public static Vertex RotateArbitrary(Vertex vertex, Vertex axisVertex, double angle)
{
double axisX2 = axisVertex.X * axisVertex.X;
double axisY2 = axisVertex.Y * axisVertex.Y;
double axisZ2 = axisVertex.Z * axisVertex.Z;
double axisSumOfSquares = axisX2 + axisY2 + axisZ2;
Matrix rotationMatrix = new Matrix(4, 4);
rotationMatrix[0,0] = (axisX2 + (axisY2 + axisZ2) * Math.Cos(angle)) / axisSumOfSquares;
rotationMatrix[0,1] = (axisVertex.X * axisVertex.Y * (1 - Math.Cos(angle)) - axisVertex.Z * Math.Sqrt(axisSumOfSquares) * Math.Sin(angle)) / axisSumOfSquares;
rotationMatrix[0,2] = (axisVertex.X * axisVertex.Z * (1 - Math.Cos(angle)) + axisVertex.Y * Math.Sqrt(axisSumOfSquares) * Math.Sin(angle)) / axisSumOfSquares;
rotationMatrix[0,3] = 0.0;
rotationMatrix[1,0] = (axisVertex.X * axisVertex.Y * (1 - Math.Cos(angle)) + axisVertex.Z * Math.Sqrt(axisSumOfSquares) * Math.Sin(angle)) / axisSumOfSquares;
rotationMatrix[1,1] = (axisY2 + (axisX2 + axisZ2) * Math.Cos(angle)) / axisSumOfSquares;
rotationMatrix[1,2] = (axisVertex.Y * axisVertex.Z * (1 - Math.Cos(angle)) - axisVertex.X * Math.Sqrt(axisSumOfSquares) * Math.Sin(angle)) / axisSumOfSquares;
rotationMatrix[1,3] = 0.0;
rotationMatrix[2,0] = (axisVertex.X * axisVertex.Z * (1 - Math.Cos(angle)) - axisVertex.Y * Math.Sqrt(axisSumOfSquares) * Math.Sin(angle)) / axisSumOfSquares;
rotationMatrix[2,1] = (axisVertex.Y * axisVertex.Z * (1 - Math.Cos(angle)) + axisVertex.X * Math.Sqrt(axisSumOfSquares) * Math.Sin(angle)) / axisSumOfSquares;
rotationMatrix[2,2] = (axisZ2 + (axisX2 + axisY2) * Math.Cos(angle)) / axisSumOfSquares;
rotationMatrix[2,3] = 0.0;
rotationMatrix[3,0] = 0.0;
rotationMatrix[3,1] = 0.0;
rotationMatrix[3,2] = 0.0;
rotationMatrix[3,3] = 1.0;
var outputMatrix = rotationMatrix * vertex.ToSingleRowMatrix();
return new Vertex((float)outputMatrix[0, 0], (float)outputMatrix[1, 0], (float)outputMatrix[2, 0]);
}
public void ApplyVertex(Vertex vertex)
{
for (int i = 0; i < TransformedVertices.Length; i++)
{
TransformedVertices[i].Add(vertex);
}
}
public static Vertex RotateZ(Vertex vertex, double angle)
{
Vertex result = new Vertex(vertex);
if (angle != 0)
{
var sin = Math.Sin(angle);
var cos = Math.Cos(angle);
result.X = (float)(vertex.X * cos - vertex.Y * sin);
result.Y = (float)(vertex.Y * cos + vertex.X * sin);
}
return result;
}
public Box(float width, float height, float depth)
{
Vertices = new Vertex[]
{
new Vertex { X = -width/2, Y = height/2, Z = -depth/2 },
new Vertex { X = width/2, Y = height/2, Z = -depth/2 },
new Vertex { X = width/2, Y = -height/2, Z = -depth/2 },
new Vertex { X = -width/2, Y = -height/2, Z = -depth/2 },
new Vertex { X = -width/2, Y = height/2, Z = depth/2 },
new Vertex { X = width/2, Y = height/2, Z = depth/2 },
new Vertex { X = width/2, Y = -height/2, Z = depth/2 },
new Vertex { X = -width/2, Y = -height/2, Z = depth/2 },
};
Triangles = new Triangle[]
{
// Front
new Triangle { A = 0, B = 1, C = 2, EdgeMask = EdgeMask.ABC },
new Triangle { A = 2, B = 3, C = 0, EdgeMask = EdgeMask.ABC },
// Back
new Triangle { A = 5, B = 4, C = 7, EdgeMask = EdgeMask.ABC },
new Triangle { A = 7, B = 6, C = 5, EdgeMask = EdgeMask.ABC },
// Top
new Triangle { A = 0, B = 4, C = 5, EdgeMask = EdgeMask.ABC },
new Triangle { A = 5, B = 1, C = 0, EdgeMask = EdgeMask.ABC },
// Right side
new Triangle { A = 1, B = 5, C = 6, EdgeMask = EdgeMask.ABC },
new Triangle { A = 6, B = 2, C = 1, EdgeMask = EdgeMask.ABC },
// Bottom
new Triangle { A = 3, B = 2, C = 6, EdgeMask = EdgeMask.ABC },
new Triangle { A = 6, B = 7, C = 3, EdgeMask = EdgeMask.ABC },
// Right
new Triangle { A = 4, B = 0, C = 3, EdgeMask = EdgeMask.ABC },
new Triangle { A = 3, B = 7, C = 4, EdgeMask = EdgeMask.ABC },
};
}
public ShipModel(float width, float height, float depth)
{
Vertices = new Vertex[]
{
new Vertex { X = -width/2, Y = -height/2, Z = depth/2 },
new Vertex { X = 0, Y = height/2, Z = depth/2 },
new Vertex { X = width/2, Y = -height/2, Z = depth/2 },
new Vertex { X = 0, Y = -height/2, Z = -depth/2 },
};
Triangles = new Triangle[]
{
// Back
new Triangle { A = 0, B = 1, C = 2, EdgeMask = EdgeMask.ABCA },
// Top right
new Triangle { A = 0, B = 3, C = 1, EdgeMask = EdgeMask.ABCA },
// Top left
new Triangle { A = 3, B = 2, C = 1, EdgeMask = EdgeMask.ABCA },
// Bottom
new Triangle { A = 0, B = 2, C = 3, EdgeMask = EdgeMask.ABCA },
};
}
public void BeginTransformation()
{
if (TransformedVertices == null || TransformedVertices.Length != Vertices.Length)
{
TransformedVertices = new Vertex[Vertices.Length];
}
for (int i = 0; i < Vertices.Length; i++)
{
TransformedVertices[i] = new Vertex
{
X = Vertices[i].X,
Y = Vertices[i].Y,
Z = Vertices[i].Z
};
}
}
public void Add(Vertex other)
{
X += other.X;
Y += other.Y;
Z += other.Z;
}
public Vertex(Vertex copyFrom)
{
this.X = copyFrom.X;
this.Y = copyFrom.Y;
this.Z = copyFrom.Z;
}
private void TransformObject(WorldObject obj, Vertex eyeVertice)
{
obj.BeginTransformation();
//obj.DumpVertices("Before");
// Rotate object around it's origin
obj.Rotate();
//obj.DumpVertices("After");
// Apply the object's location to its transformed vertices
obj.ApplyVertex(obj.Location);
// Apply the eye's location
obj.ApplyVertex(eyeVertice);
// Apply the eye's rotation
obj.Rotate(Eye.Rotation);
obj.EndTransformation();
//obj.DumpVertices("End");
}