double alpha, beta; //角度
//コンストラクタ
public Camera()
{
Upward = new Vector3D();
Setposition = new Vector3D();
LookatPoint = new Vector3D();
CameraX = new Vector3D();
CameraY = new Vector3D();
CameraZ = new Vector3D();
Light = new Vector3D();
rotatematrix = new Matrix(3);
projectionmatrix = new Matrix(3);
Upward.X = 0.0f;
Upward.Y = 0.0f;
Upward.Z = 1.0f;
Setposition.X = 100.0f;
Setposition.Y = 300.0f;
Setposition.Z = 100.0f;
LookatPoint.X = 0.0f;
LookatPoint.Y = 0.0f;
LookatPoint.Z = 0.0f;
temp2 = new Vector3D(-Setposition.X, -Setposition.Y, LookatPoint.Z);
r = Setposition.Getnorm();
alpha = Math.Atan(Setposition.Y / Setposition.X);
beta = Math.Asin((double)Setposition.Z / r);
Light.X = 50.0f;
Light.Y = 60.0f;
Light.Z = 100.0f;
angle = Math.PI / 3.0;
aspect = 1.0f;
nearZ = 10.0f;
farZ = 20.0f;
}
//ベクトル*行列
public static Vector3D operator *(Vector3D A, Matrix B)
{
Vector3D temp = new Vector3D();
temp.X = A.X * B.matrix[0, 0] + A.Y * B.matrix[1, 0] + A.Z * B.matrix[2, 0];
temp.Y = A.X * B.matrix[0, 1] + A.Y * B.matrix[1, 1] + A.Z * B.matrix[2, 1];
temp.Z = A.X * B.matrix[0, 2] + A.Y * B.matrix[1, 2] + A.Z * B.matrix[2, 2];
return temp;
}
//軸回転行列の生成
public void Set_Rotate_ArbAx(Vector3D n, double angle)
{
this.matrix[0, 0] = (float)(n.X * n.X + (1 - n.X * n.X) * Math.Cos(angle));
this.matrix[1, 0] = (float)(n.X * n.Y * (1 - Math.Cos(angle)) - n.Z * Math.Sin(angle));
this.matrix[2, 0] = (float)(n.Z * n.X * (1 - Math.Cos(angle)) + n.Y * Math.Sin(angle));
this.matrix[0, 1] = (float)(n.X * n.Y * (1 - Math.Cos(angle)) + n.Z * Math.Sin(angle));
this.matrix[1, 1] = (float)(n.Y * n.Y + (1 - n.Y * n.Y) * Math.Cos(angle));
this.matrix[2, 1] = (float)(n.Y * n.Z * (1 - Math.Cos(angle)) - n.X * Math.Sin(angle));
this.matrix[0, 2] = (float)(n.Z * n.X * (1 - Math.Cos(angle)) - n.Y * Math.Sin(angle));
this.matrix[1, 2] = (float)(n.Y * n.Z * (1 - Math.Cos(angle)) + n.X * Math.Sin(angle));
this.matrix[2, 2] = (float)(n.Z * n.Z + (1 - n.Z * n.Z) * Math.Cos(angle));
}
//誤差の範囲内かを判定
public static bool NearlyEcoal(Vector3D A, Vector3D B, float errorrange)
{
if (Math.Abs(A.X - B.X) < errorrange && Math.Abs(A.Y - B.Y) < errorrange && Math.Abs(A.Z - B.Z) < errorrange)
return true;
else
return false;
}
//等しいか判定
public static bool Ecoal(Vector3D A, Vector3D B)
{
if (A.X == B.X && A.Y == B.Y && A.Z == B.Z)
return true;
else
return false;
}
//外積
public static Vector3D Outer(Vector3D A, Vector3D B)
{
Vector3D P = new Vector3D();
P.X = A.Y * B.Z - A.Z * B.Y;
P.Y = A.Z * B.X - A.X * B.Z;
P.Z = A.X * B.Y - A.Y * B.X;
return P;
}
//2つのベクトルの距離を取得
public float Getdistance(Vector3D A)
{
return (A - this).Getnorm();
}
//一括座標変換(関数オーバロード)
public Vector2D Translate(Vector3D A)
{
Vector3D P = new Vector3D();
Vector2D R = new Vector2D();
P = ViewTranslate(A);
P = ProjectionTranslate(P);
R = ViewPortTranslate(P);
return R;
}
//スクリーン座標変換
public Vector3D ViewTranslate(Vector3D A)
{
Vector3D P = new Vector3D();
P.X = Vector3D.Inner(A, CameraX) - Vector3D.Inner(Setposition, CameraX);
P.Y = Vector3D.Inner(A, CameraY) - Vector3D.Inner(Setposition, CameraY);
P.Z = Vector3D.Inner(A, CameraZ) - Vector3D.Inner(Setposition, CameraZ);
return P;
}
//ビューポート変換
public Vector2D ViewPortTranslate(Vector3D A)
{
Vector2D P = new Vector2D();
P.X = (float)(A.X * (w / 2) + (w / 2));
P.Y = (float)(A.Y * -(h / 2) + (h / 2));
return P;
}
//射影変換
public Vector3D ProjectionTranslate(Vector3D A)
{
Vector3D P = new Vector3D();
SetProjectionMatrix();
P = A * projectionmatrix;
P.Z += (farZ * nearZ) / (farZ - nearZ);
P.X = P.X / A.Z;
P.Y = P.Y / A.Z;
P.Z = P.Z / A.Z;
return P;
}
//カメラ座標の設定
public void SetCaemraAxes()
{
CameraZ = LookatPoint - Setposition;
CameraZ.Normalization();
CameraX = Vector3D.Outer(Upward, CameraZ);
CameraX.Normalization();
CameraY = Vector3D.Outer(CameraZ, CameraX);
}
//座標軸より上か判定
public bool CheckIsUp()
{
Vector3D A = new Vector3D(0, 0, -1);
return (Vector3D.Inner(A, -1 * Setposition) < 0);
}
//カメラの回転
public void RotateCamera(double x1, double y1, double x2, double y2)
{
Vector2D A = new Vector2D();
Vector3D N1 = new Vector3D();
Vector3D N2 = new Vector3D();
Vector3D temp = new Vector3D();
double alpha, beta;
float x, y, z;
N1.X = Setposition.Y;
N1.Y = -Setposition.X;
N1.Z = LookatPoint.Z;
N1.Normalization();
N2.X = LookatPoint.X;
N2.Y = LookatPoint.Y;
N2.Z = 1;
N2.Normalization();
if (Upward.Z > 0)
{
A.X = (float)((x2 - x1) / w);
A.Y = (float)((y2 - y1) / h);
}
if (Upward.Z < 0)
{
A.X = (float)((x1 - x2) / w);
A.Y = (float)((y1 - y2) / h);
}
alpha = 2 * Math.PI * A.Y;
beta = 2 * Math.PI * A.X;
x = Setposition.X;
y = Setposition.Y;
z = Setposition.Z;
rotatematrix.Set_Rotate_ArbAx(N1, alpha);
temp = Setposition * rotatematrix;
rotatematrix.Set_Rotate_ArbAx(N2, beta);
temp = temp * rotatematrix;
SetPosition(temp.X, temp.Y, temp.Z);
if (Vector3D.Inner(temp2, Setposition - LookatPoint) > 0 && Upward.Z > 0) Upward.Z = -Upward.Z;
if (Vector3D.Inner(temp2, Setposition - LookatPoint) < 0 && Upward.Z < 0) Upward.Z = -Upward.Z;
if (Upward.Z > 0) temp2.Set(-Setposition.X, -Setposition.Y, LookatPoint.Z);
if (Upward.Z < 0) temp2.Set(Setposition.X, Setposition.Y, LookatPoint.Z);
}
//任意の点の回転
public void RotatePoint(Vector3D n, ref Vector3D v, float a)
{
rotatematrix.Set_Rotate_ArbAx(n, a);
v = v * rotatematrix;
}
//座標を設定
public Vector3D(Vector3D vtr3D)
{
this.Set(vtr3D.X, vtr3D.Y, vtr3D.Z);
}
public static float Inner(Vector3D A, Vector3D B)
{
return A.X * B.X + A.Y * B.Y + A.Z * B.Z;
}
//一括座標変換
public Vector2D[] Translate(Vector3D[] A)
{
int len = A.Length;
Vector3D[] P = new Vector3D[len];
Vector2D[] R = new Vector2D[len];
for (int i = 0; i < len; i++)
{
P[i] = new Vector3D();
R[i] = new Vector2D();
}
for (int i = 0; i < len; i++)
{
P[i] = ViewTranslate(A[i]);
P[i] = ProjectionTranslate(P[i]);
R[i] = ViewPortTranslate(P[i]);
}
return R;
}