <summary>
/// Initializes a new instance of the WorldBoxEnvironmentComponent class.
/// </summary>
public PolysurfaceEnvironmentComponent()
: base("Polysurface Environment", "PolysrfEnv",
"A 3D Polysurface Environment.", RS.icon_polysurfaceEnvironment, "646e7585-d3b0-4ebd-8ce3-8efc5cd6b7d9")
{
brep = new Brep();
borderDir = Vector3d.Zero;
}
public Vector3d Compute(Vector3d error, Vector3d omega, Vector3d Wlimit)
{
derivativeAct = Vector3d.Scale(omega, Kd);
Wlimit = Vector3d.Scale(Wlimit, Kd);
// integral actíon + Anti Windup
intAccum.x = (Math.Abs(derivativeAct.x) < 0.6 * max) ? intAccum.x + (error.x * Ki.x * TimeWarp.fixedDeltaTime) : 0.9 * intAccum.x;
intAccum.y = (Math.Abs(derivativeAct.y) < 0.6 * max) ? intAccum.y + (error.y * Ki.y * TimeWarp.fixedDeltaTime) : 0.9 * intAccum.y;
intAccum.z = (Math.Abs(derivativeAct.z) < 0.6 * max) ? intAccum.z + (error.z * Ki.z * TimeWarp.fixedDeltaTime) : 0.9 * intAccum.z;
propAct = Vector3d.Scale(error, Kp);
Vector3d action = propAct + intAccum;
// Clamp (propAct + intAccum) to limit the angular velocity:
action = new Vector3d(Math.Max(-Wlimit.x, Math.Min(Wlimit.x, action.x)),
Math.Max(-Wlimit.y, Math.Min(Wlimit.y, action.y)),
Math.Max(-Wlimit.z, Math.Min(Wlimit.z, action.z)));
// add. derivative action
action += derivativeAct;
// action clamp
action = new Vector3d(Math.Max(min, Math.Min(max, action.x)),
Math.Max(min, Math.Min(max, action.y)),
Math.Max(min, Math.Min(max, action.z)));
return action;
}
public static double AngleBetweenTwoVectors(Vector3d a, Vector3d b)
{
double temp = (a.X * b.X + a.Y * b.Y + a.Z * b.Z) / (a.Length * b.Length);
if (temp > 1.0) temp = 1.0;
else if (temp < -1.0) temp = -1.0;
return Math.Acos(temp);
}
public static unsafe void Main () {
for (int i = 0; i < BufferSize; i++)
Vectors[i] = new Vector3d(i * 0.5, (double)i, i * 1.5);
Console.WriteLine("Add: {0:00000.00}ms", Time(TestAdd));
Console.WriteLine("Add Overloaded: {0:00000.00}ms", Time(TestAddOverloaded));
}
public Vertex(double px, double py, double pz, /*double nx, double ny, double nz,*/ double tcx, double tcy)
{
Position = new Vector3d(px, py, pz);
//Normal = new Vector3d(nx, ny, nz);
TexCoord = new Vector2d(tcx, tcy);
Color = Vector4.One;
}
/// <summary>
/// Ctor
/// </summary>
/// <param name="pos"></param>
/// <param name="normal"></param>
/// <param name="color"></param>
public Point3D(Vector3d pos, Vector3d normal, Color color)
: this()
{
Position = pos;
Normal = normal;
Color = color;
}
public Vertex(double px, double py, double pz, /*double nx, double ny, double nz,*/ double tcx, double tcy, float r, float b, float g, float a)
{
Position = new Vector3d(px, py, pz);
//Normal = new Vector3d(nx, ny, nz);
TexCoord = new Vector2d(tcx, tcy);
Color = new Vector4(r, g, b, a);
}
private static bool IsHidden(Vector3d point)
{
Vector3d camera = ScaledSpace.ScaledToLocalSpace(
PlanetariumCamera.Camera.transform.position);
foreach (CelestialBody body in hiding_bodies_) {
Vector3d camera_to_point = point - camera;
Vector3d camera_to_body = body.position - camera;
double inner_product = Vector3d.Dot(camera_to_point, camera_to_body);
double r_squared = body.Radius * body.Radius;
// The projections on the camera-body axis of |point| and of the horizon
// have lengths |inner_product| / d and d - r^2/d, where d is the distance
// between the camera and the body and r is the body's radius, thus if
// |inner_product| < d^2 - r^2, |point| is above the plane passing
// through the horizon.
// Otherwise, we check whether |point| is within the cone hidden from the
// camera, by comparing the squared cosines multiplied by
// d^2|camera_to_point|^2.
// In addition, we check whether we're inside the body (this covers the
// cap above the horizon plane and below the surface of the body, which
// would otherwise be displayed).
double d_squared_minus_r_squared =
camera_to_body.sqrMagnitude - r_squared;
if ((body.position - point).sqrMagnitude < r_squared ||
(inner_product > d_squared_minus_r_squared &&
inner_product * inner_product >
camera_to_point.sqrMagnitude * d_squared_minus_r_squared)) {
return true;
}
}
return false;
}
protected override Vector3d CalculateDesiredVelocity()
{
Vector3d desired = new Vector3d();
//Predict the vehicle's future location
Vector3d predict = agent.Velocity3D;
predict.Unitize();
predict = predict * predictionDistance;
predictLoc = agent.Position3D + predict;
//Find the normal point along the path
double t;
path.ClosestPoint(predictLoc, out t);
pathPt = path.PointAt(t);
//Move a little further along the path and set a target
//If we are off the path, seek that target in order to stay on the path
double distance = pathPt.DistanceTo(predictLoc);
if (distance > radius)
{
pathPt = path.PointAt(t + pathTargetDistance);
pathPt = agent.Environment.MapTo2D(pathPt);
// Seek that point
desired = Util.Agent.Seek(agent, pathPt);
}
return desired;
}
/// <summary>
/// Creates a new Polyline that is the result of projecting the Polyline3d parallel to 'direction' onto 'plane' and returns it.
/// </summary>
/// <param name="pline">The polyline to project.</param>
/// <param name="plane">The plane onto which the curve is to be projected.</param>
/// <param name="direction">Direction (in WCS coordinates) of the projection.</param>
/// <returns>The projected Polyline.</returns>
public static Polyline GetProjectedPolyline(this Polyline3d pline, Plane plane, Vector3d direction)
{
if (plane.Normal.IsPerpendicularTo(direction, new Tolerance(1e-9, 1e-9)))
return null;
return GeomExt.ProjectPolyline(pline, plane, direction);
}
/// <summary>
/// Base initializer for all shapes
/// </summary>
/// <param name="vertices">The number of vertices that make up the shape</param>
/// <param name="Position">The zero position of the vertices (these are shifted around with Calculate())</param>
public Shape(int vertices, Vector3d Position)
{
this.Vertices = new Vector3d[vertices];
for (int i = 0; i < Vertices.Length; i++) {
Vertices[i] = Position;
}
}
public static Ray Reflect(Ray incoming, Vector3d normal)
{
Ray reflected = new Ray(
incoming.Origin,
Reflect(incoming.Direction, normal));
return reflected;
}
protected override Vector3d CalculateDesiredVelocity()
{
Vector3d desired = new Vector3d();
int count = 0;
foreach (IQuelea neighbor in neighbors)
{
//Point3d neighborPosition2D = agent.Environment.ClosestRefPoint(neighbor.Position3D);
Point3d neighborPosition2D = agent.Environment.Wrap ? wrappedPositions[count] : neighbor.Position;
//Adding up all the others' location
desired = desired + (Vector3d)neighborPosition2D;
//For an average, we need to keep track of how many boids
//are in our vision.
count++;
}
if (count > 0)
{
//We desire to go in that direction at maximum speed.
desired = desired / count;
desired = Util.Agent.Seek(agent, new Point3d(desired));
}
//Seek the average location of our neighbors.
return desired;
}
public void Set(Vector3d position)
{
gameObject.transform.position = position;
}
// TODO : I should probably use an array and an enum to lower code dup ...
public override void OnUpdate()
{
if (vessel != FlightGlobals.ActiveVessel)
{
return;
}
if (comSphere == null)
{
comSphere = new DebugIcoSphere(XKCDColors.BloodRed, true);
colSphere = new DebugIcoSphere(XKCDColors.Teal, true);
cotSphere = new DebugIcoSphere(XKCDColors.PurplePink, true);
srfVelocityArrow = new DebugArrow(Color.green);
obtVelocityArrow = new DebugArrow(Color.red);
dotArrow = new DebugArrow(XKCDColors.PurplePink);
forwardArrow = new DebugArrow(XKCDColors.ElectricBlue);
avgForwardArrow = new DebugArrow(Color.blue);
requestedAttitudeArrow = new DebugArrow(Color.gray);
debugArrow = new DebugArrow(XKCDColors.Fuchsia);
debugArrow2 = new DebugArrow(XKCDColors.LightBlue);
}
var frameVel = (vesselState.orbitalVelocity - Krakensbane.GetFrameVelocity() - vessel.orbit.GetRotFrameVel(vessel.orbit.referenceBody).xzy) * Time.fixedDeltaTime;
Vector3d instantCoM = vesselState.CoM + frameVel;
Vector3 arrowPos = displayAtCoM
? instantCoM
: (Vector3d)vessel.ReferenceTransform.position;
comSphere.State(comSphereActive);
if (comSphereActive)
{
comSphere.Set(instantCoM);
comSphere.SetRadius((float)comSphereRadius.val);
}
colSphere.State(colSphereActive && vesselState.CoLScalar > 0);
if (colSphereActive)
{
colSphere.Set(vesselState.CoL + frameVel);
colSphere.SetRadius((float)comSphereRadius.val);
}
cotSphere.State(cotSphereActive && vesselState.CoTScalar > 0);
if (cotSphereActive)
{
cotSphere.Set(vesselState.CoT + frameVel);
cotSphere.SetRadius((float)comSphereRadius.val);
}
srfVelocityArrow.State(srfVelocityArrowActive);
if (srfVelocityArrowActive)
{
srfVelocityArrow.Set(arrowPos, vessel.srf_velocity);
srfVelocityArrow.SetLength((float)arrowsLength.val);
srfVelocityArrow.SeeThrough(seeThrough);
}
obtVelocityArrow.State(obtVelocityArrowActive);
if (obtVelocityArrowActive)
{
obtVelocityArrow.Set(arrowPos, vessel.obt_velocity);
obtVelocityArrow.SetLength((float)arrowsLength.val);
obtVelocityArrow.SeeThrough(seeThrough);
}
dotArrow.State(dotArrowActive && vesselState.thrustCurrent > 0);
if (dotArrowActive)
{
dotArrow.Set(vesselState.CoT + frameVel, vesselState.DoT);
dotArrow.SetLength((float)Math.Log10(vesselState.thrustCurrent + 1));
dotArrow.SeeThrough(seeThrough);
}
forwardArrow.State(forwardArrowActive);
if (forwardArrowActive)
{
forwardArrow.Set(arrowPos, vessel.GetTransform().up);
forwardArrow.SetLength((float)arrowsLength.val);
forwardArrow.SeeThrough(seeThrough);
}
avgForwardArrow.State(avgForwardArrowActive);
if (avgForwardArrowActive)
{
avgForwardArrow.Set(arrowPos, vesselState.forward);
avgForwardArrow.SetLength((float)arrowsLength.val);
avgForwardArrow.SeeThrough(seeThrough);
}
requestedAttitudeArrow.State(requestedAttitudeArrowActive && core.attitude.enabled);
if (requestedAttitudeArrowActive && core.attitude.enabled)
{
requestedAttitudeArrow.Set(arrowPos, core.attitude.RequestedAttitude);
requestedAttitudeArrow.SetLength((float)arrowsLength.val);
requestedAttitudeArrow.SeeThrough(seeThrough);
}
debugArrow.State(debugArrowActive);
if (debugArrowActive)
{
debugArrow.Set(vessel.ReferenceTransform.position, debugVector);
debugArrow.SetLength((float)debugVector.magnitude);
debugArrow.SeeThrough(seeThrough);
}
debugArrow2.State(debugArrow2Active);
if (debugArrow2Active)
{
//debugArrow2.Set(vessel.ReferenceTransform.position, debugVector2);
//
//debugArrow2.SetLength((float)debugVector2.magnitude);
//debugArrow2.SeeThrough(seeThrough);
var vector3d = vesselState.CoL - instantCoM + frameVel;
debugArrow2.Set(instantCoM, vector3d);
debugArrow2.SetLength((float)vector3d.magnitude);
debugArrow2.SeeThrough(seeThrough);
}
}
/// <summary>
/// Generates the actual mesh for the polyhedron
/// </summary>
private void MakeMesh()
{
MeshFilter mf;
mf = Shape.GetComponent <MeshFilter>();
if (mf == null)
{
mf = Shape.AddComponent <MeshFilter>();
}
mf.mesh = null;
Mesh mesh = new Mesh();
TriangulatedPolygonGenerator tpg = new TriangulatedPolygonGenerator();
Frame3f frame = new Frame3f();
tpg.Polygon = Polygon.ToPolygon(ref frame);
tpg.Generate();
int nv = tpg.vertices.Count;
VertexTable.Clear();
foreach (Dataline ring in Polygon)
{
foreach (VertexLookup v in ring.VertexTable)
{
VertexTable.Add(v);
}
}
IEnumerable <Vector3d> vlist = tpg.vertices.AsVector3d();
Vector3[] vertices = new Vector3[vlist.Count()];
for (int i = 0; i < vlist.Count(); i++)
{
Vector3d v = vlist.ElementAt(i);
try {
VertexLookup vl = VertexTable.Find(item => v.xy.Distance(frame.ToPlaneUV(item.Com.transform.position, 3)) < 0.001);
vertices[i] = Shape.transform.InverseTransformPoint(vl.Com.transform.position);
vl.pVertex = i;
} catch {
VertexTable.Add(new VertexLookup()
{
pVertex = i, Com = VertexTable[0].Com
});
vertices[i] = Shape.transform.InverseTransformPoint((Vector3)frame.FromFrameV(v));
}
}
List <Vector2> uvs = new List <Vector2>();
IEnumerable <Vector2d> uv2d = tpg.uv.AsVector2f();
foreach (Vector2d uv in uv2d)
{
uvs.Add((Vector2)uv);
}
mesh.vertices = vertices.ToArray();
mesh.triangles = tpg.triangles.ToArray <int>();
mesh.uv = uvs.ToArray <Vector2>();
mesh.RecalculateBounds();
mesh.RecalculateNormals();
mf.mesh = mesh;
}
/// <summary>
/// Constructor. Creates a new cube with center <c>[0,0,0]</c> and
/// dimensions <c>[size,size,size]</c>.
/// </summary>
///
/// <param name="size">size</param>
///
public Cube(double size)
{
center = Vector3d.xyz(0, 0, 0);
dimensions = Vector3d.xyz(size, size, size);
}
public void Set(Vector3d position, Quaternion direction)
{
gameObject.transform.position = position;
gameObject.transform.rotation = direction;
}
/// <summary>
/// Constructor. Creates a new cuboid with center <c>[0,0,0]</c> and with
/// the specified dimensions.
/// </summary>
///
/// <param name="w">width</param>
/// <param name="h">height</param>
/// <param name="d">depth</param>
///
public Cube(double w, double h, double d)
: this(Vector3d.ZERO, Vector3d.xyz(w, h, d))
{
}
/// <summary>
/// This is the method that actually does the work.
/// </summary>
/// <param name="DA">The DA object is used to retrieve from inputs and store in outputs.</param>
protected override void SolveInstance(IGH_DataAccess DA)
{
Curve polyline1 = null;
Interval angleDomain = new Interval();
if (!DA.GetData(0, ref polyline1))
{
return;
}
if (!DA.GetData(1, ref angleDomain))
{
return;
}
if (angleDomain.Max == angleDomain.Min)/////////如果输入的区间格式不正确
{
this.AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "输入端的区间的最大值和最小值不能相同");
return;
}
////string test = this.Params.Input[1].Sources[0].TypeName;
//if (test == "Number" || test == "Integer")
//{
// this.AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "输入端的区间的最大值和最小值不能相同");
// return;
//}
Polyline x = new Polyline();
polyline1.TryGetPolyline(out x);
Interval y = angleDomain;
if (x.IsClosed)
{
Line[] ls = x.GetSegments();
List <Vector3d> vcs = new List <Vector3d>();
List <Vector3d> vcs22 = new List <Vector3d>();
List <Point3d> pts = new List <Point3d>();
List <Point3d> pts22 = new List <Point3d>();
List <double> angles = new List <double>();
y.MakeIncreasing();
double max = y.Max;
double min = y.Min;
foreach (Line l in ls)
{
Vector3d vc = l.Direction;
vc.Unitize();
vcs.Add(vc);
vc.Reverse();
vcs22.Add(vc);
pts.Add(l.From);
}
/////////////////////////////////////
for (int i = 0; i < vcs.Count; i++)
{
if (i == vcs.Count - 1)
{
double nn = Vector3d.VectorAngle(vcs[i], vcs22[0]);
if (nn < min || nn > max)
{
pts22.Add(pts[0]);
}
break;
}
double mm = Vector3d.VectorAngle(vcs[i], vcs22[i + 1]);
if (mm < min || mm > max)
{
pts22.Add(pts[i + 1]);
}
}
pts22.Add(pts22[0]);
Polyline pl = new Polyline(pts22);//最终生成的点
if (!pl.IsValid)
{
this.AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "无法根据条件简化多段线，简化后的多段线无效");
return;
}
DA.SetData(0, pl);
}
//////////////////////////////////////////////////////////////////////////////////////
else if (!x.IsClosed)
{
Line[] ls = x.GetSegments();
List <Vector3d> vcs = new List <Vector3d>();
List <Vector3d> vcs22 = new List <Vector3d>();
List <Point3d> pts = new List <Point3d>();
List <Point3d> pts22 = new List <Point3d>();
List <double> angles = new List <double>();
y.MakeIncreasing();
double max = y.Max;
double min = y.Min;
foreach (Line l in ls)
{
Vector3d vc = l.Direction;
vc.Unitize();
vcs.Add(vc);
vc.Reverse();
vcs22.Add(vc);
pts.Add(l.From);
}
pts.Add(ls[ls.Length - 1].To); ///不闭合多段线的特殊情况
//////////////////////////////////////
pts22.Add(pts[0]); ///不闭合多段线的特殊情况
for (int i = 0; i < vcs.Count - 1; i++)
{
double mm = Vector3d.VectorAngle(vcs[i], vcs22[i + 1]);
if (mm < min || mm > max)
{
pts22.Add(pts[i + 1]);
}
}
pts22.Add(pts[pts.Count - 1]);
Polyline pl = new Polyline(pts22);//最终生成的点
if (!pl.IsValid)
{
this.AddRuntimeMessage(GH_RuntimeMessageLevel.Error, "无法根据条件简化多段线，简化后的多段线无效");
return;
}
DA.SetData(0, pl);
}
}
/// <summary>
/// Builds a composited terrain texture given the region texture
/// and heightmap settings
/// </summary>
/// <param name="heightmap">Terrain heightmap</param>
/// <param name="textureIDs"></param>
/// <param name="startHeights"></param>
/// <param name="heightRanges"></param>
/// <param name="regionPosition"></param>
/// <param name="assetService"></param>
/// <param name="textureTerrain"></param>
/// <returns>A composited 256x256 RGB texture ready for rendering</returns>
/// <remarks>
/// Based on the algorithm described at http://opensimulator.org/wiki/Terrain_Splatting
/// </remarks>
public static Bitmap Splat(ITerrainChannel heightmap, UUID [] textureIDs, float [] startHeights,
float [] heightRanges, Vector3d regionPosition, IAssetService assetService,
bool textureTerrain)
{
Debug.Assert(textureIDs.Length == 4);
Debug.Assert(startHeights.Length == 4);
Debug.Assert(heightRanges.Length == 4);
Bitmap [] detailTexture = new Bitmap [4];
int outWidth = heightmap.Width;
int outHeight = heightmap.Height;
IJ2KDecoder m_imgDecoder;
if (textureTerrain)
{
// Swap empty terrain textureIDs with default IDs
for (int i = 0; i < textureIDs.Length; i++)
{
if (textureIDs [i] == UUID.Zero)
{
textureIDs [i] = DEFAULT_TERRAIN_DETAIL [i];
}
}
#region Texture Fetching
if (assetService != null)
{
m_imgDecoder = heightmap.Scene.RequestModuleInterface <IJ2KDecoder> ();
for (int i = 0; i < 4; i++)
{
UUID cacheID = UUID.Combine(TERRAIN_CACHE_MAGIC, textureIDs [i]);
AssetBase cachedAsset = assetService.Get(cacheID.ToString(), false); // ignore warnings here as the cached texture may not exist
if ((cachedAsset != null) && (cachedAsset.Data != null) && (cachedAsset.Data.Length != 0))
{
try {
using (MemoryStream stream = new MemoryStream(cachedAsset.Data))
detailTexture [i] = (Bitmap)Image.FromStream(stream);
} catch (Exception ex) {
MainConsole.Instance.Warn("Failed to decode cached terrain texture " + cacheID +
" (textureID: " + textureIDs [i] + "): " + ex.Message);
}
}
if (cachedAsset != null)
{
cachedAsset.Dispose();
}
if (detailTexture [i] == null)
{
// Try to fetch the original JPEG2000 texture, resize if needed, and cache as PNG
byte [] assetData = assetService.GetData(textureIDs [i].ToString());
if (assetData != null)
{
try {
detailTexture [i] = (Bitmap)m_imgDecoder.DecodeToImage(assetData);
} catch (Exception ex) {
MainConsole.Instance.Warn("Failed to decode terrain texture " + textureIDs [i] + ": " +
ex.Message);
}
}
if (detailTexture [i] != null)
{
Bitmap bitmap = detailTexture [i];
// Make sure this texture is the correct size, otherwise resize
if (bitmap.Width != outWidth || bitmap.Height != outHeight)
{
bitmap = ImageUtils.ResizeImage(bitmap, outWidth, outHeight);
}
// Save the decoded and resized texture to the cache
byte [] data;
using (MemoryStream stream = new MemoryStream()) {
bitmap.Save(stream, ImageFormat.Png);
data = stream.ToArray();
}
// Cache a PNG copy of this terrain texture
AssetBase newAsset = new AssetBase {
Data = data,
Description = "PNG",
Flags = AssetFlags.Collectable | AssetFlags.Temporary | AssetFlags.Local,
ID = cacheID,
Name = string.Empty,
TypeString = "image/png"
};
newAsset.ID = assetService.Store(newAsset);
}
}
}
}
#endregion Texture Fetching
}
// Fill in any missing textures with a solid color
for (int i = 0; i < 4; i++)
{
if (detailTexture [i] == null)
{
// Create a solid color texture for this layer
detailTexture [i] = new Bitmap(outWidth, outHeight, PixelFormat.Format24bppRgb);
using (Graphics gfx = Graphics.FromImage(detailTexture [i])) {
using (SolidBrush brush = new SolidBrush(DEFAULT_TERRAIN_COLOR [i]))
gfx.FillRectangle(brush, 0, 0, outWidth, outHeight);
}
}
else if (detailTexture [i].Width != outWidth || detailTexture [i].Height != outHeight)
{
detailTexture [i] = ResizeBitmap(detailTexture [i], outWidth, outHeight);
}
}
#region Layer Map
float diffX = 1.0f; //(float) heightmap.Width/(float) Constants.RegionSize;
float diffY = 1.0f; //(float) heightmap.Height/(float) Constants.RegionSize;
int newRsX = heightmap.Width / (int)diffX;
int newRsY = heightmap.Height / (int)diffY;
float [] layermap = new float [newRsX * newRsY];
for (float y = 0; y < heightmap.Height; y += diffY)
{
for (float x = 0; x < heightmap.Width; x += diffX)
{
float newX = x / diffX;
float newY = y / diffY;
float height = heightmap [(int)x, (int)y];
float pctX = newX / 255f;
float pctY = newY / 255f;
// Use bilinear interpolation between the four corners of start height and
// height range to select the current values at this position
float startHeight = ImageUtils.Bilinear(
startHeights [0],
startHeights [2],
startHeights [1],
startHeights [3],
pctX, pctY);
startHeight = Utils.Clamp(startHeight, 0f, 255f);
float heightRange = ImageUtils.Bilinear(
heightRanges [0],
heightRanges [2],
heightRanges [1],
heightRanges [3],
pctX, pctY);
heightRange = Utils.Clamp(heightRange, 0f, 255f);
// Generate two frequencies of perlin noise based on our global position
// The magic values were taken from http://opensimulator.org/wiki/Terrain_Splatting
Vector3 vec = new Vector3
(
((float)regionPosition.X + newX) * 0.20319f,
((float)regionPosition.Y + newY) * 0.20319f,
height * 0.25f
);
float lowFreq = Perlin.noise2(vec.X * 0.222222f, vec.Y * 0.222222f) * 6.5f;
float highFreq = Perlin.turbulence2(vec.X, vec.Y, 2f) * 2.25f;
float noise = (lowFreq + highFreq) * 2f;
// Combine the current height, generated noise, start height, and height range parameters, then scale all of it
float layer = ((height + noise - startHeight) / heightRange) * 4f;
if (Single.IsNaN(layer))
{
layer = 0f;
}
layermap [(int)(newY * newRsX + newX)] = Utils.Clamp(layer, 0f, 3f);
}
}
#endregion Layer Map
#region Texture Compositing
Bitmap output = new Bitmap(outWidth, outHeight, PixelFormat.Format24bppRgb);
BitmapData outputData = output.LockBits(new Rectangle(0, 0, outWidth, outHeight), ImageLockMode.WriteOnly,
PixelFormat.Format24bppRgb);
unsafe
{
// Get handles to all of the texture data arrays
BitmapData [] datas =
{
detailTexture[0].LockBits(new Rectangle(0, 0, outWidth, outHeight),
ImageLockMode.ReadOnly,
detailTexture[0].PixelFormat),
detailTexture[1].LockBits(new Rectangle(0, 0, outWidth, outHeight),
ImageLockMode.ReadOnly,
detailTexture[1].PixelFormat),
detailTexture[2].LockBits(new Rectangle(0, 0, outWidth, outHeight),
ImageLockMode.ReadOnly,
detailTexture[2].PixelFormat),
detailTexture[3].LockBits(new Rectangle(0, 0, outWidth, outHeight),
ImageLockMode.ReadOnly,
detailTexture[3].PixelFormat)
};
int [] comps =
{
(datas[0].PixelFormat == PixelFormat.Format32bppArgb) ? 4 : 3,
(datas[1].PixelFormat == PixelFormat.Format32bppArgb) ? 4 : 3,
(datas[2].PixelFormat == PixelFormat.Format32bppArgb) ? 4 : 3,
(datas[3].PixelFormat == PixelFormat.Format32bppArgb) ? 4 : 3
};
for (int y = 0; y < newRsY; y++)
{
for (int x = 0; x < newRsX; x++)
{
float layer = layermap [y * newRsX + x];
// Select two textures
int l0 = (int)Math.Floor(layer);
int l1 = Math.Min(l0 + 1, 3);
byte *ptrA = (byte *)datas [l0].Scan0 + y * datas [l0].Stride + x * comps [l0];
byte *ptrB = (byte *)datas [l1].Scan0 + y * datas [l1].Stride + x * comps [l1];
byte *ptrO = (byte *)outputData.Scan0 + y * outputData.Stride + x * 3;
float aB = *(ptrA + 0);
float aG = *(ptrA + 1);
float aR = *(ptrA + 2);
float bB = *(ptrB + 0);
float bG = *(ptrB + 1);
float bR = *(ptrB + 2);
float layerDiff = layer - l0;
// Interpolate between the two selected textures
*(ptrO + 0) = (byte)Math.Floor(aB + layerDiff * (bB - aB));
*(ptrO + 1) = (byte)Math.Floor(aG + layerDiff * (bG - aG));
*(ptrO + 2) = (byte)Math.Floor(aR + layerDiff * (bR - aR));
}
}
for (int i = 0; i < 4; i++)
{
detailTexture [i].UnlockBits(datas [i]);
detailTexture [i].Dispose();
}
}
layermap = null;
output.UnlockBits(outputData);
// We generated the texture upside down, so flip it
output.RotateFlip(RotateFlipType.RotateNoneFlipY);
#endregion Texture Compositing
return(output);
}
/// <summary>
/// Constructor. Creates a new cube with center <c>[0,0,0]</c> and
/// dimensions <c>[1,1,1]</c>.
/// </summary>
public Cube()
{
center = Vector3d.xyz(0, 0, 0);
dimensions = Vector3d.xyz(1, 1, 1);
}
