public GLCamera()
{
viewmat = new Matrix3D();
deg2rad = (float)(2.0 * Math.PI / 360.0);
m_zaxis = new Vector3d(0, 0, 1);
m_dx = m_dy = m_dz = 0;
m_dir = 1.0f;
m_bvscalexy = 4.0f;
m_bvscaleh = 1.2f;
}
public void Rotate ( float Xa, float Ya, float Za )
{
Matrix3D Rmat = new Matrix3D();
Matrix3D RMatrix = new Matrix3D();
float sinxa = (float)Math.Sin(Xa);
float cosxa = (float)Math.Cos(Xa);
float sinza = (float)Math.Sin(Za);
float cosza = (float)Math.Cos(Za);
float sinya = (float)Math.Sin(Ya);
float cosya = (float)Math.Cos(Ya);
Rmat.Identity();
RMatrix.Identity();
// Initialize Z rotation matrix - Note: we perform Z
// rotation first to align the 3D Z axis with the 2D Z axis.
Rmat.Matrix[0,0]=cosza; Rmat.Matrix[0,1]=sinza; Rmat.Matrix[0,2]=0; Rmat.Matrix[0,3]=0;
Rmat.Matrix[1,0]=-sinza; Rmat.Matrix[1,1]=cosza; Rmat.Matrix[1,2]=0; Rmat.Matrix[1,3]=0;
Rmat.Matrix[2,0]=0; Rmat.Matrix[2,1]=0; Rmat.Matrix[2,2]=1; Rmat.Matrix[2,3]=0;
Rmat.Matrix[3,0]=0; Rmat.Matrix[3,1]=0; Rmat.Matrix[3,2]=0; Rmat.Matrix[3,3]=1;
// Merge matrix with master matrix:
MergeMatrices (ref RMatrix, Rmat );
// Initialize X rotation matrix:
Rmat.Matrix[0,0]=1; Rmat.Matrix[0,1]=0; Rmat.Matrix[0,2]=0; Rmat.Matrix[0,3]=0;
Rmat.Matrix[1,0]=0; Rmat.Matrix[1,1]=cosxa; Rmat.Matrix[1,2]=sinxa; Rmat.Matrix[1,3]=0;
Rmat.Matrix[2,0]=0; Rmat.Matrix[2,1]=-sinxa; Rmat.Matrix[2,2]=cosxa; Rmat.Matrix[2,3]=0;
Rmat.Matrix[3,0]=0; Rmat.Matrix[3,1]=0; Rmat.Matrix[3,2]=0; Rmat.Matrix[3,3]=1;
// Merge matrix with master matrix:
MergeMatrices(ref RMatrix, Rmat);
// Initialize Y rotation matrix:
Rmat.Matrix[0,0]=cosya; Rmat.Matrix[0,1]=0; Rmat.Matrix[0,2]=-sinya; Rmat.Matrix[0,3]=0;
Rmat.Matrix[1,0]=0; Rmat.Matrix[1,1]=1; Rmat.Matrix[1,2]=0; Rmat.Matrix[1,3]=0;
Rmat.Matrix[2,0]=sinya; Rmat.Matrix[2,1]=0; Rmat.Matrix[2,2]=cosya; Rmat.Matrix[2,3]=0;
Rmat.Matrix[3,0]=0; Rmat.Matrix[3,1]=0; Rmat.Matrix[3,2]=0; Rmat.Matrix[3,3]=1;
// Merge matrix with master matrix:
MergeMatrices (ref RMatrix, Rmat );
MergeMatrix ( RMatrix ); // now merge with this one.
}
public static void MergeMatrices(ref Matrix3D Dest , Matrix3D Source )
{
// Multiply Source by Dest; store result in Temp:
double [,] Temp = new double [ 4 , 4 ];
for (int i = 0; i < 4; i++)
{
for (int j = 0; j < 4; j++)
{
Temp[i, j] = (Source.Matrix[i, 0] * Dest.Matrix[0, j])
+ (Source.Matrix[i, 1] * Dest.Matrix[1, j])
+ (Source.Matrix[i, 2] * Dest.Matrix[2, j])
+ (Source.Matrix[i, 3] * Dest.Matrix[3, j]);
}
}
// Copy Temp to Dest.Matrix:
for (int i = 0; i < 4; i++)
{
Dest.Matrix [ i , 0 ] = Temp [ i , 0 ];
Dest.Matrix [ i , 1 ] = Temp [ i , 1 ];
Dest.Matrix [ i , 2 ] = Temp [ i , 2 ];
Dest.Matrix [ i , 3 ] = Temp [ i , 3 ];
}
}
void MergeMatrix (Matrix3D NewMatrix )
{
// Multiply NewMatirx by Matrix; store result in TempMatrix
float [,] TempMatrix = new float [ 4 , 4 ];
for (int i = 0; i < 4; i++)
{
for (int j = 0; j < 4; j++)
{
TempMatrix[i, j] = (Matrix[i, 0] * NewMatrix.Matrix[0, j])
+ (Matrix[i, 1] * NewMatrix.Matrix[1, j])
+ (Matrix[i, 2] * NewMatrix.Matrix[2, j])
+ (Matrix[i, 3] * NewMatrix.Matrix[3, j]);
}
}
// Copy TempMatrix to Matrix:
for (int i = 0; i < 4; i++)
{
Matrix[i,0] = TempMatrix[i,0];
Matrix[i,1] = TempMatrix[i,1];
Matrix[i,2] = TempMatrix[i,2];
Matrix[i,3] = TempMatrix[i,3];
}
}
public void Rotate(float x, float y, float z)
{
Point3d center = CalcCenter();
Translate((float)-center.x, (float)-center.y, (float)-center.z);
Matrix3D rotmat = new Matrix3D();
rotmat.Identity();
rotmat.Rotate(x, y, z);
for(int c = 0; c< m_lstpoints.Count;c++)
{
Point3d p = (Point3d)m_lstpoints[c];
Point3d p1 = rotmat.Transform(p);
p.x = p1.x;
p.y = p1.y;
p.z = p1.z;
}
Translate((float)center.x, (float)center.y, (float)center.z);
}
void UpdateView()
{
// Create a 4x4 orientation matrix from the right, up, and at vectors
Matrix3D orientation = new Matrix3D(new float [] {
m_right.x, m_right.y, m_right.z, 0,
m_up.x, m_up.y, m_up.z, 0,
-m_target.x, -m_target.y, -m_target.z, 0,
0, 0, 0, 1
});
viewmat = orientation;
}
// rotate eye deg degrees arround rotAxis pivoting at target (m_lookat)
protected Matrix3D Rotate(Vector3d rotAxis, float deg)
{
float rad = deg2rad * deg;
float c = (float)Math.Cos(rad);
float s = (float)Math.Sin(rad);
float t = 1.0f - c;
float x = rotAxis.x;
float y = rotAxis.y;
float z = rotAxis.z;
Matrix3D rotMat= new Matrix3D(new float [] {
t*x*x+c, t*x*y-s*z, t*x*z+s*y, 0,
t*x*y+s*z, t*y*y+c, t*y*z-s*x, 0,
t*x*z-s*y, t*y*z+s*x, t*z*z+c, 0,
0,0,0,1
});
m_eye = rotMat.Transform(m_eye - m_lookat);
m_eye = m_eye + m_lookat;
return rotMat;
}
public Camera()
{
viewmat = new Matrix3D();
m_scalex = 22;
m_scaley = 22;
}
private void TransformRange(Matrix3D tMat, int startidx, int endidx)
{
for (int c = startidx; c < endidx; c++)
{
Point3d p3 = tMat.Transform(m_lstpoints[c]);
m_lstpoints[c].x = p3.x;
m_lstpoints[c].y = p3.y;
m_lstpoints[c].z = p3.z;
}
// Update(); // not necessary
m_listid = -1; // regenerate the list id
}
public void Transform(Matrix3D tMat)
{
switch (m_seltype)
{
case eSelType.eBase:
TransformRange(tMat, s1i, s2i);
break;
case eSelType.eTip:
TransformRange(tMat, s4i, m_lstpoints.Count);
break;
case eSelType.eWhole:
TransformRange(tMat, 0, m_lstpoints.Count);
break;
}
base.Translate(0, 0, 0);
// Update();
}
/// <summary>
/// This functiuon positions the base at the location 'intersect'
/// The idir is the direction that was used to intersect
/// </summary>
/// <param name="intersect"></param>
/// <param name="idir"></param>
/// <param name="inorm"></param>
public void PositionBottom(ISectData dat)
{
// the bottom could be a tip or base
// need to orient the bottom and position it.
Point3d center;
// for a base support, just slide it around
if (m_subtype == eSubType.eBase)
{
center = Centroid(); // get the centroid of the selected portion of the object
MinMax mm = CalcMinMaxRange(s1i, s4i);
float dist = (float)((mm.m_max - mm.m_min) / 2);
Translate(
(float)(dat.intersect.x - center.x),
(float)(dat.intersect.y - center.y),
(float)(dat.intersect.z - center.z + dist));
}
else if (m_subtype == eSubType.eIntra) // bottom tip
{
// for a base tip, find the angle and angle it in
Vector3d isectnorm = new Vector3d();
//save the polygon intersection normal
isectnorm.x = dat.poly.m_normal.x;
isectnorm.y = dat.poly.m_normal.y;
isectnorm.z = dat.poly.m_normal.z;
isectnorm.Normalize();
if (isectnorm.z < 0)
{
isectnorm.z *= -1.0f;
}
// limit the z down to 45 degrees
if (isectnorm.z < .75)
{
isectnorm.z = .75f;
}
// re-genrate the points on the bottom of the foot
ReGenSegmentPoints(mSC.htrad, mSC.cdivs, s1i, 0, true); // bottom of foot is the tip radius
Matrix3D tMat = new Matrix3D();
Vector3d vup = new Vector3d(0, 1, 0);
Vector3d dir = new Vector3d(isectnorm.x, isectnorm.y, isectnorm.z);
dir.Normalize();
//direction should be upward at this point.
//create a matrix transform
tMat.LookAt(dir, vup);
//transform the si1-s2i points to look at the vector
TransformRange(tMat, s1i, s2i);
//move the range of points to be touching the intersection point
STranslateRange(dat.intersect.x, dat.intersect.y, dat.intersect.z, s1i, s2i);
//now, get the center of s4i to s5i
Point3d cnt = CalcCentroid(s2i, s4i);
//translate to 0,0,0
STranslateRange(-cnt.x, -cnt.y, -cnt.z, s2i, s4i);
//reset the points,
ReGenSegmentPoints(mSC.hbrad, mSC.cdivs, s2i, 0, false); // top of foot
ReGenSegmentPoints(mSC.hbrad, mSC.cdivs, s3i, 0, false); // top of foot
Point3d newp = new Point3d();
newp.x = dat.intersect.x + (isectnorm.x * 2);
newp.y = dat.intersect.y + (isectnorm.y * 2);
newp.z = dat.intersect.z + (isectnorm.z * 2);
STranslateRange(newp.x,newp.y,newp.z, s2i, s4i);
Update();
}
//Update();
}
public void MoveFromTip(ISectData dat)
{
Point3d center;
center = Centroid(); // get the centroid of the selected portion of the object
Vector3d isectnorm = new Vector3d();
//save the polygon intersection normal
isectnorm.x = dat.poly.m_normal.x;
isectnorm.y = dat.poly.m_normal.y;
isectnorm.z = dat.poly.m_normal.z;
MinMax mm = CalcMinMaxRange(s4i, m_lstpoints.Count);
float dist = (float)((mm.m_max - mm.m_min) );
ResetTip();
Matrix3D tMat = new Matrix3D();
Vector3d vup = new Vector3d(0,1,0);
//always make sure the z is heading downward
if (isectnorm.z > 0)
{
isectnorm.z *= -1.0f;
}
// limit the z down to 45 degrees
if (isectnorm.z > -.75)
{
isectnorm.z = -.75f;
}
//reverse the direction to get the reflection
Vector3d dir = new Vector3d(-isectnorm.x, -isectnorm.y, -isectnorm.z);
dir.Normalize();
//create a matrix transform
tMat.LookAt(dir, vup);
Transform(tMat);
Translate(
(float)(dat.intersect.x),
(float)(dat.intersect.y),
(float)(dat.intersect.z));
//now, get the center of s4i to s5i
Point3d cnt = CalcCentroid(s4i, s5i);
//translate to 0
TranslateRange(-cnt.x, -cnt.y, -cnt.z, s4i, s5i);
//reset the points,
ReGenSegmentPoints(mSC.hbrad, mSC.cdivs, s4i, 0, false); // bottom of head
//move back
TranslateRange(cnt.x, cnt.y, cnt.z, s4i, s5i);
Update();
//
}
public void Rotate(float x, float y, float z)
{
Point3d center = CalcCenter();
float cz = center.z;
if ((x == 0) && (y == 0))
cz = 0;
// else - i think we need to delete all supports -SHS
Translate((float)-center.x, (float)-center.y, (float)-cz);
Matrix3D rotmat = new Matrix3D();
rotmat.Identity();
rotmat.Rotate(x, y, z);
Rotate(rotmat);
if ((x == 0) && (y == 0))
{
foreach (Object3d sup in m_supports)
sup.Rotate(rotmat);
}
Translate((float)center.x, (float)center.y, (float)cz);
}
void Rotate(Matrix3D rotmat)
{
for (int c = 0; c < m_lstpoints.Count; c++)
{
Point3d p = (Point3d)m_lstpoints[c];
Point3d p1 = rotmat.Transform(p);
p.x = p1.x;
p.y = p1.y;
p.z = p1.z;
}
}
public void Translate( double Xt, double Yt, double Zt )
{
// Create 3D translation matrix:
// Declare translation matrix:
Matrix3D Tmat = new Matrix3D ();
// Initialize translation matrix:
Tmat.Matrix[0,0]=1; Tmat.Matrix[0,1]=0; Tmat.Matrix[0,2]=0; Tmat.Matrix[0,3]=0;
Tmat.Matrix[1,0]=0; Tmat.Matrix[1,1]=1; Tmat.Matrix[1,2]=0; Tmat.Matrix[1,3]=0;
Tmat.Matrix[2,0]=0; Tmat.Matrix[2,1]=0; Tmat.Matrix[2,2]=1; Tmat.Matrix[2,3]=0;
Tmat.Matrix[3,0]=Xt; Tmat.Matrix[3,1]=Yt; Tmat.Matrix[3,2]=Zt; Tmat.Matrix[3,3]=1;
// Merge matrix with master matrix:
MergeMatrix ( Tmat );
}
public Camera()
{
viewmat = new Matrix3D();
m_scalex = 22;
m_scaley = 22;
}
/// <summary>
/// This functiuon positions the base at the location 'intersect'
/// The idir is the direction that was used to intersect
/// </summary>
/// <param name="intersect"></param>
/// <param name="idir"></param>
/// <param name="inorm"></param>
public void PositionBottom(ISectData dat)
{
// the bottom could be a tip or base
// need to orient the bottom and position it.
Point3d center;
// for a base support, just slide it around
if (m_subtype == eSubType.eBase)
{
center = Centroid(); // get the centroid of the selected portion of the object
MinMax mm = CalcMinMaxRange(s1i, s4i);
float dist = (float)((mm.m_max - mm.m_min) / 2);
Translate(
(float)(dat.intersect.x - center.x),
(float)(dat.intersect.y - center.y),
(float)(dat.intersect.z - center.z + dist));
}
else if (m_subtype == eSubType.eIntra) // bottom tip
{
// for a base tip, find the angle and angle it in
Vector3d isectnorm = new Vector3d();
//save the polygon intersection normal
isectnorm.x = dat.poly.m_normal.x;
isectnorm.y = dat.poly.m_normal.y;
isectnorm.z = dat.poly.m_normal.z;
isectnorm.Normalize();
if (isectnorm.z < 0)
{
isectnorm.z *= -1.0f;
}
// limit the z down to 45 degrees
if (isectnorm.z < .75)
{
isectnorm.z = .75f;
}
// re-genrate the points on the bottom of the foot
ReGenSegmentPoints(mSC.htrad, mSC.cdivs, s1i, 0, true); // bottom of foot is the tip radius
Matrix3D tMat = new Matrix3D();
Vector3d vup = new Vector3d(0, 1, 0);
Vector3d dir = new Vector3d(isectnorm.x, isectnorm.y, isectnorm.z);
dir.Normalize();
//direction should be upward at this point.
//create a matrix transform
tMat.LookAt(dir, vup);
//transform the si1-s2i points to look at the vector
TransformRange(tMat, s1i, s2i);
//move the range of points to be touching the intersection point
STranslateRange(dat.intersect.x, dat.intersect.y, dat.intersect.z, s1i, s2i);
//now, get the center of s4i to s5i
Point3d cnt = CalcCentroid(s2i, s4i);
//translate to 0,0,0
STranslateRange(-cnt.x, -cnt.y, -cnt.z, s2i, s4i);
//reset the points,
ReGenSegmentPoints(mSC.hbrad, mSC.cdivs, s2i, 0, false); // top of foot
ReGenSegmentPoints(mSC.hbrad, mSC.cdivs, s3i, 0, false); // top of foot
Point3d newp = new Point3d();
newp.x = dat.intersect.x + (isectnorm.x * 2);
newp.y = dat.intersect.y + (isectnorm.y * 2);
newp.z = dat.intersect.z + (isectnorm.z * 2);
STranslateRange(newp.x, newp.y, newp.z, s2i, s4i);
Update();
}
//Update();
}
