public static float CosineDihedralAngle( Plane3f p0, Plane3f p1 )
{
return Vector3f.Dot( p0.UnitNormal, p1.UnitNormal );
}
public Plane3f( Plane3f p )
{
ABCD = p.ABCD;
}
// TODO
/// <summary>
/// Returns the 2d plane of intersection between two hyperplanes:
/// http://mathworld.wolfram.com/Plane-PlaneIntersection.html
/// </summary>
/// <param name="p0"></param>
/// <param name="p1"></param>
/// <returns></returns>
public static bool Intersection( Plane3f p0, Plane3f p1 )
{
var n0 = p0.UnitNormal;
var n1 = p1.UnitNormal;
var n2 = Vector3f.Cross( n0, n1 );
if( n2.Equals( Vector3f.Zero ) )
{
return false;
}
}
public UniversalManipulatorTransform HandleMouseMove( Vector3f rayOrigin, Vector3f rayDirection, Vector3f up )
{
var output = new UniversalManipulatorTransform();
if( selectedObject == -1 )
{
return output;
}
// rotation
if( selectedObject < 3 )
{
output.transformType = UniversalManipulatorTransformType.Rotation;
var rxir = RotateXEllipse.IntersectRay( rayOrigin, rayDirection, EPSILON );
var ryir = RotateYEllipse.IntersectRay( rayOrigin, rayDirection, EPSILON );
var rzir = RotateZEllipse.IntersectRay( rayOrigin, rayDirection, EPSILON );
var txir = TranslateXCone.IntersectRay( rayOrigin, rayDirection );
var tyir = TranslateYCone.IntersectRay( rayOrigin, rayDirection );
var tzir = TranslateZCone.IntersectRay( rayOrigin, rayDirection );
var irList = new List< RayIntersectionRecord > { rxir, ryir, rzir, txir, tyir, tzir };
if( irList[ selectedObject ].Intersected )
{
output.transformType = UniversalManipulatorTransformType.Rotation;
var theta = ( irList[ selectedObject ] as RayEllipseIntersectionRecord ).theta;
float dTheta = theta - ( mouseDownIntersectionRecord as RayEllipseIntersectionRecord ).theta;
if( selectedObject == 0 )
{
output.transform = Matrix4f.RotateX( dTheta );
}
else if( selectedObject == 1 )
{
output.transform = Matrix4f.RotateY( dTheta );
}
else
{
output.transform = Matrix4f.RotateZ( dTheta );
}
}
mouseDownIntersectionRecord = irList[ selectedObject ];
return output;
}
else
{
// translation:
// define a plane between the click, the center, and the camera's up vector
output.transformType = UniversalManipulatorTransformType.Translation;
var pOld = mouseDownIntersectionRecord.p;
// var planeX = ( pOld - center ).Normalized();
Vector3f planeX;
if( selectedObject == 3 )
{
planeX = Vector3f.Right;
}
else if( selectedObject == 4 )
{
planeX = Vector3f.Up;
}
else
{
planeX = -Vector3f.Forward;
}
var planeNormal = Vector3f.Cross( planeX, up );
var plane = new Plane3f( center, planeNormal );
debugPlane = plane;
// intersect the mouse down point with the plane
var planeIR = plane.IntersectRay( rayOrigin, rayDirection );
if( planeIR.Intersected )
{
var pNew = planeIR.p;
// depending on which cone was picked, project the amount onto the appropriate vector
if( selectedObject == 3 )
{
float dx = pNew.x - pOld.x;
output.transform = Matrix4f.Translation( dx, 0, 0 );
}
else if( selectedObject == 4 )
{
float dy = pNew.y - pOld.y;
output.transform = Matrix4f.Translation( 0, dy, 0 );
}
else
{
float dz = pNew.z - pOld.z;
output.transform = Matrix4f.Translation( 0, 0, dz );
}
RotateXEllipse.Center = output.transform.TransformHomogenized( RotateXEllipse.Center );
RotateYEllipse.Center = output.transform.TransformHomogenized( RotateYEllipse.Center );
RotateZEllipse.Center = output.transform.TransformHomogenized( RotateZEllipse.Center );
TranslateXCone.Origin = output.transform.TransformHomogenized( TranslateXCone.Origin );
TranslateYCone.Origin = output.transform.TransformHomogenized( TranslateYCone.Origin );
TranslateZCone.Origin = output.transform.TransformHomogenized( TranslateZCone.Origin );
mouseDownIntersectionRecord = planeIR;
return output;
}
}
return output;
}
