//----------------------------------------------------------------------------------------------------------------
//protected override void renderSceneAll(GameTime gameTime)
//{
// IndexedVector3 halfExtents = new IndexedVector3(wheelWidth, wheelRadius, wheelRadius);
// CylinderShapeX wheelShape = new CylinderShapeX(ref halfExtents);
// IndexedVector3 wheelColor = new IndexedVector3(1, 0, 0);
// IndexedVector3 worldBoundsMin = IndexedVector3.Zero, worldBoundsMax = IndexedVector3.Zero;
// getDynamicsWorld().getBroadphase().getBroadphaseAabb(ref worldBoundsMin, ref worldBoundsMax);
// for (int i = 0; i < m_vehicle.getNumWheels(); i++)
// {
// //synchronize the wheels with the (interpolated) chassis worldtransform
// m_vehicle.updateWheelTransform(i, true);
// //draw wheels (cylinders)
// IndexedMatrix m = m_vehicle.getWheelInfo(i).m_worldTransform;
// m_shapeDrawer.drawXNA(ref m, m_wheelShape, ref wheelColor, getDebugMode(), ref worldBoundsMin, ref worldBoundsMax, ref m_lookAt, ref m_perspective);
// }
// base.renderSceneAll(gameTime);
//}
//----------------------------------------------------------------------------------------------------------------
public override void UpdateCamera()
{
if (m_useDefaultCamera)
{
base.UpdateCamera();
return;
}
IndexedMatrix chassisWorldTrans;
//look at the vehicle
m_carChassis.GetMotionState().GetWorldTransform(out chassisWorldTrans);
m_cameraTargetPosition = chassisWorldTrans._origin;
m_cameraPosition.Y = (15.0f * m_cameraPosition.Y + m_cameraTargetPosition.Y + m_cameraHeight) / 16.0f;
IndexedVector3 camToObject = m_cameraTargetPosition - m_cameraPosition;
//keep distance between min and max distance
float cameraDistance = camToObject.Length();
float correctionFactor = 0.0f;
if (cameraDistance < m_minCameraDistance)
{
correctionFactor = 0.15f * (m_minCameraDistance - cameraDistance) / cameraDistance;
}
if (cameraDistance > m_maxCameraDistance)
{
correctionFactor = 0.15f * (m_maxCameraDistance - cameraDistance) / cameraDistance;
}
m_cameraPosition -= correctionFactor * camToObject;
m_lookAt = IndexedMatrix.CreateLookAt(m_cameraPosition, m_cameraTargetPosition, m_cameraUp);
}
public static void runTests()
{
String filename = @"e:\users\man\bullet\xna-math-debug-output.txt";
FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.None);
StreamWriter streamWriter = new StreamWriter(filestream);
streamWriter.WriteLine("Identity");
IndexedMatrix m = IndexedMatrix.Identity;
MathUtil.PrintMatrix(streamWriter, m);
streamWriter.WriteLine("setEuler 2,0,0");
m._basis.SetEulerZYX(2, 0, 0);
MathUtil.PrintMatrix(streamWriter, m);
streamWriter.WriteLine("setEuler 0,2,0");
m = IndexedMatrix.Identity;
m._basis.SetEulerZYX(0, 2, 0);
MathUtil.PrintMatrix(streamWriter, m);
streamWriter.WriteLine("setEuler 0,0,2");
m = IndexedMatrix.Identity;
m._basis.SetEulerZYX(0, 0, 2);
MathUtil.PrintMatrix(streamWriter, m);
streamWriter.WriteLine("setEuler 2,2,0");
m = IndexedMatrix.Identity;
m._basis.SetEulerZYX(2, 2, 0);
MathUtil.PrintMatrix(streamWriter, m);
streamWriter.WriteLine("setEuler 2,0,2");
m = IndexedMatrix.Identity;
m._basis.SetEulerZYX(2, 0, 2);
MathUtil.PrintMatrix(streamWriter, m);
streamWriter.WriteLine("setEuler 2,2,2");
m = IndexedMatrix.Identity;
m._basis.SetEulerZYX(2, 2, 2);
MathUtil.PrintMatrix(streamWriter, m);
streamWriter.WriteLine("setEuler 0.5*PI,0,0 Trans 100,100,100 MULTIPLIED BY setEuler 0,0,0.5*PI Trans -10,10,0");
m = IndexedMatrix.Identity;
m._basis.SetEulerZYX(MathUtil.SIMD_HALF_PI, 0, 0);
m._origin = new IndexedVector3(100, 100, 100);
IndexedMatrix m2 = IndexedMatrix.Identity;
m2._basis.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
m2._origin = new IndexedVector3(-10, 10, 0);
IndexedMatrix m3 = m * m2;
MathUtil.PrintMatrix(streamWriter, m3);
//streamWriter.WriteLine("Broken axis comparison");
//m = IndexedMatrix.Identity;
//m.Right = new IndexedVector3(1, 0, 0);
//m.Up = new IndexedVector3(0, 1, 0);
//m.Backward = new IndexedVector3(0, 0, 1);
//m._origin = new IndexedVector3(0, 20, 0);
//m2 = IndexedMatrix.Identity;
//m2.Right = new IndexedVector3(0, -1, 0);
//m2.Up = new IndexedVector3(1, 0, 0);
//m2.Backward = new IndexedVector3(0, 0, 1);
//m2._origin = new IndexedVector3(1, -1, -1);
//m3 = m * m2;
//MathUtil.PrintMatrix(streamWriter, m3);
//streamWriter.WriteLine("setEuler 0.5*PI,0,0 Trans 0,0,0 MULTIPLIED BY setEuler 0,0,0.5*PI Trans -10,10,0");
//m = IndexedMatrix.Identity;
//m._basis.SetEulerZYX(MathUtil.SIMD_HALF_PI, 0, 0);
//m._origin = new IndexedVector3(0, 0, 0);
//m2 = IndexedMatrix.Identity;
//m2._basis.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
//m2._origin = new IndexedVector3(-10, 10, 0);
//m3 = m * m2;
//MathUtil.PrintMatrix(streamWriter, m3);
//streamWriter.WriteLine("setEuler 0.25*PI,0,0 Trans 33,0,0 MULTIPLIED BY setEuler 0,0,0.5*PI Trans 0,0,0");
//m = IndexedMatrix.Identity;
//m._basis.SetEulerZYX(MathUtil.SIMD_QUARTER_PI, 0, 0);
//m._origin = new IndexedVector3(33, 0, 0);
//m2 = IndexedMatrix.Identity;
//m2._basis.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
//m2._origin = new IndexedVector3(0, 0, 0);
//m3 = m *m2;
//MathUtil.PrintMatrix(streamWriter, m3);
streamWriter.WriteLine("transposeTimes");
m = IndexedMatrix.Identity;
m._basis.SetEulerZYX(2, 1, 2);
m._origin = new IndexedVector3(3, 3, 3);
streamWriter.WriteLine("");
//MathUtil.PrintMatrix(streamWriter, m);
m2 = IndexedMatrix.Identity;
m2._basis.SetEulerZYX(1, 2, -2);
m2._origin = new IndexedVector3(5, 2, 13);
//MathUtil.PrintMatrix(streamWriter, m2);
IndexedBasisMatrix im3 = m._basis.TransposeTimes(m2._basis);
MathUtil.PrintMatrix(streamWriter, im3);
streamWriter.WriteLine("inverseTransform.");
m = IndexedMatrix.Identity;
m._basis.SetEulerZYX(1, -2, -1);
m._origin = new IndexedVector3(-1, 2, -3);
IndexedVector3 v = new IndexedVector3(20, 25, 30);
IndexedVector3 result = MathUtil.InverseTransform(ref m, ref v);
MathUtil.PrintVector3(streamWriter, result);
streamWriter.WriteLine("");
streamWriter.WriteLine("inverseTimes.");
m = IndexedMatrix.Identity;
m._basis.SetEulerZYX(1, -2, -1);
m._origin = new IndexedVector3(-1, 2, -3);
m2 = IndexedMatrix.Identity;
m2._basis.SetEulerZYX(0.3f, 0.8f, 2.3f);
m2._origin = new IndexedVector3(20, 25, 30);
m3 = m.InverseTimes(ref m2);
MathUtil.PrintMatrix(streamWriter, m3);
streamWriter.WriteLine("Transform.");
m = IndexedMatrix.Identity;
m._basis.SetEulerZYX(1, -2, -1);
m._origin = new IndexedVector3(-1, 2, -3);
v = new IndexedVector3(20, 25, 30);
result = m * v;
MathUtil.PrintVector3(streamWriter, result);
streamWriter.WriteLine("");
streamWriter.WriteLine("TransformNormal.");
m = IndexedMatrix.Identity;
m._basis.SetEulerZYX(1, -2, -1);
m._origin = new IndexedVector3(-1, 2, -3);
v = new IndexedVector3(20, 25, 30);
//IndexedMatrix tm = IndexedMatrix.Transpose(m);
//result = IndexedVector3.TransformNormal(v,tm);
result = m._basis * v;
MathUtil.PrintVector3(streamWriter, result);
streamWriter.WriteLine("");
streamWriter.WriteLine("quatAngle");
Quaternion q = Quaternion.CreateFromYawPitchRoll(0.3f, 0.2f, 0.7f);
float fresult = MathUtil.QuatAngle(ref q);
streamWriter.WriteLine(String.Format("{0:0.00000000}", fresult));
streamWriter.WriteLine("quatRotate");
v = new IndexedVector3(20, -25, 30);
result = MathUtil.QuatRotate(q, v);
MathUtil.PrintVector3(streamWriter, result);
streamWriter.WriteLine("");
streamWriter.WriteLine("shortestArcQuat");
v = new IndexedVector3(2f, -1f, 3f);
IndexedVector3 v2 = new IndexedVector3(0.5f, 0.1f, 0.7f);
q = MathUtil.ShortestArcQuat(v, v2);
MathUtil.PrintQuaternion(streamWriter, q);
streamWriter.WriteLine("");
streamWriter.WriteLine("quaternionMultiply");
q = Quaternion.CreateFromYawPitchRoll(0.3f, 0.2f, 0.7f);
Quaternion q2 = Quaternion.CreateFromYawPitchRoll(-0.71f, 0.8f, 0.3f);
q = MathUtil.QuaternionMultiply(q, q2);
MathUtil.PrintQuaternion(streamWriter, q);
streamWriter.WriteLine("");
//streamWriter.WriteLine("matrixToEulerXYZ");
//m = IndexedMatrix.Identity;
//m._basis..SetEulerZYX(1, -2, -1);
//m._origin = new IndexedVector3(-1, 2, -3);
//MathUtil.MatrixToEulerXYZ(ref m, out result);
//MathUtil.PrintVector3(streamWriter, result);
//streamWriter.WriteLine("");
streamWriter.WriteLine("getSkewSymmetrixMatrix");
v = new IndexedVector3(0.2f, 0.7f, -0.3f);
IndexedVector3 v3;
IndexedVector3 v4;;
MathUtil.GetSkewSymmetricMatrix(ref v, out v2, out v3, out v4);
MathUtil.PrintVector3(streamWriter, v2);
streamWriter.WriteLine("");
MathUtil.PrintVector3(streamWriter, v3);
streamWriter.WriteLine("");
MathUtil.PrintVector3(streamWriter, v4);
streamWriter.WriteLine("");
streamWriter.WriteLine("quaternion create");
m = IndexedMatrix.Identity;
m._basis.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
m._origin = new IndexedVector3(0.0f, 0.30f, 0.0f);
m2 = IndexedMatrix.Identity;
m2._basis.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
m2._origin = new IndexedVector3(0.0f, -0.14f, 0.0f);
q = m.GetRotation();
q2 = m2.GetRotation();
MathUtil.PrintQuaternion(streamWriter, q);
streamWriter.WriteLine("");
MathUtil.PrintQuaternion(streamWriter, q2);
streamWriter.WriteLine("");
streamWriter.WriteLine("row and column");
m = IndexedMatrix.Identity;
m._basis.SetEulerZYX(0.3f, 0.7f, 0.5f);
m._origin = new IndexedVector3(11, 22, 33);
MathUtil.PrintVector3(streamWriter, "col0", m._basis.GetColumn(0));
MathUtil.PrintVector3(streamWriter, "col1", m._basis.GetColumn(1));
MathUtil.PrintVector3(streamWriter, "col2", m._basis.GetColumn(2));
//MathUtil.PrintVector3(streamWriter, "col3", MathUtil.MatrixColumn(m, 0));
MathUtil.PrintVector3(streamWriter, "row0", m._basis.GetRow(0));
MathUtil.PrintVector3(streamWriter, "row1", m._basis.GetRow(1));
MathUtil.PrintVector3(streamWriter, "row2", m._basis.GetRow(2));
//MathUtil.PrintVector3(streamWriter, "row3", MathUtil.MatrixRow(ref m, 3));
Matrix lookat1 = Matrix.CreateLookAt(new Vector3(5, 5, 5), new Vector3(10, 10, 10), new Vector3(0, 1, 0));
IndexedMatrix lookat2 = IndexedMatrix.CreateLookAt(new IndexedVector3(5, 5, 5), new IndexedVector3(10, 10, 10), new IndexedVector3(0, 1, 0));
Matrix compare = lookat2.ToMatrix();
MathUtil.PrintMatrix(streamWriter, "lookat1", lookat1);
MathUtil.PrintMatrix(streamWriter, "lookat2", lookat2);
MathUtil.PrintMatrix(streamWriter, "lookat compare", compare);
float aspect = (float)(800.0f / 600.0f);
float fov = MathHelper.ToRadians(40.0f);
float near = 1f;
float far = 500f;
Matrix pov = Matrix.CreatePerspectiveFieldOfView(fov, aspect, near, far);
IndexedMatrix pov2 = IndexedMatrix.CreatePerspectiveFieldOfView(fov, aspect, near, far);
Matrix pov3 = pov2.ToMatrix();
MathUtil.PrintMatrix(streamWriter, "pov1", pov);
MathUtil.PrintMatrix(streamWriter, "pov2", pov2);
MathUtil.PrintMatrix(streamWriter, "pov compare", pov3);
streamWriter.WriteLine("Complete.");
streamWriter.Flush();
filestream.Close();
}
