/// <summary>
/// Rotates around x,y and z axis by the given amount in Degrees
/// </summary>
/// <param name="mat"></param>
/// <param name="x"></param>
/// <param name="y"></param>
/// <param name="z"></param>
/// <returns></returns>
public static Matrix3d RotationXYZDegrees(this Matrix3d mat, double x, double y, double z)
{
Matrix3d Rx = Matrix3d.CreateRotationX(Convert.ToSingle(Math.PI * x / 180));
Matrix3d Ry = Matrix3d.CreateRotationY(Convert.ToSingle(Math.PI * y / 180));
Matrix3d Rz = Matrix3d.CreateRotationZ(Convert.ToSingle(Math.PI * z / 180));
Rx = Matrix3d.Mult(Rx, Ry);
Rx = Matrix3d.Mult(Rx, Rz);
return(Rx);
}
/// <summary>
/// Rotates around x,y and z axis by the given amount in radiants
/// </summary>
/// <param name="mat"></param>
/// <param name="x"></param>
/// <param name="y"></param>
/// <param name="z"></param>
/// <returns></returns>
public static Matrix3d RotationXYZRadiants(this Matrix3d mat, double x, double y, double z)
{
Matrix3d Rx = Matrix3d.CreateRotationX(x);
Matrix3d Ry = Matrix3d.CreateRotationY(y);
Matrix3d Rz = Matrix3d.CreateRotationZ(z);
Rx = Matrix3d.Mult(Rx, Ry);
Rx = Matrix3d.Mult(Rx, Rz);
return(Rx);
}
public static Matrix3d RotateSome(this Matrix3d mat)
{
Matrix3d Rx = Matrix3d.CreateRotationX(90);
Matrix3d Ry = Matrix3d.CreateRotationY(124);
Matrix3d Rz = Matrix3d.CreateRotationZ(-274);
Rx = Matrix3d.Mult(Rx, Ry);
Rx = Matrix3d.Mult(Rx, Rz);
return(Rx);
}
public static Matrix3d Rotation60Degrees(this Matrix3d mat)
{
Matrix3d Rx = Matrix3d.CreateRotationX(60);
Matrix3d Ry = Matrix3d.CreateRotationY(60);
Matrix3d Rz = Matrix3d.CreateRotationZ(60);
Rx = Matrix3d.Mult(Rx, Ry);
Rx = Matrix3d.Mult(Rx, Rz);
return(Rx);
}
public static double Test2_RotationX30Degrees(ref PointCloudVertices myPCLTarget, ref PointCloudVertices myPCLSource, ref PointCloudVertices myPCLResult)
{
//myPCLTarget = Vertices.CreateSomePoints();
myPCLTarget = PointCloudVertices.CreateCube_Corners(50);
myPCLSource = PointCloudVertices.CloneVertices(myPCLTarget);
Matrix3d R = Matrix3d.CreateRotationX(30);
PointCloudVertices.Rotate(myPCLSource, R);
myPCLResult = IterativeClosestPointTransform.Instance.PerformICP(myPCLSource, myPCLTarget);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static double Test2_RotationX30Degrees(ref List <Vertex> myVerticesTarget, ref List <Vertex> myVerticesSource, ref List <Vertex> myVerticesResult)
{
//myVerticesTarget = Vertices.CreateSomePoints();
myVerticesTarget = Vertices.CreateCube_Corners(50);
myVerticesSource = VertexUtils.CloneListVertex(myVerticesTarget);
Matrix3d R = Matrix3d.CreateRotationX(30);
VertexUtils.RotateVertices(myVerticesSource, R);
myVerticesResult = IterativeClosestPointTransform.Instance.PerformICP(myVerticesTarget, myVerticesSource);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
protected override void OnUpdateFrame(FrameEventArgs e)
{
double displacement = 500;
base.OnUpdateFrame(e);
Planet.Update(CamPos);
if (Focused)
{
var Keyboard = OpenTK.Input.Keyboard.GetState();
Matrix4d rot = Matrix4d.CreateFromQuaternion(CamRot);
Vector3d left = rot.Row0.Xyz;
Vector3d up = rot.Row1.Xyz;
Vector3d front = rot.Row2.Xyz;;
if (Keyboard[OpenTK.Input.Key.ShiftLeft])
{
displacement *= 100;
}
if (Keyboard[OpenTK.Input.Key.W])
{
CamPos -= front * displacement;
}
if (Keyboard[OpenTK.Input.Key.S])
{
CamPos += front * displacement;
}
if (Keyboard[OpenTK.Input.Key.D])
{
CamPos += left * displacement;
}
if (Keyboard[OpenTK.Input.Key.A])
{
CamPos -= left * displacement;
}
if (Keyboard[OpenTK.Input.Key.Q])
{
CamPos -= up * displacement;
}
if (Keyboard[OpenTK.Input.Key.E])
{
CamPos += up * displacement;
}
Vector3d NewCamRot = new Vector3d();
if (Keyboard[OpenTK.Input.Key.I])
{
NewCamRot.X -= 0.1;
}
if (Keyboard[OpenTK.Input.Key.K])
{
NewCamRot.X += 0.1;
}
if (Keyboard[OpenTK.Input.Key.J])
{
NewCamRot.Y -= 0.1;
}
if (Keyboard[OpenTK.Input.Key.L])
{
NewCamRot.Y += 0.1;
}
if (Keyboard[OpenTK.Input.Key.U])
{
NewCamRot.Z -= 0.1;
}
if (Keyboard[OpenTK.Input.Key.O])
{
NewCamRot.Z += 0.1;
}
if (Keyboard[OpenTK.Input.Key.Space])
{
CamPos = DefaultPos;
CamRot = Quaterniond.Identity;
}
if (Keyboard[OpenTK.Input.Key.R])
{
Shader.Recompile();
}
if (Keyboard[OpenTK.Input.Key.X])
{
if (IsLine)
{
GL.PolygonMode(MaterialFace.FrontAndBack, PolygonMode.Fill);
IsLine = false;
}
else
{
GL.PolygonMode(MaterialFace.FrontAndBack, PolygonMode.Line);
IsLine = true;
}
}
if (Keyboard[OpenTK.Input.Key.Z])
{
Integrator.Reset();
Planet.Layers[0].RegeneratePlanet();
}
if (Keyboard[OpenTK.Input.Key.Escape])
{
Exit();
}
Frustum.SetCamDef(CamPos, CamPos + front, up);
CamRot *= Quaterniond.FromMatrix(Matrix3d.CreateRotationX(NewCamRot.X) * Matrix3d.CreateRotationY(NewCamRot.Y) * Matrix3d.CreateRotationZ(NewCamRot.Z));
}
}