// Transform by quaternion
public void PlaneTransformTest2()
{
Plane <float> target = new Plane <float>(1, 2, 3, 4);
target = Plane.Normalize(target);
Matrix4X4 <float> m =
Matrix4X4.CreateRotationX(MathHelper.ToRadians(30.0f)) *
Matrix4X4.CreateRotationY(MathHelper.ToRadians(30.0f)) *
Matrix4X4.CreateRotationZ(MathHelper.ToRadians(30.0f));
Quaternion <float> q = Quaternion <float> .CreateFromRotationMatrix(m);
Plane <float> expected = new Plane <float>();
float x = target.Normal.X, y = target.Normal.Y, z = target.Normal.Z, w = target.Distance;
expected.Normal = new Vector3D <float>(
x * m.M11 + y * m.M21 + z * m.M31 + w * m.M41,
x * m.M12 + y * m.M22 + z * m.M32 + w * m.M42,
x * m.M13 + y * m.M23 + z * m.M33 + w * m.M43);
expected.Distance = x * m.M14 + y * m.M24 + z * m.M34 + w * m.M44;
Plane <float> actual;
actual = Plane.Transform(target, q);
Assert.True(MathHelper.Equal(expected, actual), "Plane<float>.Transform did not return the expected value.");
}
private void Rebuild(UndoBuffer undoBuffer)
{
this.DebugDepth("Rebuild");
this.Children.Modify(list =>
{
IObject3D lastChild = list.First();
list.Clear();
list.Add(lastChild);
var offset = Offset;
for (int i = 1; i < Count; i++)
{
var rotateRadians = MathHelper.DegreesToRadians(Rotate);
if (ScaleOffset)
{
offset *= Scale;
}
var next = lastChild.Clone();
offset = Vector3.Transform(offset, Matrix4X4.CreateRotationZ(rotateRadians));
next.Matrix *= Matrix4X4.CreateTranslation(offset);
if (RotatePart)
{
next.Matrix = next.ApplyAtBoundsCenter(Matrix4X4.CreateRotationZ(rotateRadians));
}
next.Matrix = next.ApplyAtBoundsCenter(Matrix4X4.CreateScale(Scale));
list.Add(next);
lastChild = next;
}
});
}
public void RotateAbsolute(double x, double y, double z)
{
Matrix4X4 M1 = Matrix4X4.Identity;
Matrix4X4 M2 = Matrix4X4.Identity;
Matrix4X4 M3 = Matrix4X4.Identity;
Matrix4X4 M4 = Matrix4X4.Identity;
Vector3 save1;
// save the old position
save1.x = AxisToWorld[3, 0];
save1.y = AxisToWorld[3, 1];
save1.z = AxisToWorld[3, 2];
M1 = Matrix4X4.CreateRotationX(x);
M2 = Matrix4X4.CreateRotationY(y);
M3 = Matrix4X4.CreateRotationZ(z);
// 1 * 2 * 3
M4 = M2 * M1;
AxisToWorld = M3 * M4;
// stuff the old position back in
AxisToWorld[3, 0] = save1.x;
AxisToWorld[3, 1] = save1.y;
AxisToWorld[3, 2] = save1.z;
AxisToWorld = Matrix4X4.Invert(WorldToAxis);
}
static void AddRevolveStrip(IVertexSource vertexSource, Mesh mesh, double startAngle, double endAngle)
{
Vector3 lastPosition = Vector3.Zero;
foreach (var vertexData in vertexSource.Vertices())
{
if (vertexData.IsStop)
{
break;
}
if (vertexData.IsMoveTo)
{
lastPosition = new Vector3(vertexData.position.X, 0, vertexData.position.Y);
}
if (vertexData.IsLineTo)
{
Vector3 currentPosition = new Vector3(vertexData.position.X, 0, vertexData.position.Y);
mesh.CreateFace(new Vector3[]
{
Vector3Ex.Transform(currentPosition, Matrix4X4.CreateRotationZ(endAngle)),
Vector3Ex.Transform(currentPosition, Matrix4X4.CreateRotationZ(startAngle)),
Vector3Ex.Transform(lastPosition, Matrix4X4.CreateRotationZ(startAngle)),
Vector3Ex.Transform(lastPosition, Matrix4X4.CreateRotationZ(endAngle)),
});
lastPosition = currentPosition;
}
}
}
public static Vector3 MapMoveToSphere(Vector2 screenCenter, WorldView world, double trackBallRadius, Vector2 startPosition, Vector2 endPosition, bool rotateOnZ)
{
if (rotateOnZ)
{
var deltaFromScreenCenter = screenCenter - endPosition;
var angleToTravel = screenCenter.GetDeltaAngle(startPosition, endPosition);
// now rotate that position about z in the direction of the screen vector
var positionOnRotationSphere = Vector3.Transform(new Vector3(1, 0, 0), Matrix4X4.CreateRotationZ(angleToTravel / 2));
return(positionOnRotationSphere);
}
else
{
var deltaFromStartPixels = endPosition - startPosition;
var deltaOnSurface = new Vector2(deltaFromStartPixels.X / trackBallRadius, deltaFromStartPixels.Y / trackBallRadius);
var lengthOnSurfaceRadi = deltaOnSurface.Length;
// get this rotation on the surface of the sphere about y
var positionAboutY = Vector3.Transform(new Vector3(0, 0, 1), Matrix4X4.CreateRotationY(lengthOnSurfaceRadi));
// get the angle that this distance travels around the sphere
var angleToTravel = Math.Atan2(deltaOnSurface.Y, deltaOnSurface.X);
// now rotate that position about z in the direction of the screen vector
var positionOnRotationSphere = Vector3.Transform(positionAboutY, Matrix4X4.CreateRotationZ(angleToTravel));
return(positionOnRotationSphere);
}
}
public TumbleCubeControl(InteractionLayer interactionLayer, ThemeConfig theme)
: base(100 * GuiWidget.DeviceScale, 100 * GuiWidget.DeviceScale)
{
this.theme = theme;
this.interactionLayer = interactionLayer;
// this data needs to be made on the ui thread
UiThread.RunOnIdle(() =>
{
TextureFace(0, "Top");
TextureFace(2, "Left", Matrix4X4.CreateRotationZ(MathHelper.Tau / 4));
TextureFace(4, "Right", Matrix4X4.CreateRotationZ(-MathHelper.Tau / 4));
TextureFace(6, "Bottom", Matrix4X4.CreateRotationZ(MathHelper.Tau / 2));
TextureFace(8, "Back", Matrix4X4.CreateRotationZ(MathHelper.Tau / 2));
TextureFace(10, "Front");
cube.MarkAsChanged();
connections.Add(new ConnectedFaces(2, 1, 1, 5, 2, 4));
connections.Add(new ConnectedFaces(0, -1, 4, 3, 5, 0));
connections.Add(new ConnectedFaces(0, 1, 5, 3, 4, 0));
connections.Add(new ConnectedFaces(2, -1, 1, 4, 2, 5));
connections.Add(new ConnectedFaces(1, 1, 2, 3, 1, 0));
connections.Add(new ConnectedFaces(1, -1, 1, 3, 2, 0));
cubeTraceData = cube.CreateTraceData();
});
MouseLeave += (s, e) =>
{
ResetTextures();
};
}
private void Rebuild(UndoBuffer undoBuffer)
{
this.DebugDepth("Rebuild");
using (RebuildLock())
{
var aabb = this.GetAxisAlignedBoundingBox();
var path = new VertexStorage();
path.MoveTo(0, 0);
path.LineTo(Math.Sqrt(2), 0);
path.LineTo(0, Height);
var mesh = VertexSourceToMesh.Revolve(path, 4);
mesh.Transform(Matrix4X4.CreateRotationZ(MathHelper.DegreesToRadians(45)) * Matrix4X4.CreateScale(Width / 2, Depth / 2, 1));
Mesh = mesh;
if (aabb.ZSize > 0)
{
// If the part was already created and at a height, maintain the height.
PlatingHelper.PlaceMeshAtHeight(this, aabb.minXYZ.Z);
}
}
Invalidate(new InvalidateArgs(this, InvalidateType.Mesh));
}
private void Rebuild(UndoBuffer undoBuffer)
{
this.DebugDepth("Rebuild");
using (RebuildLock())
{
var startingAabb = this.GetAxisAlignedBoundingBox();
// remove whatever rotation has been applied (they go in reverse order)
Matrix = Matrix4X4.Identity;
// add the current rotation
Matrix = this.ApplyAtPosition(startingAabb.Center, Matrix4X4.CreateRotationX(MathHelper.DegreesToRadians(RotationXDegrees)));
Matrix = this.ApplyAtPosition(startingAabb.Center, Matrix4X4.CreateRotationY(MathHelper.DegreesToRadians(RotationYDegrees)));
Matrix = this.ApplyAtPosition(startingAabb.Center, Matrix4X4.CreateRotationZ(MathHelper.DegreesToRadians(RotationZDegrees)));
if (startingAabb.ZSize > 0)
{
// If the part was already created and at a height, maintain the height.
PlatingHelper.PlaceMeshAtHeight(this, startingAabb.minXYZ.Z);
}
}
Invalidate(new InvalidateArgs(this, InvalidateType.Matrix, null));
}
// Transform by matrix
public void PlaneTransformTest1()
{
Plane <float> target = new Plane <float>(1, 2, 3, 4);
target = Plane.Normalize(target);
Matrix4X4 <float> m =
Matrix4X4.CreateRotationX(MathHelper.ToRadians(30.0f)) *
Matrix4X4.CreateRotationY(MathHelper.ToRadians(30.0f)) *
Matrix4X4.CreateRotationZ(MathHelper.ToRadians(30.0f));
m.M41 = 10.0f;
m.M42 = 20.0f;
m.M43 = 30.0f;
Plane <float> expected = new Plane <float>();
Matrix4X4 <float> inv;
Matrix4X4.Invert(m, out inv);
Matrix4X4 <float> itm = Matrix4X4.Transpose(inv);
float x = target.Normal.X, y = target.Normal.Y, z = target.Normal.Z, w = target.Distance;
expected.Normal = new Vector3D <float>(
x * itm.M11 + y * itm.M21 + z * itm.M31 + w * itm.M41,
x * itm.M12 + y * itm.M22 + z * itm.M32 + w * itm.M42,
x * itm.M13 + y * itm.M23 + z * itm.M33 + w * itm.M43);
expected.Distance = x * itm.M14 + y * itm.M24 + z * itm.M34 + w * itm.M44;
Plane <float> actual;
actual = Plane.Transform(target, m);
Assert.True(MathHelper.Equal(expected, actual), "Plane<float>.Transform did not return the expected value.");
}
static void Main()
{
Matrix4X4 rotateAboutZ = Matrix4X4.CreateRotationZ(MathHelper.DegreesToRadians(2));
CsgObject tPBinoculars = TPBinoculars();
OpenSCadOutput.Save(tPBinoculars, "TPBinoculars.scad");
}
public void Can_Rotate_Point_Around_Z()
{
var point = new Point(0, 1, 0);
var halfQuarter = Matrix4X4.CreateRotationZ(Math.PI / 4);
var fullQuarter = Matrix4X4.CreateRotationZ(Math.PI / 2);
(halfQuarter * point).ShouldBe(new Point(-Math.Sqrt(2) / 2, Math.Sqrt(2) / 2, 0));
(fullQuarter * point).ShouldBe(new Point(-1, 0, 0));
}
public static void MoveMeshGroupToOpenPosition(int meshGroupToMoveIndex, List <PlatingMeshGroupData> perMeshInfo, List <MeshGroup> allMeshGroups, List <ScaleRotateTranslate> meshTransforms)
{
MeshGroup meshGroupToMove = allMeshGroups[meshGroupToMoveIndex];
// find a place to put it that doesn't hit anything
AxisAlignedBoundingBox meshToMoveBounds = meshGroupToMove.GetAxisAlignedBoundingBox(meshTransforms[meshGroupToMoveIndex].TotalTransform);
// add in a few mm so that it will not be touching
meshToMoveBounds.minXYZ -= new Vector3(2, 2, 0);
meshToMoveBounds.maxXYZ += new Vector3(2, 2, 0);
double ringDist = Math.Min(meshToMoveBounds.XSize, meshToMoveBounds.YSize);
double currentDist = 0;
double angle = 0;
double angleIncrement = MathHelper.Tau / 64;
Matrix4X4 transform;
while (true)
{
Matrix4X4 positionTransform = Matrix4X4.CreateTranslation(currentDist, 0, 0);
positionTransform *= Matrix4X4.CreateRotationZ(angle);
Vector3 newPosition = Vector3.Transform(Vector3.Zero, positionTransform);
transform = Matrix4X4.CreateTranslation(newPosition);
AxisAlignedBoundingBox testBounds = meshToMoveBounds.NewTransformed(transform);
bool foundHit = false;
for (int i = 0; i < allMeshGroups.Count; i++)
{
MeshGroup meshToTest = allMeshGroups[i];
if (meshToTest != meshGroupToMove)
{
AxisAlignedBoundingBox existingMeshBounds = meshToTest.GetAxisAlignedBoundingBox(meshTransforms[i].TotalTransform);
AxisAlignedBoundingBox intersection = AxisAlignedBoundingBox.Intersection(testBounds, existingMeshBounds);
if (intersection.XSize > 0 && intersection.YSize > 0)
{
foundHit = true;
break;
}
}
}
if (!foundHit)
{
break;
}
angle += angleIncrement;
if (angle >= MathHelper.Tau)
{
angle = 0;
currentDist += ringDist;
}
}
ScaleRotateTranslate moved = meshTransforms[meshGroupToMoveIndex];
moved.translation *= transform;
meshTransforms[meshGroupToMoveIndex] = moved;
}
public override async Task Rebuild()
{
var rebuildLock = this.RebuildLock();
SourceContainer.Visible = true;
await ApplicationController.Instance.Tasks.Execute(
"Advanced Array".Localize(),
null,
(reporter, cancellationToken) =>
{
this.DebugDepth("Rebuild");
var sourceContainer = SourceContainer;
this.Children.Modify(list =>
{
list.Clear();
list.Add(sourceContainer);
var lastChild = sourceContainer.Children.First();
list.Add(lastChild.Clone());
var offset = Offset;
var count = Count.Value(this);
var rotate = Rotate.Value(this);
var scale = Scale.Value(this);
for (int i = 1; i < count; i++)
{
var rotateRadians = MathHelper.DegreesToRadians(rotate);
if (ScaleOffset)
{
offset *= scale;
}
var next = lastChild.Clone();
offset = Vector3Ex.Transform(offset, Matrix4X4.CreateRotationZ(rotateRadians));
next.Matrix *= Matrix4X4.CreateTranslation(offset);
if (RotatePart)
{
next.Matrix = next.ApplyAtBoundsCenter(Matrix4X4.CreateRotationZ(rotateRadians));
}
next.Matrix = next.ApplyAtBoundsCenter(Matrix4X4.CreateScale(scale));
list.Add(next);
lastChild = next;
}
});
ProcessIndexExpressions();
SourceContainer.Visible = false;
UiThread.RunOnIdle(() =>
{
rebuildLock.Dispose();
Parent?.Invalidate(new InvalidateArgs(this, InvalidateType.Children));
});
return Task.CompletedTask;
});
}
public void GetRotation(ref Vector3 pOutVector)
{
Vector3 UpVector = new Vector3(0, 1, 0);;
Vector3 ForwardVector = new Vector3(0, 0, 1);
UpVector = Vector3.Transform(UpVector, AxisToWorld);
ForwardVector = Vector3.Transform(ForwardVector, AxisToWorld);
pOutVector.z = Math.Atan2(UpVector.x, UpVector.y);
// DebugStream("It looks like z is now " << RadToDeg(pOutVector->z));
Matrix4X4 ZMatrix = Matrix4X4.CreateRotationZ(-pOutVector.z);
UpVector = Vector3.Transform(UpVector, ZMatrix);
ForwardVector = Vector3.Transform(ForwardVector, ZMatrix);
// DebugStream("It looks like z is now " << RadToDeg(atan2(UpVector.x, UpVector.y)));
pOutVector.y = -Math.Atan2(ForwardVector.x, ForwardVector.z);
// DebugStream("It looks like y is now " << RadToDeg(pOutVector->y));
Matrix4X4 YMatrix = Matrix4X4.CreateRotationY(-pOutVector.y);
UpVector = Vector3.Transform(UpVector, YMatrix);
ForwardVector = Vector3.Transform(ForwardVector, YMatrix);
// DebugStream("It looks like y is now " << RadToDeg(-atan2(ForwardVector.x, ForwardVector.z)));
pOutVector.x = -Math.Atan2(UpVector.z, UpVector.y);
// DebugStream("It looks like x is now " << RadToDeg(pOutVector->x));
//CMatrix XMatrix;
//XMatrix.Rotate(0, -pOutVector->x, ROTATE_FAST);
//XMatrix.TransformVector(&UpVector);
//XMatrix.TransformVector(&ForwardVector);
// DebugStream("It looks like x is now " << RadToDeg(-atan2(UpVector.z, UpVector.y)));
#if _DEBUG
CMatrix Test;
CVector3D TestV, HoldV;
TestV.Set((double)(rand() % 1024), (double)(rand() % 1024), (double)(rand() % 1024));
HoldV = TestV;
Test.PrepareMatrix(0.f, 0.f, 0.f,
pOutVector->x, pOutVector->y, pOutVector->z);
WorldToAxis.TransformVector(&TestV);
Test.TransformVector(&TestV);
#endif
}
public static Matrix4X4 GetXYInViewRotation(this WorldView world, Vector3 center)
{
var positions = new Vector3[]
{
center + new Vector3(1, 0, 0),
center + new Vector3(0, 1, 0),
center + new Vector3(-1, 0, 0),
center + new Vector3(0, -1, 0),
};
double bestX = double.NegativeInfinity;
int indexX = 0;
// get the closest z on the bottom in view space
for (int cornerIndex = 0; cornerIndex < 4; cornerIndex++)
{
Vector3 axisSide = positions[cornerIndex];
Vector3 axisSideScreenSpace = world.WorldToScreenSpace(axisSide);
if (axisSideScreenSpace.X > bestX)
{
indexX = cornerIndex;
bestX = axisSideScreenSpace.X;
}
}
var transform = Matrix4X4.Identity;
switch (indexX)
{
case 0:
// transform = Matrix4X4.CreateRotationZ(0);
break;
case 1:
transform = Matrix4X4.CreateRotationZ(MathHelper.Tau / 4);
break;
case 2:
transform = Matrix4X4.CreateRotationZ(-MathHelper.Tau / 2);
break;
case 3:
transform = Matrix4X4.CreateRotationZ(MathHelper.Tau * 3 / 4);
break;
}
return(transform);
}
public void Vector3TransformByQuaternionTest()
{
Vector3D <float> v = new Vector3D <float>(1.0f, 2.0f, 3.0f);
Matrix4X4 <float> m =
Matrix4X4.CreateRotationX <float>(MathHelper.ToRadians(30.0f)) *
Matrix4X4.CreateRotationY <float>(MathHelper.ToRadians(30.0f)) *
Matrix4X4.CreateRotationZ <float>(MathHelper.ToRadians(30.0f));
Quaternion <float> q = Quaternion <float> .CreateFromRotationMatrix(m);
Vector3D <float> expected = Vector3D.Transform(v, m);
Vector3D <float> actual = Vector3D.Transform(v, q);
Assert.True(MathHelper.Equal(expected, actual), "Vector3D<float>f.Transform did not return the expected value.");
}
private static void ValidateViewOnlyTexturing(IObject3D item)
{
// if there is no view only texture or the item is locked
if (InteractionLayer.ViewOnlyTexture == null ||
item.Mesh.Faces.Count == 0)
{
return;
}
// if the item is not currently be processed
if (!item.RebuildLocked)
{
item.Mesh.FaceTextures.TryGetValue(0, out FaceTextureData faceTexture);
bool viewOnlyTexture = faceTexture?.image == InteractionLayer.ViewOnlyTexture;
// if not persistable and has view only texture, remove the view only texture if it has it
if (item.WorldPersistable() &&
viewOnlyTexture)
{
// make sure it does not have the view only texture
using (item.RebuildLock())
{
item.Mesh.RemoveTexture(ViewOnlyTexture, 0);
}
}
else if (!item.WorldPersistable() &&
!viewOnlyTexture &&
!item.RebuildLocked)
{
// add a view only texture if it does not have one
// make a copy of the mesh and texture it
Task.Run(() =>
{
// make sure it does have the view only texture
var aabb = item.Mesh.GetAxisAlignedBoundingBox();
var matrix = Matrix4X4.CreateScale(.5, .5, 1);
matrix *= Matrix4X4.CreateRotationZ(MathHelper.Tau / 8);
// make sure it has it's own copy of the mesh
using (item.RebuildLock())
{
item.Mesh = item.Mesh.Copy(CancellationToken.None);
item.Mesh.PlaceTexture(ViewOnlyTexture, matrix);
}
});
}
}
}
public override void SetPosition(IObject3D selectedItem)
{
Vector3 boxCenter = GetControlCenter(selectedItem);
double distBetweenPixelsWorldSpace = InteractionContext.World.GetWorldUnitsPerScreenPixelAtPosition(boxCenter);
GetCornerPosition(selectedItem, out int cornerIndexOut);
Matrix4X4 centerMatrix = Matrix4X4.Identity;
switch (RotationAxis)
{
case 0:
if (cornerIndexOut == 1 || cornerIndexOut == 3)
{
centerMatrix *= Matrix4X4.CreateRotationX(MathHelper.DegreesToRadians(90));
}
else
{
centerMatrix *= Matrix4X4.CreateRotationY(MathHelper.DegreesToRadians(-90));
}
centerMatrix *= Matrix4X4.CreateRotationZ(MathHelper.DegreesToRadians(90) * cornerIndexOut);
break;
case 1:
if (cornerIndexOut == 1 || cornerIndexOut == 3)
{
centerMatrix *= Matrix4X4.CreateRotationY(MathHelper.DegreesToRadians(-90));
}
else
{
centerMatrix *= Matrix4X4.CreateRotationX(MathHelper.DegreesToRadians(90));
}
centerMatrix *= Matrix4X4.CreateRotationZ(MathHelper.DegreesToRadians(90) * cornerIndexOut);
break;
case 2:
centerMatrix *= Matrix4X4.CreateRotationZ(MathHelper.DegreesToRadians(90) * cornerIndexOut);
break;
}
centerMatrix *= Matrix4X4.CreateScale(distBetweenPixelsWorldSpace) * Matrix4X4.CreateTranslation(boxCenter);
TotalTransform = centerMatrix;
}
public void Vector3TransformNormalTest()
{
Vector3D <float> v = new Vector3D <float>(1.0f, 2.0f, 3.0f);
Matrix4X4 <float> m =
Matrix4X4.CreateRotationX <float>(MathHelper.ToRadians(30.0f)) *
Matrix4X4.CreateRotationY <float>(MathHelper.ToRadians(30.0f)) *
Matrix4X4.CreateRotationZ <float>(MathHelper.ToRadians(30.0f));
m.M41 = 10.0f;
m.M42 = 20.0f;
m.M43 = 30.0f;
Vector3D <float> expected = new Vector3D <float>(2.19198728f, 1.53349364f, 2.61602545f);
Vector3D <float> actual;
actual = Vector3D.TransformNormal(v, m);
Assert.True(MathHelper.Equal(expected, actual), "Vector3D<float>f.TransformNormal did not return the expected value.");
}
public void QuaternionFromRotationMatrixWithScaledMatrixTest2()
{
float angle = MathHelper.ToRadians(180.0f);
Matrix4X4 <float> matrix = Matrix4X4.CreateRotationX <float>(angle) * Matrix4X4.CreateRotationZ <float>(angle);
Quaternion <float> expected = Quaternion <float> .CreateFromAxisAngle(Vector3D <float> .UnitZ, angle) * Quaternion <float> .CreateFromAxisAngle(Vector3D <float> .UnitX, angle);
Quaternion <float> actual = Quaternion <float> .CreateFromRotationMatrix(matrix);
Assert.True(MathHelper.EqualRotation(expected, actual),
$"Quaternion<float>.CreateFromRotationMatrix did not return the expected value: expected {expected} actual {actual}");
// make sure convert back to matrix is same as we passed matrix.
Matrix4X4 <float> m2 = Matrix4X4.CreateFromQuaternion <float>(actual);
Assert.True(MathHelper.Equal(matrix, m2),
$"Quaternion<float>.CreateFromQuaternion did not return the expected value: matrix {matrix} m2 {m2}");
}
public void Vector2TransformNormalTest()
{
Vector2D <float> v = new Vector2D <float>(1.0f, 2.0f);
Matrix4X4 <float> m =
Matrix4X4.CreateRotationX <float>(MathHelper.ToRadians(30.0f)) *
Matrix4X4.CreateRotationY <float>(MathHelper.ToRadians(30.0f)) *
Matrix4X4.CreateRotationZ <float>(MathHelper.ToRadians(30.0f));
m.M41 = 10.0f;
m.M42 = 20.0f;
m.M43 = 30.0f;
Vector2D <float> expected = new Vector2D <float>(0.3169873f, 2.18301272f);
Vector2D <float> actual;
actual = Vector2D.TransformNormal(v, m);
Assert.True(MathHelper.Equal(expected, actual), "Vector2f.Tranform did not return the expected value.");
}
public void QuaternionFromRotationMatrixTest4()
{
for (float angle = 0.0f; angle < 720.0f; angle += 10.0f)
{
Matrix4X4 <float> matrix = Matrix4X4.CreateRotationZ <float>(angle);
Quaternion <float> expected = Quaternion <float> .CreateFromAxisAngle(Vector3D <float> .UnitZ, angle);
Quaternion <float> actual = Quaternion <float> .CreateFromRotationMatrix(matrix);
Assert.True(MathHelper.EqualRotation(expected, actual),
$"Quaternion<float>.CreateFromRotationMatrix angle:{angle} did not return the expected value: expected {expected} actual {actual}");
// make sure convert back to matrix is same as we passed matrix.
Matrix4X4 <float> m2 = Matrix4X4.CreateFromQuaternion <float>(actual);
Assert.True(MathHelper.Equal(matrix, m2),
$"Quaternion<float>.CreateFromQuaternion angle:{angle} did not return the expected value: matrix {matrix} m2 {m2}");
}
}
//used to transform the sweepers vertices prior to rendering
public void WorldTransform(List <Vector3> sweeper)
{
//create the world transformation matrix
Matrix4X4 matTransform = Matrix4X4.Identity;
//scale
matTransform *= Matrix4X4.CreateScale(m_dScale, m_dScale, 1);
//rotate
matTransform *= Matrix4X4.CreateRotationZ(m_dRotation);
//and translate
matTransform *= Matrix4X4.CreateTranslation(m_vPosition.X, m_vPosition.Y, 0);
//now transform the ships vertices
for (int i = 0; i < sweeper.Count; i++)
{
sweeper[i] = sweeper[i].Transform(matTransform);
}
}
public TumbleCubeControl(InteractionLayer interactionLayer)
: base(100 * GuiWidget.DeviceScale, 100 * GuiWidget.DeviceScale)
{
this.interactionLayer = interactionLayer;
// this data needs to be made on the ui thread
UiThread.RunOnIdle(() =>
{
cube.CleanAndMergeMesh(CancellationToken.None);
TextureFace(cube.Faces[0], "Top");
TextureFace(cube.Faces[1], "Left", Matrix4X4.CreateRotationZ(MathHelper.Tau / 4));
TextureFace(cube.Faces[2], "Right", Matrix4X4.CreateRotationZ(-MathHelper.Tau / 4));
TextureFace(cube.Faces[3], "Bottom", Matrix4X4.CreateRotationZ(MathHelper.Tau / 2));
TextureFace(cube.Faces[4], "Back", Matrix4X4.CreateRotationZ(MathHelper.Tau / 2));
TextureFace(cube.Faces[5], "Front");
cube.MarkAsChanged();
cubeTraceData = cube.CreateTraceData();
});
}
public override Task Rebuild()
{
this.DebugDepth("Rebuild");
using (RebuildLock())
{
using (new CenterAndHeightMaintainer(this))
{
var path = new VertexStorage();
path.MoveTo(0, 0);
path.LineTo(Math.Sqrt(2), 0);
path.LineTo(0, Height);
var mesh = VertexSourceToMesh.Revolve(path, 4);
mesh.Transform(Matrix4X4.CreateRotationZ(MathHelper.DegreesToRadians(45)) * Matrix4X4.CreateScale(Width / 2, Depth / 2, 1));
Mesh = mesh;
}
}
Parent?.Invalidate(new InvalidateArgs(this, InvalidateType.Mesh));
return(Task.CompletedTask);
}
public override Task Rebuild()
{
this.DebugDepth("Rebuild");
using (RebuildLock())
{
using (new CenterAndHeightMantainer(this))
{
var startingAabb = this.GetAxisAlignedBoundingBox();
// remove whatever rotation has been applied (they go in reverse order)
Matrix = Matrix4X4.Identity;
// add the current rotation
Matrix = this.ApplyAtPosition(startingAabb.Center, Matrix4X4.CreateRotationX(MathHelper.DegreesToRadians(RotationXDegrees)));
Matrix = this.ApplyAtPosition(startingAabb.Center, Matrix4X4.CreateRotationY(MathHelper.DegreesToRadians(RotationYDegrees)));
Matrix = this.ApplyAtPosition(startingAabb.Center, Matrix4X4.CreateRotationZ(MathHelper.DegreesToRadians(RotationZDegrees)));
}
}
Parent?.Invalidate(new InvalidateArgs(this, InvalidateType.Matrix));
return(Task.CompletedTask);
}
private Vector3 MapMoveToSphere(Vector2 screenPoint, bool rotateOnZ)
{
if (rotateOnZ)
{
var deltaFromScreenCenter = world.ScreenCenter - screenPoint;
var angleToTravel = world.ScreenCenter.GetDeltaAngle(mouseDownPosition, screenPoint);
// now rotate that position about z in the direction of the screen vector
var positionOnRotationSphere = Vector3.Transform(new Vector3(1, 0, 0), Matrix4X4.CreateRotationZ(angleToTravel / 2));
return(positionOnRotationSphere);
}
else
{
var deltaFromStartPixels = screenPoint - mouseDownPosition;
var deltaOnSurface = new Vector2(deltaFromStartPixels.X / rotationTrackingRadiusPixels, deltaFromStartPixels.Y / rotationTrackingRadiusPixels);
var lengthOnSurfaceRadi = deltaOnSurface.Length;
// get this rotation on the surface of the sphere about y
var positionAboutY = Vector3.Transform(new Vector3(0, 0, 1), Matrix4X4.CreateRotationY(lengthOnSurfaceRadi));
// get the angle that this distance travels around the sphere
var angleToTravel = Math.Atan2(deltaOnSurface.Y, deltaOnSurface.X);
// now rotate that position about z in the direction of the screen vector
var positionOnRotationSphere = Vector3.Transform(positionAboutY, Matrix4X4.CreateRotationZ(angleToTravel));
return(positionOnRotationSphere);
}
}
private void DrawObject(IObject3D object3D, List <Object3DView> transparentMeshes, DrawEventArgs e)
{
var selectedItem = scene.SelectedItem;
foreach (var item in object3D.VisibleMeshes())
{
// check for correct persistable rendering
if (InteractionLayer.ViewOnlyTexture != null &&
item.Mesh.Faces.Count > 0)
{
ImageBuffer faceTexture = null;
//item.Mesh.FaceTexture.TryGetValue((item.Mesh.Faces[0], 0), out faceTexture);
bool hasPersistableTexture = faceTexture == InteractionLayer.ViewOnlyTexture;
if (item.WorldPersistable())
{
if (hasPersistableTexture)
{
// make sure it does not have the view only texture
item.Mesh.RemoveTexture(ViewOnlyTexture, 0);
}
}
else
{
if (!hasPersistableTexture)
{
// make sure it does have the view only texture
var aabb = item.Mesh.GetAxisAlignedBoundingBox();
var matrix = Matrix4X4.CreateScale(.5, .5, 1);
matrix *= Matrix4X4.CreateRotationZ(MathHelper.Tau / 8);
item.Mesh.PlaceTexture(ViewOnlyTexture, matrix);
}
}
}
Color drawColor = this.GetItemColor(item, selectedItem);
bool hasTransparentTextures = item.Mesh.FaceTextures.Any(ft => ft.Value.image.HasTransparency);
if ((drawColor.alpha == 255 &&
!hasTransparentTextures) ||
(item == scene.DebugItem))
{
// Render as solid
GLHelper.Render(item.Mesh,
drawColor,
item.WorldMatrix(),
sceneContext.ViewState.RenderType,
item.WorldMatrix() * World.ModelviewMatrix,
darkWireframe, () => Invalidate());
}
else if (drawColor != Color.Transparent)
{
// Queue for transparency
transparentMeshes.Add(new Object3DView(item, drawColor));
}
bool isSelected = selectedItem != null &&
(selectedItem.DescendantsAndSelf().Any((i) => i == item) ||
selectedItem.Parents <ModifiedMeshObject3D>().Any((mw) => mw == item));
// Invoke all item Drawables
foreach (var drawable in itemDrawables.Where(d => d.DrawStage != DrawStage.Last && d.Enabled))
{
drawable.Draw(this, item, isSelected, e, Matrix4X4.Identity, this.World);
}
// turn lighting back on after rendering selection outlines
GL.Enable(EnableCap.Lighting);
}
}
public static Mesh Revolve(IVertexSource source, int angleSteps = 30, double angleStart = 0, double angleEnd = MathHelper.Tau)
{
angleSteps = Math.Max(angleSteps, 3);
angleStart = MathHelper.Range0ToTau(angleStart);
angleEnd = MathHelper.Range0ToTau(angleEnd);
// convert to clipper polygons and scale so we can ensure good shapes
Polygons polygons = source.CreatePolygons();
// ensure good winding and consistent shapes
// clip against x=0 left and right
// mirror left material across the origin
// union mirrored left with right material
// convert the data back to PathStorage
VertexStorage cleanedPath = polygons.CreateVertexStorage();
Mesh mesh = new Mesh();
var hasStartAndEndFaces = angleStart > 0.000001;
hasStartAndEndFaces |= angleEnd < MathHelper.Tau - 0.000001;
// check if we need to make closing faces
if (hasStartAndEndFaces)
{
// make a face for the start
CachedTesselator teselatedSource = new CachedTesselator();
Mesh extrudedVertexSource = TriangulateFaces(source, teselatedSource);
extrudedVertexSource.Transform(Matrix4X4.CreateRotationX(MathHelper.Tau / 4));
extrudedVertexSource.Transform(Matrix4X4.CreateRotationZ(angleStart));
mesh.CopyFaces(extrudedVertexSource);
}
// make the outside shell
double angleDelta = (angleEnd - angleStart) / angleSteps;
double currentAngle = angleStart;
if (!hasStartAndEndFaces)
{
angleSteps--;
}
for (int i = 0; i < angleSteps; i++)
{
AddRevolveStrip(cleanedPath, mesh, currentAngle, currentAngle + angleDelta);
currentAngle += angleDelta;
}
if (!hasStartAndEndFaces)
{
if (((angleEnd - angleStart) < .0000001 ||
(angleEnd - MathHelper.Tau - angleStart) < .0000001) &&
(angleEnd - currentAngle) > .0000001)
{
// make sure we close the shape exactly
AddRevolveStrip(cleanedPath, mesh, currentAngle, angleStart);
}
}
else // add the end face
{
// make a face for the end
CachedTesselator teselatedSource = new CachedTesselator();
Mesh extrudedVertexSource = TriangulateFaces(source, teselatedSource);
extrudedVertexSource.Transform(Matrix4X4.CreateRotationX(MathHelper.Tau / 4));
extrudedVertexSource.Transform(Matrix4X4.CreateRotationZ(currentAngle));
extrudedVertexSource.ReverseFaceEdges();
mesh.CopyFaces(extrudedVertexSource);
}
// return the completed mesh
return(mesh);
}
static void AddRevolveStrip(IVertexSource vertexSource, Mesh mesh, double startAngle, double endAngle)
{
CreateOption createOption = CreateOption.CreateNew;
SortOption sortOption = SortOption.WillSortLater;
Vector3 lastPosition = Vector3.Zero;
foreach (var vertexData in vertexSource.Vertices())
{
if (vertexData.IsStop)
{
break;
}
if (vertexData.IsMoveTo)
{
lastPosition = new Vector3(vertexData.position.X, 0, vertexData.position.Y);
}
if (vertexData.IsLineTo)
{
Vector3 currentPosition = new Vector3(vertexData.position.X, 0, vertexData.position.Y);
IVertex lastStart = mesh.CreateVertex(Vector3.Transform(lastPosition, Matrix4X4.CreateRotationZ(startAngle)), createOption, sortOption);
IVertex lastEnd = mesh.CreateVertex(Vector3.Transform(lastPosition, Matrix4X4.CreateRotationZ(endAngle)), createOption, sortOption);
IVertex currentStart = mesh.CreateVertex(Vector3.Transform(currentPosition, Matrix4X4.CreateRotationZ(startAngle)), createOption, sortOption);
IVertex currentEnd = mesh.CreateVertex(Vector3.Transform(currentPosition, Matrix4X4.CreateRotationZ(endAngle)), createOption, sortOption);
mesh.CreateFace(new IVertex[] { lastStart, lastEnd, currentEnd, currentStart }, createOption);
lastPosition = currentPosition;
}
}
}
