private void UpdateSenzorToCamera()
{
// - translate by (-0.5, -aspectRatio * 0.5)
// - scale by (width, height, 1)
// - translate by (shiftX, shiftY, distanceZ)
// - [tilt around X by tiltX, ...]
var matrix = Matrix4d.CreateTranslation(-0.5, AspectRatio * -0.5, 0);
matrix = Matrix4d.Mult(matrix, Matrix4d.Scale(Width, Width, 1));
matrix = Matrix4d.Mult(matrix, Matrix4d.CreateTranslation(Shift));
TiltMatrix = Matrix4d.Identity;
if (Tilt.X != 0)
{
TiltMatrix = Matrix4d.CreateRotationX(Tilt.X);
}
if (Tilt.Y != 0)
{
TiltMatrix = Matrix4d.Mult(TiltMatrix, Matrix4d.CreateRotationY(Tilt.Y));
}
if (Tilt.Z != 0)
{
TiltMatrix = Matrix4d.Mult(TiltMatrix, Matrix4d.CreateRotationZ(Tilt.Z));
}
matrix = Matrix4d.Mult(matrix, TiltMatrix);
SenzorToCamera = matrix;
}
// we rotate around the centre point. hoff/voff allows you to place the bitmap to the side
public static Vector3d[] GetVertices(Vector3d centre, Vector3 rotationdeg, float width, float height, float hoffset = 0, float voffset = 0)
{
Matrix4d rm = Matrix4d.Identity;
if (rotationdeg.X != 0)
{
rm *= Matrix4d.CreateRotationX((float)(rotationdeg.X * Math.PI / 180.0f));
}
if (rotationdeg.Y != 0)
{
rm *= Matrix4d.CreateRotationY((float)(rotationdeg.Y * Math.PI / 180.0f));
}
if (rotationdeg.Z != 0)
{
rm *= Matrix4d.CreateRotationZ((float)(rotationdeg.Z * Math.PI / 180.0f));
}
width /= 2;
height /= 2;
Vector3d[] points = new Vector3d[] // bitmap is placed on map, centred if hoff,voff=0.
{
Vector3d.Transform(new Vector3d(-width + hoffset, 0, height + voffset), rm) + centre, // top left, rotate and transform
Vector3d.Transform(new Vector3d(width + hoffset, 0, height + voffset), rm) + centre, // top right
Vector3d.Transform(new Vector3d(width + hoffset, 0, -height + voffset), rm) + centre, // bot right
Vector3d.Transform(new Vector3d(-width + hoffset, 0, -height + voffset), rm) + centre, // bot left
};
return(points);
}
public static CollisionResult CircleVsUnmovableLineSegment(
// lineV1 and lineV2 are specified clockwise.
Vector2d lineV1,
Vector2d lineV2,
Vector2d circlePosition,
Vector2d circleVelocity,
double circleRadius
)
{
// Get the relative position of the circle centre to v1.
Vector2d relativeCirclePosition = circlePosition - lineV1;
// Rotate everything so that the line segment is lying flat along the X axis with v1 at the origin.
// Figure out the angle to rotate by.
Vector2d v2RelativePosition = lineV2 - lineV1;
double angleToRotateByRadians = Math.Atan2(v2RelativePosition.Y, v2RelativePosition.X);
// Produce a matrix to rotate everything by that amount.
var rotationMatrix = Matrix4d.CreateRotationZ(angleToRotateByRadians).Inverted();
double lineLength = v2RelativePosition.Length;
// Perform the rotation.
Vector3d rotatedCirclePosition = Vector3d.Transform(new Vector3d(relativeCirclePosition.X, relativeCirclePosition.Y, 0.0), rotationMatrix);
Vector3d rotatedCircleVelocity = Vector3d.Transform(new Vector3d(circleVelocity.X, circleVelocity.Y, 0.0), rotationMatrix);
// Determine whether the circle is intersecting.
bool intersection =
rotatedCirclePosition.X > 0 &&
rotatedCirclePosition.X < lineLength &&
rotatedCirclePosition.Y - circleRadius < 0 &&
rotatedCirclePosition.Y + circleRadius > 0;
if (!intersection)
{
// Return a negative collision result.
return(new CollisionResult {
DidCollide = false,
NewCirclePosition = circlePosition,
// Use the original circle velocity.
NewCircleVelocity = circleVelocity
});
}
else
{
// make the circle's Y velocity positive in this frame of reference,
Vector3d postCollisionRotatedCircleVelocity = new Vector3d(rotatedCircleVelocity.X, Math.Abs(rotatedCircleVelocity.Y), 0);
// Rotate the new velocity back.
Vector3d postCollisionCircleVelocity = Vector3d.Transform(postCollisionRotatedCircleVelocity, rotationMatrix.Inverted());
var newVelocity = postCollisionCircleVelocity.Xy * 1.005;
// Return as a positive collision result.
return(new CollisionResult {
DidCollide = true,
NewCirclePosition = circlePosition + newVelocity,
NewCircleVelocity = newVelocity
});
}
}
public void ActualModelRender()
{
Matrix4d mat = PreRot * Matrix4d.CreateRotationZ((Direction.Yaw * Utilities.PI180)) * Matrix4d.CreateTranslation(ClientUtilities.ConvertD(GetPosition()));
TheClient.MainWorldView.SetMatrix(2, mat);
model.CustomAnimationAdjustments = new Dictionary <string, Matrix4>(SavedAdjustmentsOTK);
model.Draw(aHTime, hAnim, aTTime, tAnim, aLTime, lAnim);
// TODO: Render held item!
}
/// <summary>
/// Random direction around the [0,0,1] vector.
/// Normal distribution is used, using required variance.
/// </summary>
/// <param name="rnd">Random generator to be used.</param>
/// <param name="variance">Variance of the deviation angle in radians.</param>
/// <returns></returns>
public static Vector3d RandomDirectionNormal(RandomJames rnd, double variance)
{
// result: [0,0,1] * rotX(deviation) * rotZ(orientation)
double deviation = rnd.Normal(0.0, variance);
double orientation = rnd.RandomDouble(0.0, Math.PI);
Matrix4d mat = Matrix4d.CreateRotationX(deviation) * Matrix4d.CreateRotationZ(orientation);
return(new Vector3d(mat.Row2)); // [0,0,1] * mat
}
/// <summary>
/// Render a cylinder between two points.
/// </summary>
/// <param name="start">The initial point.</param>
/// <param name="end">The ending point.</param>
/// <param name="width">The width of the cylinder.</param>
public void RenderCylinder(Location start, Location end, float width)
{
float len = (float)(end - start).Length();
Location vecang = Utilities.VectorToAngles(start - end);
Matrix4d mat = Matrix4d.CreateRotationY((float)(90 * Utilities.PI180))
* Matrix4d.Scale(len, width, width)
* Matrix4d.CreateRotationY((float)(vecang.Y * Utilities.PI180))
* Matrix4d.CreateRotationZ((float)(vecang.Z * Utilities.PI180))
* Matrix4d.CreateTranslation(ClientUtilities.ConvertD(start));
Client.Central.MainWorldView.SetMatrix(2, mat);
Client.Central.Models.Cylinder.Draw(); // TODO: Models reference in constructor - or client reference?
}
/// <summary>
/// Render a line between two points.
/// </summary>
/// <param name="start">The initial point.</param>
/// <param name="end">The ending point.</param>
public void RenderLine(Location start, Location end)
{
// TODO: Efficiency!
float len = (float)(end - start).Length();
Location vecang = Utilities.VectorToAngles(start - end);
Matrix4d mat = Matrix4d.Scale(len, 1, 1)
* Matrix4d.CreateRotationY((float)(vecang.Y * Utilities.PI180))
* Matrix4d.CreateRotationZ((float)(vecang.Z * Utilities.PI180))
* Matrix4d.CreateTranslation(ClientUtilities.ConvertD(start));
Client.Central.MainWorldView.SetMatrix(2, mat); // TODO: Client reference!
GL.BindVertexArray(Line._VAO);
GL.DrawElements(PrimitiveType.Lines, 2, DrawElementsType.UnsignedInt, IntPtr.Zero);
}
/// <summary>
/// Render a cylinder between two points.
/// </summary>
/// <param name="start">The initial point.</param>
/// <param name="end">The ending point.</param>
/// <param name="width">The width of the cylinder.</param>
/// <param name="view">The relevant view.</param>
public void RenderCylinder(Location start, Location end, float width, View3D view)
{
float len = (float)(end - start).Length();
Location vecang = Utilities.VectorToAngles(start - end);
vecang.Yaw += 180;
Matrix4d mat = Matrix4d.CreateRotationY((float)(90 * Utilities.PI180))
* Matrix4d.Scale(len, width, width)
* Matrix4d.CreateRotationY((float)(vecang.Y * Utilities.PI180))
* Matrix4d.CreateRotationZ((float)(vecang.Z * Utilities.PI180))
* Matrix4d.CreateTranslation(start.ToOpenTK3D());
view.SetMatrix(2, mat);
Models.Cylinder.Draw(); // TODO: Models reference in constructor - or client reference?
}
/// <summary>
/// Render a cylinder between two points.
/// </summary>
/// <param name="context">The sourcing render context.</param>
/// <param name="start">The initial point.</param>
/// <param name="end">The ending point.</param>
/// <param name="width">The width of the cylinder.</param>
/// <param name="view">The relevant view.</param>
public void RenderCylinder(RenderContext context, Location start, Location end, float width, View3D view)
{
float len = (float)(end - start).Length();
Location vecang = MathUtilities.VectorToAngles(start - end);
vecang.Yaw += 180;
Matrix4d mat = Matrix4d.CreateRotationY((float)(90 * MathUtilities.PI180))
* Matrix4d.Scale(len, width, width)
* Matrix4d.CreateRotationY((float)(vecang.Y * MathUtilities.PI180))
* Matrix4d.CreateRotationZ((float)(vecang.Z * MathUtilities.PI180))
* Matrix4d.CreateTranslation(start.ToOpenTK3D());
view.SetMatrix(2, mat);
Models.Cylinder.Draw(context);
}
public static CollisionResult CircleVsUnmovablePoint(
double circleRadius,
// Point position in game coords.
// This is also the collision point.
Vector2d pointPosition,
// Circle position in game coords.
Vector2d circlePosition,
Vector2d circleVelocity
)
{
Vector2d collisionPoint = pointPosition;
double velocityMagnitude = circleVelocity.Length;
if ((circlePosition - pointPosition).Length < circleRadius)
{
//var newVelocity = (circlePosition - pointPosition).Normalized() * velocityMagnitude;
Vector2d relativeCirclePosition = circlePosition - pointPosition;
double relativeAngleOfCircleRadians = Math.Atan2(relativeCirclePosition.Y, relativeCirclePosition.X) - Math.PI / 2;
var rotationMatrix = Matrix4d.CreateRotationZ(relativeAngleOfCircleRadians).Inverted();
Vector3d rotatedCirclePosition = Vector3d.Transform(new Vector3d(relativeCirclePosition.X, relativeCirclePosition.Y, 0.0), rotationMatrix);
Vector3d rotatedCircleVelocity = Vector3d.Transform(new Vector3d(circleVelocity.X, circleVelocity.Y, 0.0), rotationMatrix);
// make the circle's Y velocity positive in this frame of reference,
Vector3d postCollisionRotatedCircleVelocity = new Vector3d(rotatedCircleVelocity.X, Math.Abs(rotatedCircleVelocity.Y), 0);
// Rotate the new velocity back.
Vector3d postCollisionCircleVelocity = Vector3d.Transform(postCollisionRotatedCircleVelocity, rotationMatrix.Inverted());
var newVelocity = postCollisionCircleVelocity.Xy * 1.005;
// Return as a positive collision result.
return(new CollisionResult {
DidCollide = true,
NewCirclePosition = circlePosition + newVelocity,
NewCircleVelocity = newVelocity
});
}
else
{
// Return original velocity
return(new CollisionResult {
DidCollide = false,
NewCirclePosition = circlePosition,
NewCircleVelocity = circleVelocity
});
}
}
/// <summary>
/// Render a line between two points.
/// </summary>
/// <param name="start">The initial point.</param>
/// <param name="end">The ending point.</param>
/// <param name="view">The relevant view.</param>
public void RenderLine(Location start, Location end, View3D view)
{
// TODO: Efficiency!
float len = (float)(end - start).Length();
Location vecang = Utilities.VectorToAngles(start - end);
vecang.Yaw += 180;
Matrix4d mat = Matrix4d.Scale(len, 1, 1)
* Matrix4d.CreateRotationY((float)(vecang.Y * Utilities.PI180))
* Matrix4d.CreateRotationZ((float)(vecang.Z * Utilities.PI180))
* Matrix4d.CreateTranslation(start.ToOpenTK3D());
view.SetMatrix(2, mat);
GL.BindVertexArray(Line._VAO);
GL.DrawElements(PrimitiveType.Lines, 2, DrawElementsType.UnsignedInt, IntPtr.Zero);
}
/// <summary>Calculate the Projection matrix - projects the 3d model space to the 2D screen</summary>
public void CalculateModelMatrix(Vector3d lookatd, Vector3d eyepositiond, double camerarotation)
{
LookAt = new Vector3((float)lookatd.X, (float)lookatd.Y, (float)lookatd.Z); // record for shader use
EyePosition = new Vector3((float)eyepositiond.X, (float)eyepositiond.Y, (float)eyepositiond.Z);
EyeDistance = (float)((lookatd - eyepositiond).Length);
// System.Diagnostics.Debug.WriteLine($"CMM {lookat} {eyeposition} dist {EyeDistance} {cameradirection} {camerarotation}");
Matrix4d mat;
if (InPerspectiveMode)
{
Vector3d camnormal = new Vector3d(0, ModelAxisPositiveZAwayFromViewer ? -1 : 1, 0);
if (camerarotation != 0) // if we have camera rotation, then rotate the up vector
{
Matrix4d rot = Matrix4d.CreateRotationZ((float)camerarotation.Radians());
camnormal = Vector3d.Transform(camnormal, rot);
}
mat = Matrix4d.LookAt(eyepositiond, lookatd, camnormal); // from eye, look at target, with normal giving the rotation of the look
}
else
{
Size scr = ViewPort.Size;
double orthoheight = (OrthographicDistance / 5.0f) * scr.Height / scr.Width; // this comes from the projection calculation, and allows us to work out the scale factor the eye vs lookat has
double scaler = orthoheight / EyeDistance;
// no create scale, do it manually.
Matrix4d scale = new Matrix4d(new Vector4d(scaler, 0, 0, 0), new Vector4d(0, scaler, 0, 0), new Vector4d(0, 0, scaler, 0), new Vector4d(0, 0, 0, 1));
mat = Matrix4d.CreateTranslation(-lookatd.X, 0, -lookatd.Z); // we offset by the negative of the position to give the central look
mat = Matrix4d.Mult(mat, scale); // translation world->View = scale + offset
Matrix4d rotcam = Matrix4d.CreateRotationX(90.0 * Math.PI / 180.0f); // flip 90 along the x axis to give the top down view
mat = Matrix4d.Mult(mat, rotcam);
}
// and turn it to float model matrix
ModelMatrix = new Matrix4((float)mat.M11, (float)mat.M12, (float)mat.M13, (float)mat.M14, (float)mat.M21, (float)mat.M22, (float)mat.M23, (float)mat.M24, (float)mat.M31, (float)mat.M32, (float)mat.M33, (float)mat.M34, (float)mat.M41, (float)mat.M42, (float)mat.M43, (float)mat.M44);
//System.Diagnostics.Debug.WriteLine("MM\r\n{0}", ModelMatrix);
ProjectionModelMatrix = Matrix4.Mult(ModelMatrix, ProjectionMatrix); // order order order ! so important.
CountMatrixCalcs++;
}
/// <summary>
/// Random direction around the givent center vector.
/// Normal distribution is used, using required variance.
/// </summary>
/// <param name="rnd">Random generator to be used.</param>
/// <param name="dir">Central direction.</param>
/// <param name="variance">Variance of the deviation angle in radians.</param>
/// <returns></returns>
public static Vector3d RandomDirectionNormal(RandomJames rnd, Vector3d dir, double variance)
{
// Matrix3d fromz: [0,0,1] -> dir
// Vector4d delta: [0,0,1] * rotX(deviation) * rotZ(orientation)
// result: delta * fromz
dir.Normalize();
Vector3d axis1, axis2;
GetAxes(ref dir, out axis1, out axis2);
Matrix4d fromz = new Matrix4d(new Vector4d(axis1), new Vector4d(axis2), new Vector4d(dir), Vector4d.UnitW);
//fromz.Transpose();
double deviation = rnd.Normal(0.0, variance);
double orientation = rnd.RandomDouble(0.0, Math.PI);
Matrix4d mat = Matrix4d.CreateRotationX(deviation) * Matrix4d.CreateRotationZ(orientation) * fromz;
return(new Vector3d(mat.Row2)); // [0,0,1] * mat
}
private Vector3d MapMoveToSphere(double radius, Vector2 startPosition, Vector2 endPosition)
{
var deltaFromStartPixels = endPosition - startPosition;
var deltaOnSurface = new Vector2d(
deltaFromStartPixels.X / radius,
deltaFromStartPixels.Y / radius);
var lengthOnSurfaceRadi = deltaOnSurface.Length;
// get this rotation on the surface of the sphere about y
var positionAboutY = Vector3d.Transform(Vector3d.UnitZ, Matrix4d.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
return(Vector3d.Transform(positionAboutY, Matrix4d.CreateRotationZ(angleToTravel)));
}
public override void Render()
{
TheClient.SetEnts();
TheClient.Rendering.SetColor(TheClient.Rendering.AdaptColor(ClientUtilities.Convert(GetPosition()), color));
TheClient.Rendering.SetMinimumLight(0.0f);
// TODO: Prevent model flipping (Possibly related to animation?)
Matrix4d mat = PreRot * Matrix4d.CreateRotationZ((Direction.Yaw * Utilities.PI180)) * Matrix4d.CreateTranslation(ClientUtilities.ConvertD(GetPosition()));
TheClient.MainWorldView.SetMatrix(2, mat);
model.CustomAnimationAdjustments = new Dictionary <string, Matrix4>(SavedAdjustmentsOTK);
model.Draw(aHTime, hAnim, aTTime, tAnim, aLTime, lAnim);
TheClient.Rendering.SetColor(Color4.White);
// TODO: Render held item!
if (IsTyping)
{
TheClient.Textures.GetTexture("ui/game/typing").Bind(); // TODO: store!
TheClient.Rendering.RenderBillboard(GetPosition() + new Location(0, 0, 4), new Location(2), TheClient.MainWorldView.CameraPos);
}
}
private void WriteNextMtx(int hnumber, sbyte bnumber, sbyte pnumber, Matrix4d testmtx, ref int ofs)
{
sbyte child = Hierarchies[hnumber][bnumber].Child;
sbyte sibling = Hierarchies[hnumber][bnumber].Sibling;
Matrix4d localmtx = testmtx;
localmtx = Matrix4d.Mult(Matrix4d.CreateTranslation(Hierarchies[hnumber][bnumber].Translation), testmtx);
localmtx = Matrix4d.Mult(Matrix4d.CreateRotationZ(MathHelper.DegreesToRadians((float)Hierarchies[hnumber][bnumber].Rotation.Z / 182.0444444f)), localmtx);
localmtx = Matrix4d.Mult(Matrix4d.CreateRotationY(MathHelper.DegreesToRadians((float)Hierarchies[hnumber][bnumber].Rotation.Y / 182.0444444f)), localmtx);
localmtx = Matrix4d.Mult(Matrix4d.CreateRotationX(MathHelper.DegreesToRadians((float)Hierarchies[hnumber][bnumber].Rotation.X / 182.0444444f)), localmtx);
if (Hierarchies[hnumber][bnumber].DisplayList != 0)
{
WriteMtxData(localmtx.M11, hnumber, ref ofs);
WriteMtxData(localmtx.M12, hnumber, ref ofs);
WriteMtxData(localmtx.M13, hnumber, ref ofs);
WriteMtxData(localmtx.M14, hnumber, ref ofs);
WriteMtxData(localmtx.M21, hnumber, ref ofs);
WriteMtxData(localmtx.M22, hnumber, ref ofs);
WriteMtxData(localmtx.M23, hnumber, ref ofs);
WriteMtxData(localmtx.M24, hnumber, ref ofs);
WriteMtxData(localmtx.M31, hnumber, ref ofs);
WriteMtxData(localmtx.M32, hnumber, ref ofs);
WriteMtxData(localmtx.M33, hnumber, ref ofs);
WriteMtxData(localmtx.M34, hnumber, ref ofs);
WriteMtxData(localmtx.M41, hnumber, ref ofs);
WriteMtxData(localmtx.M42, hnumber, ref ofs);
WriteMtxData(localmtx.M43, hnumber, ref ofs);
WriteMtxData(localmtx.M44, hnumber, ref ofs);
ofs += 0x20;
}
if (child > -1 && child != bnumber)
{
WriteNextMtx(hnumber, child, bnumber, localmtx, ref ofs);
}
if (sibling > -1 && sibling != bnumber)
{
WriteNextMtx(hnumber, sibling, pnumber, testmtx, ref ofs);
}
}
public void RenderBillboard(Location pos, Location scale, Location facing)
{
// TODO: Quaternion magic?
Location relang = Utilities.VectorToAngles(pos - facing);
if (relang.IsInfinite() || relang.IsNaN())
{
throw new Exception("Unable to handle billboard: relang=" + relang);
}
Matrix4d mat =
Matrix4d.Scale(ClientUtilities.ConvertD(scale))
* Matrix4d.CreateTranslation(-0.5f, -0.5f, 0f)
* Matrix4d.CreateRotationY((float)((relang.Y - 90) * Utilities.PI180))
* Matrix4d.CreateRotationZ((float)(relang.Z * Utilities.PI180))
* Matrix4d.CreateTranslation(ClientUtilities.ConvertD(pos));
Client.Central.MainWorldView.SetMatrix(2, mat); // TODO: Client reference!
GL.BindVertexArray(Square._VAO);
GL.DrawElements(PrimitiveType.Triangles, 6, DrawElementsType.UnsignedInt, IntPtr.Zero);
GL.BindVertexArray(0);
}
private void ButtonViewIsometric_Click(object sender, EventArgs e) => glControlReciProGonio.WorldMatrix = Matrix4d.CreateRotationZ(-Math.PI / 4) * Matrix4d.CreateRotationX(-0.4 * Math.PI);
public LensRayTransferFunction.Parameters ConvertSurfaceRayToParameters(
Ray ray,
Vector3d canonicalNormal, double surfaceSinTheta,
Sphere sphericalSurface, ElementSurface surface)
{
//Console.WriteLine("ray->parameters");
// - convert origin
// *- transform to hemispherical coordinates
// - find out if it is on the surface
// *- scale with respect to the spherical cap
// *- normalize
Vector3d unitSpherePos = (ray.Origin - sphericalSurface.Center) * sphericalSurface.RadiusInv;
unitSpherePos.Z *= canonicalNormal.Z;
//Console.WriteLine("unit sphere position: {0}", unitSpherePos);
Vector2d originParametric = Sampler.SampleSphereWithUniformSpacingInverse(
unitSpherePos, surfaceSinTheta, 1);
// - convert direction
// *- transform from camera space to local frame
// *- compute normal at origin
//Console.WriteLine("ray origin: {0}", ray.Origin);
Vector3d normalLocal = surface.SurfaceNormalField.GetNormal(ray.Origin);
normalLocal.Normalize(); // TODO: check if it is unnecessary
//Console.WriteLine("local normal: {0}", normalLocal);
// *- create rotation quaternion from canonical normal to local
// normal
Vector3d direction = ray.Direction;
//Console.WriteLine("local direction: {0}", direction);
if (surface.Convex)
{
direction = -direction;
}
Vector3d rotationAxis = Vector3d.Cross(canonicalNormal, normalLocal);
//Console.WriteLine("rotation axis: {0}", rotationAxis);
if (rotationAxis.Length > 0)
{
double angle = Math.Acos(Vector3d.Dot(normalLocal, canonicalNormal));
//Console.WriteLine("angle: {0}", angle);
double positionPhi = originParametric.Y;
// first transformed to the frame of the local normal
//Console.WriteLine("position phi: {0}", positionPhi);
Matrix4d rotMatrix = Matrix4d.CreateFromAxisAngle(rotationAxis, -angle);
// then rotate the local direction around Z using the position phi
rotMatrix = rotMatrix * Matrix4d.CreateRotationZ(2 * Math.PI * -positionPhi);
direction = Vector3d.Transform(direction, rotMatrix);
}
//Console.WriteLine("abs. direction: {0}", direction);
// *- transform to hemispherical coordinates
// - find out if it is within the local hemisphere
double sinTheta = direction.Z / canonicalNormal.Z;
double dirTheta = Math.Asin(sinTheta);
double cosTheta = Math.Sqrt(1 - sinTheta * sinTheta);
double dirPhi = Math.Atan2(direction.Y, direction.X);
if (dirPhi < 0)
{
// map [-PI; PI] to [0; 2*PI]
dirPhi += 2 * Math.PI;
}
// *- normalize
Vector2d directionParametric = new Vector2d(
dirTheta / (0.5 * Math.PI),
dirPhi / (2 * Math.PI));
//Console.WriteLine("position parameters: {0}", new Vector2d(
// originParametric.X, originParametric.Y));
return(new LensRayTransferFunction.Parameters(
originParametric.X, originParametric.Y,
directionParametric.X, directionParametric.Y));
}
public void RotateZ(double angle)
{
matrix = Matrix4d.CreateRotationZ(angle) * matrix;
inverse_matrix *= Matrix4d.CreateRotationZ(-angle);
}
public override Entity Create(Region tregion, byte[] data)
{
DataStream ds = new DataStream(data);
DataReader dr = new DataReader(ds);
GenericCharacterEntity ent = new GenericCharacterEntity(tregion);
ent.SetPosition(Location.FromDoubleBytes(dr.ReadBytes(24), 0));
ent.SetOrientation(new BEPUutilities.Quaternion(dr.ReadFloat(), dr.ReadFloat(), dr.ReadFloat(), dr.ReadFloat()));
ent.SetMass(dr.ReadFloat());
ent.CBAirForce = dr.ReadFloat();
ent.CBAirSpeed = dr.ReadFloat();
ent.CBCrouchSpeed = dr.ReadFloat();
ent.CBDownStepHeight = dr.ReadFloat();
ent.CBGlueForce = dr.ReadFloat();
ent.CBHHeight = dr.ReadFloat();
ent.CBJumpSpeed = dr.ReadFloat();
ent.CBMargin = dr.ReadFloat();
ent.CBMaxSupportSlope = dr.ReadFloat();
ent.CBMaxTractionSlope = dr.ReadFloat();
ent.CBProneSpeed = dr.ReadFloat();
ent.CBRadius = dr.ReadFloat();
ent.CBSlideForce = dr.ReadFloat();
ent.CBSlideJumpSpeed = dr.ReadFloat();
ent.CBSlideSpeed = dr.ReadFloat();
ent.CBStandSpeed = dr.ReadFloat();
ent.CBStepHeight = dr.ReadFloat();
ent.CBTractionForce = dr.ReadFloat();
ent.PreRot *= Matrix4d.CreateRotationX(dr.ReadFloat() * Utilities.PI180);
ent.PreRot *= Matrix4d.CreateRotationY(dr.ReadFloat() * Utilities.PI180);
ent.PreRot *= Matrix4d.CreateRotationZ(dr.ReadFloat() * Utilities.PI180);
ent.mod_scale = dr.ReadFloat();
ent.PreRot = Matrix4d.Scale(ent.mod_scale) * ent.PreRot;
ent.color = System.Drawing.Color.FromArgb(dr.ReadInt());
byte dtx = dr.ReadByte();
ent.Visible = (dtx & 1) == 1;
ent.ShouldShine = (dtx & 32) == 32;
int solidity = (dtx & (2 | 4 | 8 | 16));
if (solidity == 2)
{
ent.CGroup = CollisionUtil.Solid;
}
else if (solidity == 4)
{
ent.CGroup = CollisionUtil.NonSolid;
}
else if (solidity == (2 | 4))
{
ent.CGroup = CollisionUtil.Item;
}
else if (solidity == 8)
{
ent.CGroup = CollisionUtil.Player;
}
else if (solidity == (2 | 8))
{
ent.CGroup = CollisionUtil.Water;
}
else if (solidity == (2 | 4 | 8))
{
ent.CGroup = CollisionUtil.WorldSolid;
}
else if (solidity == 16)
{
ent.CGroup = CollisionUtil.Character;
}
ent.model = tregion.TheClient.Models.GetModel(tregion.TheClient.Network.Strings.StringForIndex(dr.ReadInt()));
dr.Close();
return(ent);
}
public static void CalculateOrbit(ref LookAheadState lookAheadState, State state)
{
var mu = Constants.EarthGravitationalConstant;
var radiusVector = state.Position;
var velocityVector = state.Velocity;
var h = Vector3d.Cross(
radiusVector,
velocityVector
);
var r = radiusVector.Length;
var eccentricityVector = (
(velocityVector.LengthSquared - mu / r) * radiusVector - Vector3d.Dot(radiusVector, velocityVector) * velocityVector
) / mu;
var eccentricity = eccentricityVector.Length;
var specificOrbitalEnergy = velocityVector.LengthSquared / 2 - mu / r;
var semiMajorAxis = -mu / (2 * specificOrbitalEnergy);
var semiMinorAxis = semiMajorAxis * Math.Sqrt(1 - eccentricity * eccentricity);
var apoapsis = (1 + eccentricity) * semiMajorAxis;
var periapsis = (1 - eccentricity) * semiMajorAxis;
var semiLatusRectum = periapsis * (1 + eccentricity);
var thetaFromPeriapsis = Math.Acos(((semiLatusRectum - r) / (eccentricity * r)) % (Math.PI * 2));
var actualRotation = Math.Atan2(radiusVector.Y, radiusVector.X) + Math.PI / 2;
double argumentOfPeriapsis;
if (h.Z < 0)
{
thetaFromPeriapsis = Math.PI * 2 - thetaFromPeriapsis;
argumentOfPeriapsis = actualRotation - thetaFromPeriapsis;
//rotationMatrix = Matrix4d.Mult(rotationMatrix, Matrix4d.RotateY(Math.PI));
}
else
{
argumentOfPeriapsis = actualRotation - thetaFromPeriapsis;
}
var rotationMatrix = Matrix4d.CreateRotationZ(argumentOfPeriapsis);
int highAccuracyPoints = lookAheadState.FuturePositions.Length / 2;
double highAccuracyAngle = Math.PI / 20;
if (SampleOrbit(ref lookAheadState.FuturePositions, ref rotationMatrix, semiLatusRectum, eccentricity, thetaFromPeriapsis, highAccuracyAngle, 0, highAccuracyPoints))
{
SampleOrbit(ref lookAheadState.FuturePositions, ref rotationMatrix, semiLatusRectum, eccentricity, thetaFromPeriapsis - highAccuracyAngle, Math.PI * 2 - highAccuracyAngle, highAccuracyPoints, lookAheadState.FuturePositions.Length - highAccuracyPoints);
}
//double approximatePerimeter = Math.PI * (3 * (semiMajorAxis + semiMinorAxis) - Math.Sqrt((3*semiMajorAxis + semiMinorAxis) * (semiMajorAxis + 3*semiMinorAxis)));
lookAheadState.Apoapsis = apoapsis - Constants.EarthRadius;
lookAheadState.Periapsis = periapsis - Constants.EarthRadius;
lookAheadState.Eccentricity = eccentricity;
lookAheadState.SemiMajorAxis = semiMajorAxis;
lookAheadState.SemiMinorAxis = semiMinorAxis;
lookAheadState.SemiLatusRectum = semiLatusRectum;
lookAheadState.ArgumentOfPeriapsis = argumentOfPeriapsis;
lookAheadState.Theta = thetaFromPeriapsis;
//Title = string.Format("e{0,2:F}, {1,2:F} km {2,2:F} km, r {3,2:F}, v {4,2:F} {5,2:F} {6,2:F} {7,2:F}, a{8,2:F} b{9,2:F}", e, (apoapsis - Constants.EarthRadius)/1000, (periapsis - Constants.EarthRadius) / 1000, (radiusVector.Length - Constants.EarthRadius) /1000, velocityVector.Length / 1000, theta2, actualRotation, offset, (a - Constants.EarthRadius)/1000, (b - Constants.EarthRadius)/1000);
/*
* GL.PushMatrix();
* //GL.Rotate(offset / Math.PI * 180, Vector3d.UnitZ);
* GL.LineWidth(2f);
* GL.Color3(1f, 0f, 0f);
* GL.Begin(PrimitiveType.LineLoop);
* for (var theta = 0.0; theta < Math.PI * 2.0; theta += 0.01)
* {
* GL.Vertex3(Math.Sin(theta) * b, Math.Cos(theta) * a + (apoapsis - a), 0);
* }
* GL.End();
* GL.PopMatrix();
*/
}
/// <summary>
/// Convert a ray with origin at the back or front lens surface from
/// its parametric representation.
/// </summary>
/// <param name="position">Position on lens surface in parameteric
/// representation (normalized hemispherical coordinates).</param>
/// <param name="direction">Direction of the ray with respect to the
/// local frame in parameteric representation (normalized hemispherical
/// coordinates).
/// </param>
/// <param name="canonicalNormal">Normal of the lens surface
/// hemisphere (typically (0,0,1) for the back surface or (0,0,-1) for
/// the front surface).</param>
/// <param name="surfaceSinTheta">Sine of the surface spherical cap
/// theta angle.</param>
/// <param name="sphericalSurface">Lens surface represented as a
/// sphere.</param>
/// <param name="surface">Lens surface with its normal field.</param>
/// <returns>Ray corresponding to its parametric representation.
/// </returns>
public Ray ConvertParametersToSurfaceRay(
LensRayTransferFunction.Parameters parameters,
Vector3d canonicalNormal, double surfaceSinTheta,
Sphere sphericalSurface, ElementSurface surface)
{
//Console.WriteLine("parameters->ray");
//Console.WriteLine("position parameters: {0}", parameters.Position);
// uniform spacing sampling for LRTF sampling
Vector3d unitSpherePos = Sampler.SampleSphereWithUniformSpacing(
parameters.Position, surfaceSinTheta, 1);
//Console.WriteLine("unit sphere position: {0}", unitSpherePos);
unitSpherePos.Z *= canonicalNormal.Z;
Vector3d lensPos = sphericalSurface.Center + sphericalSurface.Radius * unitSpherePos;
//Console.WriteLine("ray origin: {0}", lensPos);
// - get normal N at P
Vector3d normalLocal = surface.SurfaceNormalField.GetNormal(lensPos);
// - compute direction D from spherical coordinates (wrt normal Z = (0,0,+/-1))
double theta = 0.5 * Math.PI * parameters.DirectionTheta;
double phi = 2 * Math.PI * parameters.DirectionPhi;
double cosTheta = Math.Cos(theta);
Vector3d directionZ = new Vector3d(
Math.Cos(phi) * cosTheta,
Math.Sin(phi) * cosTheta,
Math.Sin(theta) * canonicalNormal.Z);
// - rotate D from Z to N frame
// - using a (normalized) quaternion Q
// - N and Z should be assumed to be already normalized
// - more efficient method: Efficiently building a matrix to
// rotate one vector to another [moller1999]
normalLocal.Normalize(); // TODO: check if it is unnecessary
//Console.WriteLine("abs. direction: {0}", directionZ);
//Console.WriteLine("local normal: {0}", normalLocal);
Vector3d rotationAxis = Vector3d.Cross(canonicalNormal, normalLocal);
//Console.WriteLine("rotation axis: {0}", rotationAxis);
Vector3d rotatedDir = directionZ;
if (rotationAxis.Length > 0)
{
double angle = Math.Acos(Vector3d.Dot(canonicalNormal, normalLocal));
//Console.WriteLine("angle: {0}", angle);
// first the local direction must be rotated around using the position phi!
//Console.WriteLine("position phi: {0}", parameters.PositionPhi);
Matrix4d rotMatrix = Matrix4d.CreateRotationZ(2 * Math.PI * parameters.PositionPhi);
// only then can be transformed to the frame of the local normal
rotMatrix = rotMatrix * Matrix4d.CreateFromAxisAngle(rotationAxis, angle);
rotatedDir = Vector3d.Transform(directionZ, rotMatrix);
}
if (surface.Convex)
{
rotatedDir = -rotatedDir;
}
//Console.WriteLine("local direction: {0}", rotatedDir);
Ray result = new Ray(lensPos, rotatedDir);
return(result);
}
/// <summary>
/// 起動時
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void FormRotationMatrix_Load(object sender, EventArgs e)
{
#region glControlの追加 (デザイナが壊れるため)
//
// glControlReciProObjects
//
this.glControlReciProObjects = new GLControlAlpha
{
AllowMouseScaling = false,
AllowMouseTranslating = false,
Anchor = AnchorStyles.Top | AnchorStyles.Right,
BorderStyle = BorderStyle.Fixed3D,
DisablingOpenGL = false,
Location = new Point(273, 248),
Margin = new Padding(0),
Name = "glControlReciProObjects",
NodeCoefficient = 1,
ProjWidth = 1D,
Size = new Size(130, 130),
};
this.glControlReciProObjects.WorldMatrixChanged += new System.EventHandler(this.GlControlReciProAxes_WorldMatrixChanged);
//
// glControlReciProAxes
//
this.glControlReciProAxes = new GLControlAlpha
{
AllowMouseScaling = false,
AllowMouseTranslating = false,
Anchor = AnchorStyles.Top | AnchorStyles.Right,
BorderStyle = BorderStyle.Fixed3D,
DisablingOpenGL = false,
Location = new Point(273, 114),
Margin = new Padding(0),
Name = "glControlReciProAxes",
NodeCoefficient = 1,
ProjWidth = 2.8D,
Size = new Size(130, 130),
};
glControlReciProAxes.WorldMatrixChanged += new EventHandler(GlControlReciProAxes_WorldMatrixChanged);
//
// glControlReciProGonio
//
this.glControlReciProGonio = new GLControlAlpha
{
AllowMouseTranslating = false,
Anchor = AnchorStyles.Top | AnchorStyles.Bottom | AnchorStyles.Left | AnchorStyles.Right,
BorderStyle = BorderStyle.Fixed3D,
DisablingOpenGL = false,
Location = new Point(5, 114),
Margin = new Padding(0),
Name = "glControlReciProGonio",
ProjWidth = 5D,
Size = new Size(264, 264),
};
glControlReciProGonio.WorldMatrixChanged += new EventHandler(this.GlControlReciProAxes_WorldMatrixChanged);
//
// glControlExpObjects
//
this.glControlExpObjects = new GLControlAlpha
{
AllowMouseScaling = false,
AllowMouseTranslating = false,
Anchor = AnchorStyles.Top | AnchorStyles.Right,
BorderStyle = BorderStyle.Fixed3D,
DisablingOpenGL = false,
Location = new Point(273, 248),
Margin = new Padding(0),
Name = "glControlExpObjects",
ProjWidth = 1D,
Size = new Size(130, 130),
};
this.glControlExpObjects.WorldMatrixChanged += new EventHandler(GlControlReciProAxes_WorldMatrixChanged);
//
// glControlExpAxes
//
this.glControlExpAxes = new GLControlAlpha
{
AllowMouseScaling = false,
AllowMouseTranslating = false,
Anchor = AnchorStyles.Top | AnchorStyles.Right,
BorderStyle = BorderStyle.Fixed3D,
DisablingOpenGL = false,
Location = new Point(273, 114),
Margin = new System.Windows.Forms.Padding(0),
Name = "glControlExpAxes",
ProjWidth = 2.8D,
Size = new Size(130, 130),
};
this.glControlExpAxes.WorldMatrixChanged += new EventHandler(GlControlReciProAxes_WorldMatrixChanged);
//
// glControlExpGonio
//
this.glControlExpGonio = new GLControlAlpha
{
AllowMouseTranslating = false,
Anchor = AnchorStyles.Top | AnchorStyles.Bottom | AnchorStyles.Left | AnchorStyles.Right,
BorderStyle = BorderStyle.Fixed3D,
DisablingOpenGL = false,
Location = new Point(5, 114),
Margin = new Padding(0),
Name = "glControlExpGonio",
ProjWidth = 5D,
Size = new Size(264, 264),
};
this.glControlExpGonio.WorldMatrixChanged += new System.EventHandler(this.GlControlReciProAxes_WorldMatrixChanged);
groupBox2.Controls.Add(glControlExpObjects);
groupBox2.Controls.Add(glControlExpAxes);
groupBox2.Controls.Add(glControlExpGonio);
groupBox1.Controls.Add(glControlReciProObjects);
groupBox1.Controls.Add(glControlReciProAxes);
groupBox1.Controls.Add(glControlReciProGonio);
#endregion
glControlReciProGonio.WorldMatrix = Matrix4d.CreateRotationZ(-Math.PI / 4) * Matrix4d.CreateRotationX(-0.4 * Math.PI);
SetRotation();
numericBoxPhi.TextBoxBackColor = numericBoxExp1.TextBoxBackColor = Color.FromArgb(255, 180, 180, 0);
numericBoxTheta.TextBoxBackColor = numericBoxExp2.TextBoxBackColor = Color.FromArgb(255, 0, 180, 180);
numericBoxPsi.TextBoxBackColor = numericBoxExp3.TextBoxBackColor = Color.FromArgb(255, 180, 0, 180);
numericBoxPhi.TextBoxForeColor = numericBoxExp1.TextBoxForeColor =
numericBoxTheta.TextBoxForeColor = numericBoxExp2.TextBoxForeColor =
numericBoxPsi.TextBoxForeColor = numericBoxExp3.TextBoxForeColor = Color.FromArgb(255, 255, 255, 255);
}