private Quaternion GetRotationForDelta()
{
DoubleVector screenPlane = new DoubleVector(1, 0, 0, 0, 1, 0);
DoubleVector cameraPlane = new DoubleVector(_camera1.LookDirection.GetRotatedVector(_camera1.UpDirection, -90), _camera1.UpDirection);
return screenPlane.GetRotation(cameraPlane);
}
public void ViewChanged(DoubleVector lookDirection)
{
if (_marker2D != null)
{
_viewport.Children.Remove(_marker2D);
}
if (_marker2D == null)
{
_marker2D = new ScreenSpaceLines3D();
_marker2D.Color = UtilityWPF.ColorFromHex("60A0A0A0");
_marker2D.Thickness = 4d;
}
_marker2D.Clear();
RotateTransform3D transform = new RotateTransform3D(new QuaternionRotation3D(Math3D.GetRotation(new DoubleVector(0, 0, 1, 0, -1, 0), lookDirection)));
#region Marker 2D
double orthDist = (_sizeMult * _field.Size * 1.1d) / 2d;
double cornerDist = (_sizeMult * _field.Size * .2d) / 2d;
// TopLeft
Point3D corner = transform.Transform(new Point3D(-orthDist, -orthDist, -orthDist));
Vector3D direction = transform.Transform(new Vector3D(cornerDist, 0, 0));
_marker2D.AddLine(corner, corner + direction);
direction = transform.Transform(new Vector3D(0, cornerDist, 0));
_marker2D.AddLine(corner, corner + direction);
//TopRight
corner = transform.Transform(new Point3D(orthDist, -orthDist, -orthDist));
direction = transform.Transform(new Vector3D(-cornerDist, 0, 0));
_marker2D.AddLine(corner, corner + direction);
direction = transform.Transform(new Vector3D(0, cornerDist, 0));
_marker2D.AddLine(corner, corner + direction);
//BottomRight
corner = transform.Transform(new Point3D(orthDist, orthDist, -orthDist));
direction = transform.Transform(new Vector3D(-cornerDist, 0, 0));
_marker2D.AddLine(corner, corner + direction);
direction = transform.Transform(new Vector3D(0, -cornerDist, 0));
_marker2D.AddLine(corner, corner + direction);
//BottomLeft
corner = transform.Transform(new Point3D(-orthDist, orthDist, -orthDist));
direction = transform.Transform(new Vector3D(cornerDist, 0, 0));
_marker2D.AddLine(corner, corner + direction);
direction = transform.Transform(new Vector3D(0, -cornerDist, 0));
_marker2D.AddLine(corner, corner + direction);
_viewport.Children.Add(_marker2D);
#endregion
// Camera
_camera.Position = transform.Transform(new Point3D(0, 0, (_sizeMult * _field.Size * -4d) / 2d));
_camera.LookDirection = lookDirection.Standard;
_camera.UpDirection = lookDirection.Orth;
// Remember it
_lookDirection = lookDirection;
}
private void AddRope(Point3D bodyAttachPoint, Point3D anchorPoint, double? radianLimit)
{
const double SEGMENTLENGTH = .25d;
if (_body == null)
{
throw new InvalidOperationException("The body must be created before this method is called");
}
// Figure out how many rope segments to make
Vector3D dir = anchorPoint - bodyAttachPoint;
int numSegments = Convert.ToInt32(dir.Length / SEGMENTLENGTH);
if (numSegments == 0)
{
numSegments = 1;
}
double segmentLength = dir.Length / numSegments;
DoubleVector dirDbl = new DoubleVector(dir, Math3D.GetArbitraryOrhonganal(dir));
#region Anchor
#region WPF Model
// Material
MaterialGroup materials = new MaterialGroup();
materials.Children.Add(new DiffuseMaterial(new SolidColorBrush(_colors.Anchor)));
materials.Children.Add(_colors.AnchorSpecular);
// Geometry Mesh
MeshGeometry3D mesh = UtilityWPF.GetSphere_LatLon(5, .1d);
// Geometry Model
GeometryModel3D geometry = new GeometryModel3D();
geometry.Material = materials;
geometry.BackMaterial = materials;
geometry.Geometry = mesh;
// Transform
Transform3DGroup transform = new Transform3DGroup(); // rotate needs to be added before translate
//rotation = _defaultDirectionFacing.GetAngleAroundAxis(dirDbl);
//transform.Children.Add(new RotateTransform3D(new QuaternionRotation3D(rotation)));
transform.Children.Add(new TranslateTransform3D(anchorPoint.ToVector()));
// Model Visual
ModelVisual3D model = new ModelVisual3D();
model.Content = geometry;
model.Transform = transform;
#endregion
// Body
CollisionHull hull = CollisionHull.CreateNull(_world);
Body body = new Body(hull, model.Transform.Value, 0, new Visual3D[] { model });
hull.Dispose();
_anchorBodies.Add(body);
// Add to the viewport
_viewport.Children.Add(model);
#endregion
#region Rope
for (int cntr = 0; cntr < numSegments; cntr++)
{
#region WPF Model
// Material
materials = new MaterialGroup();
materials.Children.Add(new DiffuseMaterial(new SolidColorBrush(_colors.Rope)));
materials.Children.Add(_colors.RopeSpecular);
// Geometry Mesh
mesh = UtilityWPF.GetCylinder_AlongX(7, .03d, segmentLength);
CollisionHull ropeHull = CollisionHull.CreateCylinder(_world, 0, .03d, segmentLength, null);
// Geometry Model
geometry = new GeometryModel3D();
geometry.Material = materials;
geometry.BackMaterial = materials;
geometry.Geometry = mesh;
// Transform
transform = new Transform3DGroup(); // rotate needs to be added before translate
//Quaternion rotation = _defaultDirectionFacing.GetAngleAroundAxis(dirDbl);
Vector3D axisStandard;
double radiansStandard;
Math3D.GetRotation(out axisStandard, out radiansStandard, _defaultDirectionFacing.Standard, dirDbl.Standard);
Quaternion rotationStandard = new Quaternion(axisStandard, Math1D.RadiansToDegrees(radiansStandard));
//Vector3D axisOrth;
//double radiansOrth;
//Math3D.GetRotation(out axisOrth, out radiansOrth, _defaultDirectionFacing.Orth, dirDbl.Orth);
//Quaternion rotationOrth = new Quaternion(axisOrth, Math3D.RadiansToDegrees(radiansOrth));
//Quaternion rotation = rotationStandard.ToUnit() * rotationOrth.ToUnit();
//Quaternion rotation = rotationOrth;
Quaternion rotation = rotationStandard; // adding the orth in just messes it up
transform.Children.Add(new RotateTransform3D(new QuaternionRotation3D(rotation)));
Vector3D segmentPosition = new Vector3D((segmentLength / 2d) + (segmentLength * cntr), 0, 0);
segmentPosition = rotation.GetRotatedVector(segmentPosition);
segmentPosition += bodyAttachPoint.ToVector();
transform.Children.Add(new TranslateTransform3D(segmentPosition));
// Model Visual
model = new ModelVisual3D();
model.Content = geometry;
model.Transform = transform;
#endregion
// Body
body = new Body(ropeHull, model.Transform.Value, .1, new Visual3D[] { model });
ropeHull.Dispose();
#region Joint
if (cntr == 0)
{
_ropeJoints.Add(JointBallAndSocket.CreateBallAndSocket(_world, bodyAttachPoint, _body, body));
}
else
{
Vector3D connectPosition2 = new Vector3D(segmentLength * cntr, 0, 0);
connectPosition2 = rotation.GetRotatedVector(connectPosition2);
connectPosition2 += bodyAttachPoint.ToVector();
_ropeJoints.Add(JointBallAndSocket.CreateBallAndSocket(_world, connectPosition2.ToPoint(), _ropeBodies[_ropeBodies.Count - 1], body));
}
if (cntr == numSegments - 1)
{
Vector3D connectPosition1 = new Vector3D(segmentLength * numSegments, 0, 0);
connectPosition1 = rotation.GetRotatedVector(connectPosition1);
connectPosition1 += bodyAttachPoint.ToVector();
_ropeJoints.Add(JointBallAndSocket.CreateBallAndSocket(_world, connectPosition1.ToPoint(), body, _anchorBodies[_anchorBodies.Count - 1]));
}
#endregion
_ropeBodies.Add(body);
// Add to the viewport
_viewport.Children.Add(model);
}
if (radianLimit != null)
{
for (int cntr = 0; cntr < _ropeJoints.Count - 1; cntr++) // the connection between the anchor point and rope will never have a limit
{
((JointBallAndSocket)_ropeJoints[cntr]).SetConeLimits(dir, radianLimit.Value, null);
}
}
#endregion
}
private void AddBrick(CollisionShapeType shape, Color color, Vector3D size, double mass, Point3D position, DoubleVector directionFacing)
{
// Get the wpf model
CollisionHull hull;
Transform3DGroup transform;
Quaternion rotation;
DiffuseMaterial bodyMaterial;
ModelVisual3D model = GetWPFModel(out hull, out transform, out rotation, out bodyMaterial, shape, color, Colors.White, 100d, size, position, directionFacing, true);
// Add to the viewport
_viewport.Children.Add(model);
// Make a physics body that represents this shape
Body body = new Body(hull, transform.Value, 1d, new Visual3D[] { model });
hull.Dispose();
body.MaterialGroupID = _material_Brick;
body.ApplyForceAndTorque += new EventHandler<BodyApplyForceAndTorqueArgs>(Body_ApplyForceAndTorque);
_bricks.Add(body);
_bodyMaterials.Add(body, new BodyMaterial(bodyMaterial, color, size.Length));
}
public static DoubleVector GetRotatedVector(this Quaternion quaternion, DoubleVector doubleVector)
{
Matrix3D matrix = new Matrix3D();
matrix.Rotate(quaternion);
MatrixTransform3D transform = new MatrixTransform3D(matrix);
return new DoubleVector(transform.Transform(doubleVector.Standard), transform.Transform(doubleVector.Orth));
}
/// <summary>
/// This overload will rotate arrays of different types. Just pass null if you don't have any of that type
/// </summary>
public static void GetRotatedVector(this Quaternion quaternion, Vector3D[] vectors, Point3D[] points, DoubleVector[] doubleVectors)
{
Matrix3D matrix = new Matrix3D();
matrix.Rotate(quaternion);
MatrixTransform3D transform = new MatrixTransform3D(matrix);
if (vectors != null)
{
transform.Transform(vectors);
}
if (points != null)
{
transform.Transform(points);
}
if (doubleVectors != null)
{
for (int cntr = 0; cntr < doubleVectors.Length; cntr++)
{
doubleVectors[cntr] = new DoubleVector(transform.Transform(doubleVectors[cntr].Standard), transform.Transform(doubleVectors[cntr].Orth));
}
}
}
private void btnDrillHead_Click(object sender, RoutedEventArgs e)
{
try
{
Point3D position = Math3D.GetRandomVector_Circular(3).ToPoint();
position.Z = _lastTowerHeight + 5;
Vector3D velocity = new Vector3D(0, 0, -3);
Vector3D angularVelocity = new Vector3D(UtilityCore.GetScaledValue_Capped(0d, 400d, trkBulletSpeed.Minimum, trkBulletSpeed.Maximum, trkBulletSpeed.Value), 0, 0); // AddCannonBall rotates this so it will be about the z axis
DoubleVector directionFacing = new DoubleVector(0, 0, -1, 1, 0, 0);
Vector3D size = new Vector3D(3d, 5d, 0d); // x is radius, y is height
AddCannonBall(CollisionShapeType.Cone, Colors.Indigo, size, 200d, position, velocity, angularVelocity, directionFacing);
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString(), this.Title, MessageBoxButton.OK, MessageBoxImage.Error);
}
}
public Quaternion GetRotation(DoubleVector destination)
{
return Math3D.GetRotation(this, destination);
}
private void btnBaseball_Click(object sender, RoutedEventArgs e)
{
try
{
Point3D position = GetCannonPosition();
Vector3D velocity = GetCannonVelocity();
Vector3D angularVelocity = new Vector3D();
DoubleVector directionFacing = new DoubleVector(velocity, Math3D.GetArbitraryOrhonganal(velocity));
Vector3D size = new Vector3D(2d, 2d, 2d);
AddCannonBall(CollisionShapeType.Sphere, Colors.GhostWhite, size, 5d, position, velocity, angularVelocity, directionFacing);
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString(), this.Title, MessageBoxButton.OK, MessageBoxImage.Error);
}
}
private void btnWrecker_Click(object sender, RoutedEventArgs e)
{
try
{
Color color = Color.FromArgb(255, 50, 15, 15);
Point3D position = GetCannonPosition();
Vector3D velocity = GetCannonVelocity();
Vector3D angularVelocity = new Vector3D();
DoubleVector directionFacing = new DoubleVector(velocity, Math3D.GetArbitraryOrhonganal(velocity));
Vector3D size = new Vector3D(4d, 4d, 4d);
AddCannonBall(CollisionShapeType.Sphere, color, size, 60d, position, velocity, angularVelocity, directionFacing);
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString(), this.Title, MessageBoxButton.OK, MessageBoxImage.Error);
}
}
private void btnSlug_Click(object sender, RoutedEventArgs e)
{
try
{
Point3D position = GetCannonPosition();
Vector3D velocity = GetCannonVelocity();
Vector3D angularVelocity = new Vector3D();
DoubleVector directionFacing = new DoubleVector(velocity, Math3D.GetArbitraryOrhonganal(velocity));
Vector3D size = new Vector3D(.5d, .8d, 0d); // x is radius, y is height
AddCannonBall(CollisionShapeType.Cylinder, Colors.DimGray, size, 6d, position, velocity, angularVelocity, directionFacing);
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString(), this.Title, MessageBoxButton.OK, MessageBoxImage.Error);
}
}
private void FireRaySprtShootBall()
{
Vector3D velocity = _rayDirection.ToUnit() * trkBulletSpeed.Value;
DoubleVector directionFacing = new DoubleVector(velocity, Math3D.GetArbitraryOrhonganal(velocity));
switch (cboLeftBallType.Text)
{
case "Nerf":
#region Nerf
AddCannonBall(
CollisionShapeType.Cylinder,
Colors.Coral,
new Vector3D(.75d, 5d, 0d), // x is radius, y is height
.1d,
_rayPoint,
velocity,
new Vector3D(),
directionFacing);
#endregion
break;
case "Pellet":
#region Pellet
AddCannonBall(
CollisionShapeType.Sphere,
Colors.SteelBlue,
new Vector3D(.5d, .5d, .5d),
2d,
_rayPoint,
velocity,
new Vector3D(),
directionFacing);
#endregion
break;
case "Slug":
#region Slug
AddCannonBall(
CollisionShapeType.Cylinder,
Colors.DimGray,
new Vector3D(.5d, .8d, 0d), // x is radius, y is height
6d,
_rayPoint,
velocity,
new Vector3D(),
directionFacing);
#endregion
break;
case "Baseball":
#region Baseball
AddCannonBall(
CollisionShapeType.Sphere,
Colors.GhostWhite,
new Vector3D(2d, 2d, 2d),
5d,
_rayPoint,
velocity,
new Vector3D(),
directionFacing);
#endregion
break;
case "Cannon":
#region Cannon
AddCannonBall(
CollisionShapeType.Sphere,
Color.FromArgb(255, 45, 45, 32),
new Vector3D(2d, 2d, 2d),
15d,
_rayPoint,
velocity,
new Vector3D(),
directionFacing);
#endregion
break;
case "Wrecker":
#region Wrecker
AddCannonBall(
CollisionShapeType.Sphere,
Color.FromArgb(255, 50, 15, 15),
new Vector3D(4d, 4d, 4d),
60d,
_rayPoint,
velocity,
new Vector3D(),
directionFacing);
#endregion
break;
case "Shotgun":
#region Shotgun
// Build a transform to go from origin to camera
DoubleVector originDirFacing = new DoubleVector(0, 0, 1, 0, 1, 0);
Quaternion rotationToCameraRay = originDirFacing.GetRotation(new DoubleVector(_rayDirection, Math3D.GetArbitraryOrhonganal(_rayDirection)));
Transform3DGroup transformToCamera = new Transform3DGroup();
transformToCamera.Children.Add(new RotateTransform3D(new QuaternionRotation3D(rotationToCameraRay)));
transformToCamera.Children.Add(new TranslateTransform3D(_rayPoint.ToVector()));
for (int cntr = 0; cntr < 10; cntr++)
{
Vector3D pos2D = Math3D.GetRandomVector_Circular(1d);
//Vector3D vel2D = new Vector3D(pos2D.X, pos2D.Y, trkBulletSpeed.Value * 2d);
//Point3D position = _rayPoint;
velocity = _rayDirection.ToUnit() * trkBulletSpeed.Value * 2d; //TODO: Diverge the shot
Point3D position = transformToCamera.Transform(pos2D.ToPoint());
//velocity = transformToCamera.Transform(vel2D);
directionFacing = new DoubleVector(velocity, Math3D.GetArbitraryOrhonganal(velocity));
AddCannonBall(
CollisionShapeType.Sphere,
Color.FromRgb(25, 25, 25),
new Vector3D(.1d, .1d, .1d),
.2d,
position,
velocity,
new Vector3D(),
directionFacing);
}
#endregion
break;
default:
MessageBox.Show("Unknown ball type: " + cboLeftBallType.Text, this.Title, MessageBoxButton.OK, MessageBoxImage.Error);
return;
}
}
private void BuildSpike(Point3D startPoint, bool isOneOfMany)
{
#region Figure out how many bricks
double zLimit, zStep;
if (radFew.IsChecked.Value)
{
zLimit = 30d;
zStep = isOneOfMany ? 3d : 1d;
}
else if (radNormal.IsChecked.Value)
{
zLimit = 50d;
zStep = isOneOfMany ? 2.5d : .5d;
}
else if (radMany.IsChecked.Value)
{
zLimit = 60d;
zStep = isOneOfMany ? 1.5d : .33d;
}
else if (radExtreme.IsChecked.Value)
{
zLimit = 100d;
zStep = isOneOfMany ? 1d : .25d;
}
else
{
MessageBox.Show("Unknow number of bricks", this.Title, MessageBoxButton.OK, MessageBoxImage.Error);
return;
}
#endregion
DoubleVector dirFacingColumn = new DoubleVector(0, 0, 1, -1, 0, 0); // x becomes z
Color baseColor = UtilityWPF.GetRandomColor(64, 192);
for (double z = 0d; z <= zLimit; z += zStep) // start on the floor
{
Color color = UtilityWPF.AlphaBlend(Colors.Black, baseColor, UtilityCore.GetScaledValue_Capped(0d, .5d, 0, zLimit, zLimit - z));
double radius = UtilityCore.GetScaledValue_Capped(.25d, 2d, 0d, zLimit, zLimit - z);
Vector3D size = new Vector3D(radius, zStep, 0d); // x is radius, y is height
double mass = radius * 2d;
Point3D position = new Point3D(startPoint.X, startPoint.Y, startPoint.Z + z + (zStep / 2d));
AddBrick(CollisionShapeType.Cylinder, color, size, mass, position, dirFacingColumn);
}
_lastTowerHeight = zLimit + zStep;
}
/// <summary>
/// This fires combinations of thrusters to get to the destination
/// </summary>
/// <remarks>
/// This is a higher level method than SetVelocity
///
/// This sort of method would be useful when following a target
/// </remarks>
/// <param name="velocity">This is the velocity to be when the ship as at the destination point (doesn't matter what the velocity is when getting there)</param>
/// <param name="spin">This is the spin to have when at the destination point</param>
/// <param name="direction">This is the direction to face when at the destination point</param>
private void SetDestination(Point3D point, Vector3D velocity, Vector3D? spin = null, DoubleVector? direction = null)
{
throw new ApplicationException("finish this");
}
private void btnTestIt_Click(object sender, RoutedEventArgs e)
{
Vector3D defaultStand = new Vector3D(LINELENGTH_X * .75d, 0, 0);
Vector3D defaultOrth = new Vector3D(0, 0, LINELENGTH_Z * .75d);
DoubleVector from = new DoubleVector(_orientationTrackballFrom.Transform.Transform(defaultStand), _orientationTrackballFrom.Transform.Transform(defaultOrth));
DoubleVector to = new DoubleVector(_orientationTrackballTo.Transform.Transform(defaultStand), _orientationTrackballTo.Transform.Transform(defaultOrth));
// This is the method that this form is testing
Quaternion quat = from.GetRotation(to);
//DoubleVector rotated = new DoubleVector(quat.GetRotatedVector(defaultStand), quat.GetRotatedVector(defaultOrth));
DoubleVector rotated = new DoubleVector(quat.GetRotatedVector(from.Standard), quat.GetRotatedVector(from.Orth)); // quat describes how to rotate from From to To (not from Default to To)
//Vector3D axis = quat.Axis.ToUnit() * (LINELENGTH_X * 2d);
Vector3D axis = _orientationTrackballFrom.Transform.Transform(quat.Axis.ToUnit() * (LINELENGTH_X * 1.5d)); // I rotate axis by from, because I want it relative to from (axis isn't in world coords)
pnlReport.Children.Clear();
ClearTempVisuals();
ClearLines(_lineTransformed);
_lineTransformed = AddLines(rotated, axis);
}
/// <summary>
/// This fires combinations of thrusters to try to get to the velocity/orientation passed in
/// </summary>
/// <remarks>
/// The SetForce method is a direct control. SetVelocity is one step higher.
///
/// The advantage of calling SetVelocity is that if there are unknown forces acting on the ship, this will
/// account for that over time (less logic for the caller to implement)
/// </remarks>
private void SetVelocity(Vector3D velocity, Vector3D? spin = null, DoubleVector? direction = null)
{
throw new ApplicationException("finish this");
}
private ScreenSpaceLines3D[] AddLines(DoubleVector transformedLine, Vector3D rotationAxis)
{
ScreenSpaceLines3D[] retVal = new ScreenSpaceLines3D[4];
for (int cntr = 0; cntr < retVal.Length; cntr++)
{
retVal[cntr] = new ScreenSpaceLines3D(true);
retVal[cntr].Color = _colors.RotatedLine;
if (cntr == 1)
{
retVal[cntr].Thickness = 3d; // this one isn't really used
}
else if (cntr == 3)
{
retVal[cntr].Thickness = 1d;
}
else
{
retVal[cntr].Thickness = 6d;
}
}
retVal[0].AddLine(new Point3D(0, 0, 0), transformedLine.Standard.ToPoint());
retVal[1].AddLine(new Point3D(0, 0, 0), new Point3D(0, 0, 0)); // just adding this so everything stays lined up
retVal[2].AddLine(new Point3D(0, 0, 0), transformedLine.Orth.ToPoint());
retVal[3].AddLine(new Point3D(0, 0, 0), rotationAxis.ToPoint());
for (int cntr = 0; cntr < retVal.Length; cntr++)
{
_viewport.Children.Add(retVal[cntr]);
}
return retVal;
}
/// <summary>
/// This returns each link dotted with up
/// NOTE: up must be a unit vector
/// </summary>
private static double[] GetDots(LinkResult2[] links, DoubleVector up, Point3D center, Vector3D line, Point3D[] points)
{
throw new ApplicationException("flawed");
// If it's an exact match, then the link is sitting on the center point
if (links.Length == 1 && links[0].IsExactMatch)
{
return null;
}
double[] retVal = new double[links.Length];
for (int cntr = 0; cntr < links.Length; cntr++)
{
if (links[cntr].IsExactMatch)
{
throw new ApplicationException("Can't have an exact match in a list of non exact matches"); // or in any list greater than one
}
Point3D pointOnLine = Math3D.GetClosestPoint_Line_Point(center, line, points[links[cntr].Index]);
// See if it's on the line
//if(
}
// Exit Function
return retVal;
}
private ModelVisual3D GetWPFModel(out CollisionHull hull, out Transform3DGroup transform, out Quaternion rotation, out DiffuseMaterial bodyMaterial, CollisionShapeType shape, Color color, Color reflectionColor, double reflectionIntensity, Vector3D size, Point3D position, DoubleVector directionFacing, bool createHull)
{
// Material
MaterialGroup materials = new MaterialGroup();
bodyMaterial = new DiffuseMaterial(new SolidColorBrush(color));
materials.Children.Add(bodyMaterial);
materials.Children.Add(new SpecularMaterial(new SolidColorBrush(reflectionColor), reflectionIntensity));
// Geometry Model
GeometryModel3D geometry = new GeometryModel3D();
geometry.Material = materials;
geometry.BackMaterial = materials;
hull = null;
switch (shape)
{
case CollisionShapeType.Box:
Vector3D halfSize = size / 2d;
geometry.Geometry = UtilityWPF.GetCube_IndependentFaces(new Point3D(-halfSize.X, -halfSize.Y, -halfSize.Z), new Point3D(halfSize.X, halfSize.Y, halfSize.Z));
if (createHull)
{
hull = CollisionHull.CreateBox(_world, 0, size, null);
}
break;
case CollisionShapeType.Sphere:
geometry.Geometry = UtilityWPF.GetSphere_LatLon(5, size.X, size.Y, size.Z);
if (createHull)
{
hull = CollisionHull.CreateSphere(_world, 0, size, null);
}
break;
case CollisionShapeType.Cylinder:
geometry.Geometry = UtilityWPF.GetCylinder_AlongX(20, size.X, size.Y);
if (createHull)
{
hull = CollisionHull.CreateCylinder(_world, 0, size.X, size.Y, null);
}
break;
case CollisionShapeType.Cone:
geometry.Geometry = UtilityWPF.GetCone_AlongX(20, size.X, size.Y);
if (createHull)
{
hull = CollisionHull.CreateCone(_world, 0, size.X, size.Y, null);
}
break;
default:
throw new ApplicationException("Unexpected CollisionShapeType: " + shape.ToString());
}
// Transform
transform = new Transform3DGroup(); // rotate needs to be added before translate
//rotation = _defaultDirectionFacing.GetAngleAroundAxis(directionFacing); // can't use double vector, it over rotates (not anymore, but this is still isn't rotating correctly)
rotation = Math3D.GetRotation(_defaultDirectionFacing.Standard, directionFacing.Standard);
transform.Children.Add(new RotateTransform3D(new QuaternionRotation3D(rotation)));
transform.Children.Add(new TranslateTransform3D(position.ToVector()));
// Model Visual
ModelVisual3D retVal = new ModelVisual3D();
retVal.Content = geometry;
retVal.Transform = transform;
// Exit Function
return retVal;
}
public static void GetRotatedVector(this Quaternion quaternion, DoubleVector[] doubleVectors)
{
Matrix3D matrix = new Matrix3D();
matrix.Rotate(quaternion);
MatrixTransform3D transform = new MatrixTransform3D(matrix);
for (int cntr = 0; cntr < doubleVectors.Length; cntr++)
{
doubleVectors[cntr] = new DoubleVector(transform.Transform(doubleVectors[cntr].Standard), transform.Transform(doubleVectors[cntr].Orth));
}
}
private void DrawMassBreakdown(UtilityNewt.IObjectMassBreakdown breakdown, double cellSize)
{
#region Draw masses as cubes
double radMult = (cellSize * .75d) / breakdown.Max(o => o.Item2);
DoubleVector dirFacing = new DoubleVector(1, 0, 0, 0, 1, 0);
Model3DGroup geometries = new Model3DGroup();
foreach (var pointMass in breakdown)
{
double radius = pointMass.Item2 * radMult;
CollisionHull dummy1; Transform3DGroup dummy2; Quaternion dummy3; DiffuseMaterial dummy4;
geometries.Children.Add(GetWPFGeometry(out dummy1, out dummy2, out dummy3, out dummy4, CollisionShapeType.Box, _colors.MassBall, _colors.MassBallReflect, _colors.MassBallReflectIntensity, new Vector3D(radius, radius, radius), pointMass.Item1, dirFacing, false));
}
ModelVisual3D visual = new ModelVisual3D();
visual.Content = geometries;
_viewport.Children.Add(visual);
_currentVisuals.Add(visual);
#endregion
#region Draw Axiis
ScreenSpaceLines3D line = new ScreenSpaceLines3D();
line.Color = Colors.DimGray;
line.Thickness = 2d;
line.AddLine(new Point3D(0, 0, 0), new Point3D(10, 0, 0));
_viewport.Children.Add(line);
_currentVisuals.Add(line);
line = new ScreenSpaceLines3D();
line.Color = Colors.Silver;
line.Thickness = 2d;
line.AddLine(new Point3D(0, 0, 0), new Point3D(0, 10, 0));
_viewport.Children.Add(line);
_currentVisuals.Add(line);
line = new ScreenSpaceLines3D();
line.Color = Colors.White;
line.Thickness = 2d;
line.AddLine(new Point3D(0, 0, 0), new Point3D(0, 0, 10));
_viewport.Children.Add(line);
_currentVisuals.Add(line);
#endregion
}
private void MoveHoverLight(MouseEventArgs e)
{
Point mousePos = e.GetPosition(pnlIconBorder);
double width = pnlIconBorder.ActualWidth;
double height = pnlIconBorder.ActualHeight;
DoubleVector standard = new DoubleVector(
ProjectToTrackball(width, height, new Point(width * .5d, height * .5d)),
ProjectToTrackball(width, height, new Point(width * .5d, height)));
Vector3D camPos = _camera.Position.ToVector();
Vector3D cross1 = Vector3D.CrossProduct(camPos, _camera.UpDirection * -1d);
Vector3D cross2 = Vector3D.CrossProduct(cross1, camPos);
DoubleVector camera = new DoubleVector(camPos, cross2); // can't use camera.up directly, because it's not nessassarily orthogonal
// Attach the point to a sphere around the ship
Vector3D projectedPos = ProjectToTrackball(width, height, mousePos);
// Rotate this so that it's relative to the camera
Quaternion rotation = standard.GetRotation(camera);
_hoverLight.Position = rotation.GetRotatedVector(projectedPos * 2d).ToPoint();
}
private static Transform3D GetTransformTo2D(ITriangle triangle)
{
Vector3D line1 = triangle.Point1 - triangle.Point0;
DoubleVector from = new DoubleVector(line1, Math3D.GetOrthogonal(line1, triangle.Point2 - triangle.Point0));
DoubleVector to = new DoubleVector(new Vector3D(1, 0, 0), new Vector3D(0, 1, 0));
Quaternion rotation = from.GetRotation(to);
Transform3DGroup retVal = new Transform3DGroup();
// Rotate
retVal.Children.Add(new RotateTransform3D(new QuaternionRotation3D(rotation)));
// Then translate
retVal.Children.Add(new TranslateTransform3D(0, 0, -triangle.Point0.Z));
return retVal;
}
private static RayHitTestParameters CastRay_PlaneLimitedSprtGetSnapLine(ITriangle plane, Vector3D lookDirection)
{
const double THRESHOLD = .33d;
#region Get orthogonal vectors
Point3D centerPoint = new Point3D();
DoubleVector testVectors = new DoubleVector();
//This assumes that the plane was set up with orthogonal vectors, and that these are the ones to use in this case
for (int cntr = 0; cntr < 3; cntr++)
{
switch (cntr)
{
case 0:
centerPoint = plane.Point0;
testVectors = new DoubleVector((plane.Point1 - plane.Point0).ToUnit(), (plane.Point2 - plane.Point0).ToUnit());
break;
case 1:
centerPoint = plane.Point1;
testVectors = new DoubleVector((plane.Point2 - plane.Point1).ToUnit(), (plane.Point0 - plane.Point1).ToUnit());
break;
case 2:
centerPoint = plane.Point2;
testVectors = new DoubleVector((plane.Point0 - plane.Point2).ToUnit(), (plane.Point1 - plane.Point2).ToUnit());
break;
default:
throw new ApplicationException("Unexpected cntr: " + cntr.ToString());
}
if (Math1D.IsNearZero(Vector3D.DotProduct(testVectors.Standard, testVectors.Orth)))
{
break;
}
}
#endregion
double dot = Vector3D.DotProduct(testVectors.Standard, lookDirection.ToUnit());
if (Math.Abs(dot) < THRESHOLD)
{
return new RayHitTestParameters(centerPoint, testVectors.Standard); // standard is fairly orhogonal to the camera's look direction, so only allow the part to slide along this axis
}
dot = Vector3D.DotProduct(testVectors.Orth, lookDirection.ToUnit());
if (Math.Abs(dot) < THRESHOLD)
{
return new RayHitTestParameters(centerPoint, testVectors.Orth);
}
return null;
}
private void AddCannonBall(CollisionShapeType shape, Color color, Vector3D size, double mass, Point3D position, Vector3D velocity, Vector3D angularVelocity, DoubleVector directionFacing)
{
// Get the wpf model
CollisionHull hull;
Transform3DGroup transform;
Quaternion rotation;
DiffuseMaterial bodyMaterial;
ModelVisual3D model = GetWPFModel(out hull, out transform, out rotation, out bodyMaterial, shape, color, Colors.Gray, 50d, size, position, directionFacing, true);
// Add to the viewport
_viewport.Children.Add(model);
// Make a physics body that represents this shape
Body body = new Body(hull, transform.Value, mass, new Visual3D[] { model });
hull.Dispose();
body.IsContinuousCollision = true;
body.MaterialGroupID = _material_Projectile;
body.Velocity = velocity;
//body.AngularVelocity = Math3D.RotateAroundAxis(angularVelocity, axis, radians);
body.AngularVelocity = rotation.GetRotatedVector(angularVelocity);
body.AngularDamping = new Vector3D(0, 0, 0); // this one becomes very noticable with the big spinner
body.ApplyForceAndTorque += new EventHandler<BodyApplyForceAndTorqueArgs>(Body_ApplyForceAndTorque);
_projectiles.Add(body);
_bodyMaterials.Add(body, new BodyMaterial(bodyMaterial, color, size.Length));
}
