private IEnumerable <TrackComplexModelEntry> LoadModels()
{
var directory = Path.GetDirectoryName(_modelsIniFilename) ?? "";
return(from section in new IniFile(_modelsIniFilename).GetSections("MODEL")
let rot = section.GetSlimVector3("ROTATION")
select new TrackComplexModelEntry {
Kn5 = Kn5.FromFile(Path.Combine(directory, section.GetNonEmpty("FILE") ?? "")),
Matrix = Matrix.Translation(section.GetSlimVector3("POSITION")) * Matrix.RotationYawPitchRoll(rot.X, rot.Y, rot.Z),
});
}
/// <summary>
/// Возвращает матрицу в системе координат DirectX
/// </summary>
/// <param name="frame">Фрейм</param>
/// <returns></returns>
public static Matrix ToDirectXMatrix(this Frame3D frame)
{
//Если нет кватерниона - поворачиваем исходя из Pitch, yaw, roll - иначе через кватернион.
if (!frame.Orientation.HasValue)
{
return(Matrix.RotationYawPitchRoll((float)frame.Pitch.Radian,
(float)frame.Roll.Radian, -(float)frame.Yaw.Radian) *
Matrix.Translation(-(float)frame.X, (float)frame.Y, (float)frame.Z));
}
Quat quat = frame.Orientation.Value;
var q = new Quaternion((float)quat.X, (float)quat.Y, (float)quat.Z, (float)quat.W);
return(Matrix.RotationQuaternion(q) *
Matrix.Translation(-(float)frame.X, (float)frame.Y, (float)frame.Z));
}
