public static Matlib operator *(Matlib _a, Matlib b)
{
int n = _a.N;
int m = b.M;
int l = _a.M;
if (l != b.N)
{
throw new ArgumentException("Illegal matrix dimensions for multiplication. _a.M must be equal b.N");
}
Matlib result = new Matlib(_a.N, b.M);
for (int i = 0; i < n; i++)
{
for (int j = 0; j < m; j++)
{
double sum = 0.0;
for (int k = 0; k < l; k++)
{
sum += _a.a[i, k] * b.a[k, j];
}
result.a[i, j] = sum;
}
}
return(result);
}
public static float[] rotateX(float[] vertex, float xR = (float)3.14159265358979323846 / 2f)
{
Matlib rot = new Matlib(3, 3);
rot[1, 1] = 1.0f; rot[1, 2] = 0.0f; rot[1, 3] = 0.0f;
rot[2, 1] = 0.0f; rot[2, 2] = Math.Cos(xR); rot[2, 3] = -Math.Sin(xR);
rot[3, 1] = 0.0f; rot[3, 2] = Math.Sin(xR); rot[3, 3] = Math.Cos(xR);
Matlib vertex_mat = new Matlib(3, 1);
vertex_mat[1, 1] = vertex[0];
vertex_mat[2, 1] = vertex[1];
vertex_mat[3, 1] = vertex[2];
Matlib answer = rot * vertex_mat;
vertex[0] = (float)answer[1, 1];
vertex[1] = (float)answer[2, 1];
vertex[2] = (float)answer[3, 1];
return(vertex);
}
public TES5.Record recast_to_skyrim(string file, UInt32 cell_id)
{
try
{
List <TES5.NVNM.Vertex> vertices = new List <TES5.NVNM.Vertex>();
List <TES5.NVNM.Triangle> triangles = new List <TES5.NVNM.Triangle>();
uint nverts = 0;
uint ntris = 0;
# region parsing recastnavigation output
TextReader fin = File.OpenText(file);
while (fin.Peek() != -1)
{
string line = fin.ReadLine().Trim();
if (String.IsNullOrEmpty(line) || String.IsNullOrWhiteSpace(line))
{
continue;
}
string[] parsed = line.Split(' ');
if (line.StartsWith("#nverts"))
{
nverts = uint.Parse(parsed[1]);
}
else if (line.StartsWith("#ntris"))
{
ntris = uint.Parse(parsed[1]);
}
else if (parsed[0].Equals("v"))
{
float[] vtx = new float[3] {
float.Parse(parsed[1]), float.Parse(parsed[2]), float.Parse(parsed[3])
};
vtx = Matlib.scale(vtx, 50);
vtx = Matlib.rotateX(vtx);
vertices.Add(new TES5.NVNM.Vertex(vtx[0], vtx[1], vtx[2]));
}
else if (parsed[0].Equals("f"))
{
TES5.NVNM.Triangle tri = new TES5.NVNM.Triangle();
tri.vert1 = (ushort)(ushort.Parse(parsed[1]) - 1);
tri.vert2 = (ushort)(ushort.Parse(parsed[2]) - 1);
tri.vert3 = (ushort)(ushort.Parse(parsed[3]) - 1);
string line2 = fin.ReadLine().Trim();
string[] parsed_line2 = line2.Split(' ');
if (!parsed_line2[0].Equals("#neighbours"))
{
Log.error("Neighbour data not found for generated navmesh");
}
tri.neigh1 = ushort.Parse(parsed_line2[1]);
tri.neigh2 = ushort.Parse(parsed_line2[2]);
tri.neigh3 = ushort.Parse(parsed_line2[3]);
triangles.Add(tri);
}
}
# endregion
if (triangles.Count != ntris || vertices.Count != nverts)
