public TMat4x4 MulMat(TMat4x4 MatToMul)
{
TMat4x4 Result;
Result.m00 = m00 * MatToMul.m00 + m01 * MatToMul.m10 + m02 * MatToMul.m20 + m03 * MatToMul.m30;
Result.m01 = m00 * MatToMul.m01 + m01 * MatToMul.m11 + m02 * MatToMul.m21 + m03 * MatToMul.m31;
Result.m02 = m00 * MatToMul.m02 + m01 * MatToMul.m12 + m02 * MatToMul.m22 + m03 * MatToMul.m32;
Result.m03 = m00 * MatToMul.m03 + m01 * MatToMul.m13 + m02 * MatToMul.m23 + m03 * MatToMul.m33;
Result.m10 = m10 * MatToMul.m00 + m11 * MatToMul.m10 + m12 * MatToMul.m20 + m13 * MatToMul.m30;
Result.m11 = m10 * MatToMul.m01 + m11 * MatToMul.m11 + m12 * MatToMul.m21 + m13 * MatToMul.m31;
Result.m12 = m10 * MatToMul.m02 + m11 * MatToMul.m12 + m12 * MatToMul.m22 + m13 * MatToMul.m32;
Result.m13 = m10 * MatToMul.m03 + m11 * MatToMul.m13 + m12 * MatToMul.m23 + m13 * MatToMul.m33;
Result.m20 = m20 * MatToMul.m00 + m21 * MatToMul.m10 + m22 * MatToMul.m20 + m23 * MatToMul.m30;
Result.m21 = m20 * MatToMul.m01 + m21 * MatToMul.m11 + m22 * MatToMul.m21 + m23 * MatToMul.m31;
Result.m22 = m20 * MatToMul.m02 + m21 * MatToMul.m12 + m22 * MatToMul.m22 + m23 * MatToMul.m32;
Result.m23 = m20 * MatToMul.m03 + m21 * MatToMul.m13 + m22 * MatToMul.m23 + m23 * MatToMul.m33;
Result.m30 = m30 * MatToMul.m00 + m31 * MatToMul.m10 + m32 * MatToMul.m20 + m33 * MatToMul.m30;
Result.m31 = m30 * MatToMul.m01 + m31 * MatToMul.m11 + m32 * MatToMul.m21 + m33 * MatToMul.m31;
Result.m32 = m30 * MatToMul.m02 + m31 * MatToMul.m12 + m32 * MatToMul.m22 + m33 * MatToMul.m32;
Result.m33 = m30 * MatToMul.m03 + m31 * MatToMul.m13 + m32 * MatToMul.m23 + m33 * MatToMul.m33;
return(Result);
}
public void RotateOnAxis(float Angle)
{
TMat4x4 ArbitraryMat = TMat4x4.ZeroMat();
ArbitraryMat.SetArbitraryRot(TransformedAxisPointA, TransformedAxisPointB, Angle);
SetMatrix(ArbitraryMat);
}
private TMat4x4 GetFatherMat()
{
if (Father != null)
{
return(Father.CombinedMatrix);
}
return(TMat4x4.UnitMat());
}
public void SetPos(TVertex NewPos)
{
CurrentPos = NewPos;
TMat4x4 TransMat = TMat4x4.ZeroMat();
TransMat.SetTrans(NewPos.X, NewPos.Y, NewPos.Z);
SetMatrix(TransMat);
}
public void SetPos(float X, float Y, float Z)
{
CurrentPos.Set(X, Y, Z);
TMat4x4 TransMat = TMat4x4.ZeroMat();
TransMat.SetTrans(X, Y, Z);
SetMatrix(TransMat);
}
public void GotoNewPosXZ(TVertex NewPos)
{
TMat4x4 TransMat = TMat4x4.ZeroMat();
TMat4x4 RotMatY = TMat4x4.ZeroMat();
CurrentPos = NewPos;
TransMat.SetTrans(NewPos.X, NewPos.Y, NewPos.Z);
RotMatY.SetRotateY(Math3D.Deg2Rad(Orientation + OrientationOffset));
SetMatrix(RotMatY.MulMat(TransMat));
}
public void SetMatrix(TMat4x4 Mat)
{
ObjectMat = Mat;
// Transform myself
CombinedMatrix = ObjectMat.MulMat(GetFatherMat());
TransformAxis(ObjectMat);
// Transform all child objects
for (int i = 0; i < Children.Count; i++)
{
((CObject3D)Children[i]).SetMatrix(((CObject3D)Children[i]).ObjectMat);
}
}
public void SetPosAndAngle(float X, float Y, float Z, float A, float B, float C)
{
TMat4x4 TransMat = TMat4x4.ZeroMat();
TMat4x4 RotMatX = TMat4x4.ZeroMat();
TMat4x4 RotMatY = TMat4x4.ZeroMat();
TMat4x4 RotMatZ = TMat4x4.ZeroMat();
CurrentPos.Set(X, Y, Z);
CurrentRot.Set(A, B, C);
TransMat.SetTrans(X, Y, Z);
RotMatX.SetRotateX(A);
RotMatY.SetRotateY(B);
RotMatZ.SetRotateZ(C);
SetMatrix(RotMatX.MulMat(RotMatY).MulMat(RotMatZ).MulMat(TransMat));
}
// Constructor
public CRenderContext(int W, int H)
{
VScreen = new Bitmap(W, H);
ZBuffer = new float[W * H];
// Prepare graphics canvases for the form and for the virtual screen
VScreenCanvas = Graphics.FromImage(VScreen);
BackgroundColor = DEFAULT_BACKGROUND_COLOR;
PenForWireFrame = new Pen(DEFAULT_PEN_COLOR, 1);
ViewMatrix = TMat4x4.UnitMat();
Width = W;
Height = H;
HalfWidth = Width / 2;
HalfHeight = Height / 2;
}
public void Assign(CObject3D CopyFrom)
{
ObjectMat = CopyFrom.ObjectMat;
VertexTable = new TVertex[CopyFrom.VertexTable.Length];
Array.Copy(CopyFrom.VertexTable, VertexTable, VertexTable.Length);
FaceTable = new TFace3D[CopyFrom.FaceTable.Length];
Array.Copy(CopyFrom.FaceTable, FaceTable, FaceTable.Length);
ObjectMat = CopyFrom.ObjectMat;
CombinedMatrix = CopyFrom.CombinedMatrix;
Children = CopyFrom.Children;
ChildrenAxes = CopyFrom.ChildrenAxes;
Father = CopyFrom.Father;
OriginalAxisPointA = CopyFrom.OriginalAxisPointA;
OriginalAxisPointB = CopyFrom.OriginalAxisPointB;
}
public void SetViewMat(TMat4x4 Mat)
{
ViewMatrix = Mat;
}
// Perform rendering on a specific context
public void Render(CRenderContext Context)
{
if (!Visible)
{
return;
}
// Calculate transform matrix
TMat4x4 Mat = GetTransformMatrix(Context);
// Calculate the inverse matrix
TMat4x4 InverseMat = Mat.FindInverseMat();
// Clear translation effect
InverseMat.ClearTranslation();
// Calculate the viewer position in object coordinates
TVertex ViewDirection = Context.GetViewDirection();
TVertex ViewerPosInObjCoords = InverseMat.MulVertex(ViewDirection);
float PerspectiveFactor = Context.GetPerspectiveFactor();
Color IlluminatedFaceColor;
foreach (TFace3D Face in FaceTable)
{
bool FaceVisible;
float FaceDotProd = 0;
if (!Context.IsBackfaceCullingMode())
{
// No backface culling, the face is always visible
FaceVisible = true;
}
else
{
// Do backface culling
FaceDotProd = Math3D.DotProduct(ViewerPosInObjCoords, Face.Normal);
// Perspective mode
if (Context.IsPerspectiveMode())
{
// Remember if the face is visible
FaceVisible = (FaceDotProd > THRESHOLD_FOR_CULLING);
}
else
{
FaceVisible = (FaceDotProd > 0);
}
}
if (FaceVisible)
{
// Get current face vertices and transform to world coordinates
TVertex[] FaceVertex = new TVertex[3] {
Mat.MulVertex(VertexTable[Face.AIndex]),
Mat.MulVertex(VertexTable[Face.BIndex]),
Mat.MulVertex(VertexTable[Face.CIndex])
};
Point[] ScreenCoords = new Point[3];
if (TestForBackClipping(FaceVertex[0], FaceVertex[1], FaceVertex[2]))
{
bool PreventFaceDraw = false;
// Perspective mode
if (Context.IsPerspectiveMode())
{
// Transform the from world coordinates to screen coordinates
for (int i = 0; i < 3; i++)
{
if (Math.Abs(FaceVertex[i].Z) < POLYGON_Z_MIN_VALUE)
{
PreventFaceDraw = true;
break;
}
ScreenCoords[i].X = (int)(FaceVertex[i].X * PerspectiveFactor / FaceVertex[i].Z);
ScreenCoords[i].Y = (int)(FaceVertex[i].Y * PerspectiveFactor / FaceVertex[i].Z);
if ((Math.Abs(ScreenCoords[i].X) > POLYGON_COORD_MAX_VALUE) || (Math.Abs(ScreenCoords[i].Y) > POLYGON_COORD_MAX_VALUE))
{
PreventFaceDraw = true;
break;
}
}
}
else
// Orthogonal projection
{
PreventFaceDraw = false;
// Transform the from world coordinates to screen coordinates
for (int i = 0; i < 3; i++)
{
ScreenCoords[i].X = (int)(FaceVertex[i].X / ORTHO_PROJECTION_SCALING);
ScreenCoords[i].Y = (int)(FaceVertex[i].Y / ORTHO_PROJECTION_SCALING);
}
}
if (!PreventFaceDraw)
{
T2DTriangle ScreenTriangle = new T2DTriangle(ScreenCoords[0], ScreenCoords[1], ScreenCoords[2]);
if (Context.IsWireFrameMode())
{
Context.DrawTriangle(ScreenTriangle);
}
else
// Filled triangles mode
{
float LightLevel = FaceDotProd + MIN_LIGHT_LEVEL;
// Clip to maximum light level
if (LightLevel > 1.0)
{
LightLevel = 1.0f;
}
// Calculate face color
int ARGBColor = ClipColorChn(Face.Color.R, LightLevel);
ARGBColor |= ClipColorChn(Face.Color.G, LightLevel) << 8;
ARGBColor |= ClipColorChn(Face.Color.B, LightLevel) << 16;
// Set maximum alpha channel value
ARGBColor = (int)((uint)ARGBColor | 0xff000000);
IlluminatedFaceColor = Color.FromArgb(ARGBColor);
// Calculate factors for the polygon filling routine
TVertex FaceNormal = Math3D.CalcFaceNormal(FaceVertex[0], FaceVertex[1], FaceVertex[2]);
float M, N, K;
CalculatePolygonFactors(FaceNormal, FaceVertex[1], PerspectiveFactor, out M, out N, out K);
TriangleFiller.DrawFilledTriangle(ScreenTriangle, Context, IlluminatedFaceColor, M, N, K);
}
}
}
}
}
RenderChildObjects(Context);
}
private void TransformAxis(TMat4x4 Mat)
{
TransformedAxisPointA = Mat.MulVertex(OriginalAxisPointA);
TransformedAxisPointB = Mat.MulVertex(OriginalAxisPointB);
}
public TMat4x4 FindInverseMat()
{
float Det;
float[,] C = new float[4, 4];
C[0, 0] = m11 * (m22 * m33 - m23 * m32) -
m12 * (m21 * m33 - m23 * m31) +
m13 * (m21 * m32 - m22 * m31);
C[0, 1] = -(m10 * (m22 * m33 - m23 * m32) -
m12 * (m20 * m33 - m23 * m30) +
m13 * (m20 * m32 - m22 * m30));
C[0, 2] = m10 * (m21 * m33 - m23 * m31) -
m11 * (m20 * m33 - m23 * m30) +
m13 * (m20 * m31 - m21 * m30);
C[0, 3] = 0;
C[1, 0] = -(m01 * (m22 * m33 - m23 * m32) -
m02 * (m21 * m33 - m23 * m31) +
m03 * (m21 * m32 - m22 * m31));
C[1, 1] = m00 * (m22 * m33 - m23 * m32) -
m02 * (m20 * m33 - m23 * m30) +
m03 * (m20 * m32 - m22 * m30);
C[1, 2] = -(m00 * (m21 * m33 - m23 * m31) -
m01 * (m20 * m33 - m23 * m30) +
m03 * (m20 * m31 - m21 * m30));
C[1, 3] = 0;
C[2, 0] = m01 * (m12 * m33 - m13 * m32) -
m02 * (m11 * m33 - m13 * m31) +
m03 * (m11 * m32 - m12 * m31);
C[2, 1] = -(m00 * (m12 * m33 - m13 * m32) -
m02 * (m10 * m33 - m13 * m30) +
m03 * (m10 * m32 - m12 * m30));
C[2, 2] = m00 * (m11 * m33 - m13 * m31) -
m01 * (m10 * m33 - m13 * m30) +
m03 * (m10 * m31 - m11 * m30);
C[2, 3] = 0;
C[3, 0] = -(m01 * (m12 * m23 - m13 * m22) -
m02 * (m11 * m23 - m13 * m21) +
m03 * (m11 * m22 - m12 * m21));
C[3, 1] = m00 * (m12 * m23 - m13 * m22) -
m02 * (m10 * m23 - m13 * m20) +
m03 * (m10 * m22 - m12 * m20);
C[3, 2] = -(m00 * (m11 * m23 - m13 * m21) -
m01 * (m10 * m23 - m13 * m20) +
m03 * (m10 * m21 - m11 * m20));
C[3, 3] = m00 * (m11 * m22 - m12 * m21) -
m01 * (m10 * m22 - m12 * m20) +
m02 * (m10 * m21 - m11 * m20);
Det = 0;
// Create a temporary array in order to ease calculations
float[,] TmpM = ConvertToArray();
for (int i = 0; i < 4; i++)
{
Det += TmpM[0, i] * C[0, i];
}
float[,] Result = new float[4, 4];
for (int i = 0; i < 4; i++)
{
for (int j = 0; j < 4; j++)
{
Result[i, j] = C[j, i] / Det;
}
}
Result[3, 3] = 1;
for (int i = 0; i < 4; i++)
{
Result[i, 3] = 0;
Result[3, i] = 0;
for (int j = 0; j < 4; j++)
{
Result[3, i] = Result[3, i] + TmpM[3, j] * Result[j, i];
}
Result[3, i] = -Result[3, i];
}
TMat4x4 InverseMat = ZeroMat();
InverseMat.ConvertFromArray(Result);
return(InverseMat);
}
// Set rotation matrix around arbitrary axis
public void SetArbitraryRot(TVertex P1, TVertex P2, float Angle)
{
TMat4x4 MTra = ZeroMat(), MRo_X = ZeroMat(), MRo_Y = ZeroMat(), MRo_Z = ZeroMat(), TempM = ZeroMat();
float D;
// Find the direction cosines of the arbitrary axis P1-->P2 .
// The direction cosines will be in C
TVertex C = Math3D.CalcNormalizedVec(P1, P2);
D = (float)Math.Sqrt(Math3D.Sqr(C.Y) + Math3D.Sqr(C.Z));
// Special case for the X axis
if (D == 0)
{
MTra.SetTrans(-P1.X, -P1.Y, -P1.Z);
MRo_X.SetRotateX(Angle);
TempM = MTra.MulMat(MRo_X);
MTra.SetTrans(P1.X, P1.Y, P1.Z);
this = TempM.MulMat(MTra);
}
else
{
MTra.SetTrans(-P1.X, -P1.Y, -P1.Z);
// Prepare matrix rotation about axis X with angle Alfa Cos(Alfa) = C.z / D Sin(Alfa) = C.y / D }
MRo_X.SetUnit();
MRo_X.m11 = C.Z / D;
MRo_X.m22 = MRo_X.m11;
MRo_X.m12 = C.Y / D;
MRo_X.m21 = -MRo_X.m12;
// prepare matrix rotation about axis Y with angle Beta Cos(Beta) = D Sin(Beta) = -C.x
MRo_Y.SetUnit();
MRo_Y.m00 = D;
MRo_Y.m22 = MRo_Y.m00;
MRo_Y.m02 = C.X;
MRo_Y.m20 = -MRo_Y.m02;
TMat4x4 M;
// M= Trans * Rot about axis X * Rot about axis Y
TempM = MTra.MulMat(MRo_X);
M = TempM.MulMat(MRo_Y);
// prepare matrix rotation about axis Z with angle Angle
MRo_Z.SetRotateZ(Angle);
// TempM= Trans * Rot axis X * Rot axis Y * Rot about axis Z by angle Angle
TempM = M.MulMat(MRo_Z);
// Find inverse Y matrix
MRo_Y.m00 = D;
MRo_Y.m22 = D;
MRo_Y.m02 = -C.X;
MRo_Y.m20 = C.X;
M = TempM.MulMat(MRo_Y);
// Find inverse x matrix
MRo_X.m11 = C.Z / D;
MRo_X.m22 = MRo_X.m11;
MRo_X.m21 = C.Y / D;
MRo_X.m12 = -MRo_X.m21;
TempM = M.MulMat(MRo_X);
// Find inverse translation matrix
MTra.SetTrans(P1.X, P1.Y, P1.Z);
this = TempM.MulMat(MTra);
}
}
