public static VPObjectInstance AddObjectInstance(string modelName,
OpenTK.Vector3 pos, OpenTK.Quaternion rot, OpenTK.Vector3 scale,
object customData = null)
{
return(AddObjectInstance(modelName, new VPObjectInstance(
pos, rot, scale, customData)));
}
public override Blocks GenerateBlock2(Vector2i position, Heights macroHeight)
{
var rotatedPos = Vector2.Transform((Vector2)position, Quaternion.FromEulerAngles(0, 0, _hillsOrientation));
return(new Blocks(BlockType.Sand, BlockType.GoldOre,
new Heights((float)(_dunesNoise.GetSimplex(rotatedPos.X / 10f, rotatedPos.Y / 30f)) * 2 + macroHeight.Main, macroHeight.Underground, macroHeight.Base))); //Вытянутые дюны
}
public static VPObjectInstance AddObjectInstance(VPModel obj,
OpenTK.Vector3 pos, OpenTK.Quaternion rot, OpenTK.Vector3 scale,
object customData = null)
{
return(AddObjectInstance(obj, new VPObjectInstance(
pos, rot, scale, customData)));
}
public unsafe static void SetMotorTarget(this ConeTwistConstraint obj, ref OpenTK.Quaternion q)
{
fixed(OpenTK.Quaternion *qPtr = &q)
{
obj.SetMotorTarget(ref *(BulletSharp.Math.Quaternion *)qPtr);
}
}
public unsafe static void SetMotorTarget(this HingeConstraint obj, ref OpenTK.Quaternion qAinB, float dt)
{
fixed(OpenTK.Quaternion *qAinBPtr = &qAinB)
{
obj.SetMotorTarget(ref *(BulletSharp.Math.Quaternion *)qAinBPtr, dt);
}
}
public static OpenTK.Vector3 QuaternionToEuler(OpenTK.Quaternion q1)
{
float sqw = q1.W * q1.W;
float sqx = q1.X * q1.X;
float sqy = q1.Y * q1.Y;
float sqz = q1.Z * q1.Z;
float unit = sqx + sqy + sqz + sqw; // if normalised is one, otherwise is correction factor
float test = q1.X * q1.W - q1.Y * q1.Z;
OpenTK.Vector3 v;
if (test > 0.4995f * unit)
{ // singularity at north pole
v.Y = 2f * (float)System.Math.Atan2(q1.X, q1.Y);
v.X = (float)System.Math.PI / 2;
v.Z = 0;
return(NormalizeAngles(v * Rad2Deg));
}
if (test < -0.4995f * unit)
{ // singularity at south pole
v.Y = -2f * (float)System.Math.Atan2(q1.Y, q1.X);
v.X = (float)-System.Math.PI / 2;
v.Z = 0;
return(NormalizeAngles(v * Rad2Deg));
}
Quaternion q = new Quaternion(q1.W, q1.Z, q1.X, q1.Y);
v.Y = (float)Math.Atan2(2f * q.X * q.W + 2f * q.Y * q.Z, 1 - 2f * (q.Z * q.Z + q.W * q.W)); // Yaw
v.X = (float)Math.Asin(2f * (q.X * q.Z - q.W * q.Y)); // Pitch
v.Z = (float)Math.Atan2(2f * q.X * q.Y + 2f * q.Z * q.W, 1 - 2f * (q.Y * q.Y + q.Z * q.Z)); // Roll
return(NormalizeAngles(v * Rad2Deg));
}
public override System.Collections.Generic.Queue <Moonfish.Tags.BlamPointer> ReadFields(System.IO.BinaryReader binaryReader)
{
System.Collections.Generic.Queue <Moonfish.Tags.BlamPointer> pointerQueue = new System.Collections.Generic.Queue <Moonfish.Tags.BlamPointer>(base.ReadFields(binaryReader));
this.Position = binaryReader.ReadVector3();
this.Orientation = binaryReader.ReadQuaternion();
return(pointerQueue);
}
/// <summary>
///
/// </summary>
/// <param name="time"></param>
/// <param name="quatA"></param>
/// <param name="quatB"></param>
/// <param name="useShortestPath"></param>
/// <returns></returns>
public static OpenTK.Quaternion Slerp(Real time, OpenTK.Quaternion quatA, OpenTK.Quaternion quatB, bool useShortestPath)
{
Real cos = quatA.Dot(quatB);
Real angle = (Real)Utility.ACos(cos);
if (Utility.Abs(angle) < EPSILON)
{
return(quatA);
}
Real sin = Utility.Sin(angle);
Real inverseSin = 1.0f / sin;
Real coeff0 = Utility.Sin((1.0f - time) * angle) * inverseSin;
Real coeff1 = Utility.Sin(time * angle) * inverseSin;
OpenTK.Quaternion result;
if (cos < 0.0f && useShortestPath)
{
coeff0 = -coeff0;
// taking the complement requires renormalisation
OpenTK.Quaternion t = coeff0 * quatA + coeff1 * quatB;
t.Normalize();
result = t;
}
else
{
result = (coeff0 * quatA + coeff1 * quatB);
}
return(result);
}
public unsafe static void GetOrientation(this RigidBody obj, out OpenTK.Quaternion value)
{
fixed(OpenTK.Quaternion *valuePtr = &value)
{
*(BulletSharp.Math.Quaternion *)valuePtr = obj.Orientation;
}
}
/// <summary>
/// Draws the twist constraints accoriding in Unity using Giszmos
/// </summary>
/// <param name="b">The bone with its constraints</param>
/// <param name="refBone">The to be twisted against</param>
/// <param name="poss">The position of where it should be drawn</param>
/// <param name="scale">The scale of the constraints</param>
public static void DrawTwistConstraints(Bone b, Bone refBone, OpenTK.Vector3 poss, float scale)
{
if (b.Orientation.Xyz.IsNaN() || refBone.Orientation.Xyz.IsNaN())
{
return;
}
OpenTK.Vector3 thisY = b.GetYAxis();
OpenTK.Quaternion referenceRotation = refBone.Orientation * b.ParentPointer;
OpenTK.Vector3 parentY = OpenTK.Vector3.Transform(OpenTK.Vector3.UnitY, referenceRotation);
OpenTK.Vector3 parentZ = OpenTK.Vector3.Transform(OpenTK.Vector3.UnitZ, referenceRotation);
OpenTK.Quaternion rot = QuaternionHelper2.GetRotationBetween(parentY, thisY);
OpenTK.Vector3 reference = OpenTK.Vector3.Transform(parentZ, rot);
reference.Normalize();
Debug.DrawRay(poss.Convert(), (b.GetZAxis() * scale * 2).Convert(), Color.cyan);
float startTwistLimit = OpenTK.MathHelper.DegreesToRadians(b.StartTwistLimit);
OpenTK.Vector3 m = OpenTK.Vector3.Transform(reference, OpenTK.Quaternion.FromAxisAngle(thisY, startTwistLimit));
m.Normalize();
Debug.DrawRay(poss.Convert(), m.Convert() * scale, Color.yellow);
float endTwistLimit = OpenTK.MathHelper.DegreesToRadians(b.EndTwistLimit);
OpenTK.Vector3 m2 = OpenTK.Vector3.Transform(reference, OpenTK.Quaternion.FromAxisAngle(thisY, endTwistLimit));
m2.Normalize();
Debug.DrawRay(poss.Convert(), m2.Convert() * scale, Color.magenta);
Debug.DrawLine((poss + (m * scale)).Convert(), (poss + (m2 * scale)).Convert(), Color.cyan);
}
/// <summary>
/// Read ZY-YZ reversed quaternion<para/>
/// Чтение перевернутого ZY-YZ кватерниона
/// </summary>
/// <returns>Correct quaternion<para/>Исправленный кватернион</returns>
public static OpenTK.Quaternion ReadVCQuaternion(this BinaryReader f) {
OpenTK.Quaternion q = new OpenTK.Quaternion();
q.X = -f.ReadSingle();
q.Z = -f.ReadSingle();
q.Y = -f.ReadSingle();
q.W = -f.ReadSingle();
return q;
}
/// <summary>
/// Read ZY-YZ reversed quaternion<para/>
/// Чтение перевернутого ZY-YZ кватерниона
/// </summary>
/// <returns>Correct quaternion<para/>Исправленный кватернион</returns>
public static OpenTK.Quaternion ReadVCQuaternion(this BinaryReader f)
{
OpenTK.Quaternion q = new OpenTK.Quaternion();
q.X = -f.ReadSingle();
q.Z = -f.ReadSingle();
q.Y = -f.ReadSingle();
q.W = -f.ReadSingle();
return(q);
}
/// <summary>
/// Using Unity Debug, draws the x,y,z axis of a Quaternion as x red, y green and z blue
/// </summary>
/// <param name="rot">The OpenTK Quaterion</param>
/// <param name="pos">The UnityEngine Vector3 position to be drawn</param>
/// <param name="scale">The float length of the axis in meter</param>
public static void DrawRays(OpenTK.Quaternion rot, Vector3 pos, float scale)
{
OpenTK.Vector3 right = OpenTK.Vector3.Transform(OpenTK.Vector3.UnitX, rot);
OpenTK.Vector3 up = OpenTK.Vector3.Transform(OpenTK.Vector3.UnitY, rot);
OpenTK.Vector3 forward = OpenTK.Vector3.Transform(OpenTK.Vector3.UnitZ, rot);
Debug.DrawRay(pos, up.Convert() * scale, Color.green);
Debug.DrawRay(pos, right.Convert() * scale, Color.red);
Debug.DrawRay(pos, forward.Convert() * scale, Color.blue);
}
public override void Load(jmp data, int entryIndex)
{
base.Load(data, entryIndex);
Position = new OpenTK.Vector3(posX, posY, posZ);
Rotation = new OpenTK.Quaternion(new OpenTK.Vector3(rotX, rotY, rotZ));
Scale = new OpenTK.Vector3(scaleX, scaleY, scaleZ);
HasRoomNumber = true;
}
public override System.Collections.Generic.Queue <Moonfish.Tags.BlamPointer> ReadFields(System.IO.BinaryReader binaryReader)
{
System.Collections.Generic.Queue <Moonfish.Tags.BlamPointer> pointerQueue = new System.Collections.Generic.Queue <Moonfish.Tags.BlamPointer>(base.ReadFields(binaryReader));
this.NodeName = binaryReader.ReadStringID();
this.DefaultRotation = binaryReader.ReadQuaternion();
this.DefaultTranslation = binaryReader.ReadVector3();
this.DefaultScale = binaryReader.ReadSingle();
this.MinBounds = binaryReader.ReadVector3();
this.MaxBounds = binaryReader.ReadVector3();
return(pointerQueue);
}
/// <summary>
/// Performs spherical quadratic interpolation.
/// </summary>
/// <param name="t"></param>
/// <param name="p"></param>
/// <param name="a"></param>
/// <param name="b"></param>
/// <param name="q"></param>
/// <returns></returns>
public static OpenTK.Quaternion Squad(Real t, OpenTK.Quaternion p, OpenTK.Quaternion a, OpenTK.Quaternion b, OpenTK.Quaternion q, bool useShortestPath)
{
Real slerpT = 2.0f * t * (1.0f - t);
// use spherical linear interpolation
OpenTK.Quaternion slerpP = Slerp(t, p, q, useShortestPath);
OpenTK.Quaternion slerpQ = Slerp(t, a, b);
// run another Slerp on the results of the first 2, and return the results
return(Slerp(slerpT, slerpP, slerpQ));
}
public void LookAt(OpenTK.Vector3 at, OpenTK.Vector3 up)
{
var zaxis = (at - Position).Normalized();
var xaxis = OpenTK.Vector3.Cross(up, zaxis).Normalized();
var yaxis = OpenTK.Vector3.Cross(zaxis, xaxis);
var mat = new OpenTK.Matrix3(xaxis, yaxis, zaxis);
Rotation = mat.ExtractRotation();
}
public override System.Collections.Generic.Queue <Moonfish.Tags.BlamPointer> ReadFields(System.IO.BinaryReader binaryReader)
{
System.Collections.Generic.Queue <Moonfish.Tags.BlamPointer> pointerQueue = new System.Collections.Generic.Queue <Moonfish.Tags.BlamPointer>(base.ReadFields(binaryReader));
this.RegionIndex = binaryReader.ReadByte();
this.PermutationIndex = binaryReader.ReadByte();
this.NodeIndex = binaryReader.ReadByte();
this.fieldpad = binaryReader.ReadBytes(1);
this.Translation = binaryReader.ReadVector3();
this.Rotation = binaryReader.ReadQuaternion();
this.Scale = binaryReader.ReadSingle();
return(pointerQueue);
}
/// <summary>
/// Returns the integer associated with the dominant axis about which the rotation moves.
/// Chooses Z in the two degenerate cases.
/// x = 0
/// y = 1
/// z = 2
/// Doesn't work.
/// </summary>
/// <param name="M">The affine matrix with some rotational componenet to analyse.</param>
/// <returns></returns>
public static int getDominantRotationAxis(OpenTK.Matrix4 M)
{
OpenTK.Quaternion R = M.ExtractRotation();
if (System.Math.Abs(R.X) > System.Math.Abs(R.Y) && System.Math.Abs(R.X) > System.Math.Abs(R.Z))
{
return(0);
}
else if (System.Math.Abs(R.Y) > System.Math.Abs(R.Z))
{
return(1);
}
return(2);
}
public override System.Collections.Generic.Queue <Moonfish.Tags.BlamPointer> ReadFields(System.IO.BinaryReader binaryReader)
{
System.Collections.Generic.Queue <Moonfish.Tags.BlamPointer> pointerQueue = new System.Collections.Generic.Queue <Moonfish.Tags.BlamPointer>(base.ReadFields(binaryReader));
this.Name = binaryReader.ReadString32();
this.Rotation = binaryReader.ReadQuaternion();
this.Translation = binaryReader.ReadVector3();
this.PaletteIndex = binaryReader.ReadShortBlockIndex1();
this.fieldpad = binaryReader.ReadBytes(2);
this.UniqueID = binaryReader.ReadInt32();
this.ExportedObjectType = binaryReader.ReadTagClass();
this.ScenarioObjectName = binaryReader.ReadString32();
return(pointerQueue);
}
// http://bugzilla.xamarin.com/show_bug.cgi?id=1415
// not really part of the bug - but part of the same fix
public void Bug1415_Linker_XmlAttribute()
{
// the typeof ensure we're can't (totally) link away System.ServiceModel.dll
Type ed = typeof(System.ServiceModel.AuditLevel).Assembly.GetType("System.ServiceModel.EndpointAddress10", false);
// type is decorated with both [XmlSchemaProvider] and [XmlRoot]
Assert.NotNull(ed, "EndpointAddress10");
var q = new OpenTK.Quaternion();
Assert.Null(q.GetType().GetProperty("XYZ"), "XmlIgnore");
// should be null if application is linked (won't be if "Don't link" is used)
}
// http://bugzilla.xamarin.com/show_bug.cgi?id=1415
// not really part of the bug - but part of the same fix
public void Bug1415_Linker_XmlAttribute()
{
// the typeof ensure we're can't (totally) link away System.ServiceModel.dll
Type ed = typeof(System.ServiceModel.AuditLevel).Assembly.GetType("System.ServiceModel.EndpointAddress10", false);
// type is decorated with both [XmlSchemaProvider] and [XmlRoot]
Assert.NotNull(ed, "EndpointAddress10");
#if !__WATCHOS__ // FIXME: this needs to use a different type than OpenTK.Quaternion, so that the test can run on WatchOS as wells
var q = new OpenTK.Quaternion();
Assert.Null(q.GetType().GetProperty("XYZ"), "XmlIgnore");
// should be null if application is linked (won't be if "Don't link" is used)
#endif // !__WATCHOS__
}
// !Restructure
public static OpenTK.Quaternion RotateTowards(OpenTK.Vector3 u, OpenTK.Vector3 v)
{
var q = new OpenTK.Quaternion {
Xyz = Vector3.Cross(u, v)
};
var dot = Vector3.Dot(u, v);
var w = Sqrt(u.LengthSquared * v.LengthSquared);
q.W = w + dot;
return(q);
}
/// <param name="shortestPath"></param>
public static OpenTK.Quaternion Nlerp(Real fT, OpenTK.Quaternion rkP, OpenTK.Quaternion rkQ, bool shortestPath)
{
OpenTK.Quaternion result;
Real fCos = rkP.Dot(rkQ);
if (fCos < 0.0f && shortestPath)
{
result = rkP + fT * ((OpenTK.Quaternion.Invert(rkQ)) - rkP);
}
else
{
result = rkP + fT * (rkQ - rkP);
}
result.Normalize();
return(result);
}
public override System.Collections.Generic.Queue <Moonfish.Tags.BlamPointer> ReadFields(System.IO.BinaryReader binaryReader)
{
System.Collections.Generic.Queue <Moonfish.Tags.BlamPointer> pointerQueue = new System.Collections.Generic.Queue <Moonfish.Tags.BlamPointer>(base.ReadFields(binaryReader));
this.Name = binaryReader.ReadStringID();
this.ParentNode = binaryReader.ReadShortBlockIndex1();
this.FirstChildNode = binaryReader.ReadShortBlockIndex1();
this.NextSiblingNode = binaryReader.ReadShortBlockIndex1();
this.fieldpad = binaryReader.ReadBytes(2);
this.DefaultTranslation = binaryReader.ReadVector3();
this.DefaultRotation = binaryReader.ReadQuaternion();
this.DefaultInverseScale = binaryReader.ReadSingle();
this.DefaultInverseForward = binaryReader.ReadVector3();
this.DefaultInverseLeft = binaryReader.ReadVector3();
this.DefaultInverseUp = binaryReader.ReadVector3();
this.DefaultInversePosition = binaryReader.ReadVector3();
return(pointerQueue);
}
public void TestMathProperties()
{
AssertEqual(TestReadableVector2D, new OpenTK.Vector2(2.0f, 2.0f), "TestReadableVector2D");
AssertEqual(TestReadableVector, new OpenTK.Vector3(4.0f, 8.0f, 15.0f), "TestReadableVector");
AssertEqual(TestReadableVector4, new OpenTK.Vector4(16.0f, 23.0f, 42.0f, 108.0f), "TestReadableVector4");
AssertEqual(TestReadWriteQuat, new OpenTK.Quaternion(2, 4, 6, 0.1f), "TestReadWriteQuat");
TestReadWriteQuat = new OpenTK.Quaternion(1, 2, 3, 4);
AssertEqual(TestReadWriteMatrix, OpenTK.Matrix4.Identity, "TestReadWriteMatrix");
TestReadWriteMatrix = new OpenTK.Matrix4(
0, 1, 2, 3,
4, 5, 6, 7,
8, 9, 10, 11,
12, 13, 14, 15);
AssertEqual(TestReadableRotator, new Rotator(45.0f, 15.0f, 5.0f), "TestReadableRotator");
}
private IUnitTransformation ResetTransform()
{
var mov = Matrix.Translation(-_document.Selection.GetSelectionBoundingBox().Center);
OpenTK.Quaternion rev = new OpenTK.Quaternion((float)PrevRotation.X,
(float)PrevRotation.Y,
(float)PrevRotation.Z,
(float)PrevRotation.W);
rev.Invert();
var q = new DataStructures.Geometric.Quaternion(0, 0, 0, -1);
var rot = Matrix.Rotation(q);
var fin = Matrix.Translation(SolidsOrigin);
PrevRotation = new DataStructures.Geometric.Quaternion((decimal)rev.X, (decimal)rev.Y,
(decimal)rev.Z, (decimal)rev.W);
var prev = Matrix.Rotation(PrevRotation);
PrevRotation = q;
return new UnitMatrixMult(fin * (rot * prev) * mov);
}
public void UpdateGizmoTransform()
{
OpenTK.Vector3 position = OpenTK.Vector3.Zero;
OpenTK.Quaternion localRotation = OpenTK.Quaternion.Identity;
foreach (var entity in EditorSelection.SelectedObjects)
{
position += entity.Transform.Position;
}
if (EditorSelection.SelectedObjects.Count > 0)
{
position /= EditorSelection.SelectedObjects.Count;
localRotation = EditorSelection.SelectedObjects[0].Transform.LocalRotation;
}
TransformGizmo.SetPosition(position);
TransformGizmo.SetLocalRotation(localRotation);
}
private void SetupMatrices(int gem_num, float aspect_ratio)
{
const float yFov = 0.837758041f; // 48 degrees vertical field-of-view
const float near = 10, far = 3000; // 50cm to 3m tracking limits (but reduce near to avoid object clipping)
OpenTK.Matrix4 projection;
projection = OpenTK.Matrix4.CreatePerspectiveFieldOfView(yFov, aspect_ratio, near, far);
GL.MatrixMode(MatrixMode.Projection);
GL.LoadIdentity();
GL.LoadMatrix(ref projection);
float cameraPitchAngle = AR_state.gemStates[gem_num].camera_pitch_angle;
Console.WriteLine("{0}", cameraPitchAngle);
OpenTK.Matrix4 rotation, scale, lookat;
rotation = OpenTK.Matrix4.CreateRotationX(cameraPitchAngle);
scale = OpenTK.Matrix4.Scale(-1.0f, 1.0f, 1.0f);
lookat = OpenTK.Matrix4.LookAt(0, 0, 0,
0, 0, 1,
0, 1, 0);
OpenTK.Matrix4 view = lookat * (scale * rotation);
GL.MatrixMode(MatrixMode.Modelview);
GL.LoadIdentity();
GL.LoadMatrix(ref view);
OpenTK.Matrix4 mv_mat;
GL.GetFloat(GetPName.ModelviewMatrix, out mv_mat);
//Console.WriteLine("{0}", mv_mat);
OpenTK.Vector3 gem_position = new OpenTK.Vector3(AR_state.gemStates[gem_num].pos.x, AR_state.gemStates[gem_num].pos.y, AR_state.gemStates[gem_num].pos.z);
OpenTK.Quaternion gem_rotation = new OpenTK.Quaternion(AR_state.gemStates[gem_num].quat.x, AR_state.gemStates[gem_num].quat.y, AR_state.gemStates[gem_num].quat.z, AR_state.gemStates[gem_num].quat.w);
gem_rotation.Normalize();
OpenTK.Matrix4 gem_rotation_matrix = OpenTK.Matrix4.Rotate(gem_rotation);
OpenTK.Matrix4 gem_translation_matrix = OpenTK.Matrix4.CreateTranslation(gem_position);
OpenTK.Matrix4 gem_model_matrix = gem_rotation_matrix;
gem_model_matrix.M41 = gem_position.X;
gem_model_matrix.M42 = gem_position.Y;
gem_model_matrix.M43 = gem_position.Z;
gem_model_matrix.M44 = 1.0f;
GL.MultMatrix(ref gem_model_matrix);
}
private static GenericSkeleton ReadSkel(string path)
{
GenericSkeleton skel = new GenericSkeleton();
using (DataReader r = new DataReader(path))
{
r.BigEndian = false;
r.Seek(0x10);
var count = r.ReadInt16();
var count2 = r.ReadInt16();
var count3 = r.ReadInt32();
var boneInfoOffset = r.Position + r.ReadUInt32();
var boneParentInfoOffset = r.Position + r.ReadUInt32();
var hashOffset = r.Position + r.ReadUInt32();
// various hash table offsets
for (uint i = 0; i < count; i++)
{
GenericBone b = new GenericBone();
r.Seek(boneInfoOffset + 48 * i);
var rot = new OpenTK.Quaternion(r.ReadSingle(), r.ReadSingle(), r.ReadSingle(), r.ReadSingle()).Inverted();
rot.Normalize();
b.QuaternionRotation = rot;
b.Position = new OpenTK.Vector3(r.ReadSingle(), r.ReadSingle(), r.ReadSingle());
r.ReadSingle();
b.Scale = new OpenTK.Vector3(r.ReadSingle(), r.ReadSingle(), r.ReadSingle());
r.ReadSingle();
r.Seek(boneParentInfoOffset + 2 * i);
b.ParentIndex = r.ReadInt16();
r.Seek(hashOffset + 4 * i);
b.Name = "B_" + r.ReadInt32().ToString("X8");
skel.Bones.Add(b);
}
}
return(skel);
}
private IUnitTransformation KeyFrameTransform()
{
var mov = Matrix.Translation(-_document.Selection.GetSelectionBoundingBox().Center); // Move to zero
OpenTK.Quaternion rev = new OpenTK.Quaternion((float)PrevRotation.X,
(float)PrevRotation.Y,
(float)PrevRotation.Z,
(float)PrevRotation.W);
rev.Invert();
PrevRotation = new Quaternion((decimal)rev.X, (decimal)rev.Y,
(decimal)rev.Z, (decimal)rev.W);
var prev = Matrix.Rotation(PrevRotation);
Quaternion q = GetKeyframeRot();
var rot = Matrix.Rotation(q); // Do rotation
var fin = Matrix.Translation(SolidsOrigin + GetKeyframeMov()); // Move to final origin
PrevRotation = q;
return new UnitMatrixMult(fin * (rot * prev) * mov);
}
private void SetupMatrices(int gem_num, float aspect_ratio)
{
const float yFov = 0.837758041f; // 48 degrees vertical field-of-view
const float near = 10, far = 3000; // 50cm to 3m tracking limits (but reduce near to avoid object clipping)
OpenTK.Matrix4 projection;
projection = OpenTK.Matrix4.CreatePerspectiveFieldOfView(yFov, aspect_ratio, near, far);
GL.MatrixMode(MatrixMode.Projection);
GL.LoadIdentity();
GL.LoadMatrix(ref projection);
float cameraPitchAngle = AR_state.gemStates[gem_num].camera_pitch_angle;
Console.WriteLine("{0}", cameraPitchAngle);
OpenTK.Matrix4 rotation, scale, lookat;
rotation = OpenTK.Matrix4.CreateRotationX(cameraPitchAngle);
scale = OpenTK.Matrix4.Scale(-1.0f, 1.0f, 1.0f);
lookat = OpenTK.Matrix4.LookAt(0, 0, 0,
0, 0, 1,
0, 1, 0);
OpenTK.Matrix4 view = lookat * (scale * rotation);
GL.MatrixMode(MatrixMode.Modelview);
GL.LoadIdentity();
GL.LoadMatrix(ref view);
OpenTK.Matrix4 mv_mat;
GL.GetFloat(GetPName.ModelviewMatrix, out mv_mat);
//Console.WriteLine("{0}", mv_mat);
OpenTK.Vector3 gem_position = new OpenTK.Vector3(AR_state.gemStates[gem_num].pos.x, AR_state.gemStates[gem_num].pos.y, AR_state.gemStates[gem_num].pos.z);
OpenTK.Quaternion gem_rotation = new OpenTK.Quaternion(AR_state.gemStates[gem_num].quat.x, AR_state.gemStates[gem_num].quat.y, AR_state.gemStates[gem_num].quat.z, AR_state.gemStates[gem_num].quat.w);
gem_rotation.Normalize();
OpenTK.Matrix4 gem_rotation_matrix = OpenTK.Matrix4.Rotate(gem_rotation);
OpenTK.Matrix4 gem_translation_matrix = OpenTK.Matrix4.CreateTranslation(gem_position);
OpenTK.Matrix4 gem_model_matrix = gem_rotation_matrix;
gem_model_matrix.M41 = gem_position.X;
gem_model_matrix.M42 = gem_position.Y;
gem_model_matrix.M43 = gem_position.Z;
gem_model_matrix.M44 = 1.0f;
GL.MultMatrix(ref gem_model_matrix);
}
// http://bugzilla.xamarin.com/show_bug.cgi?id=1415
// not really part of the bug - but part of the same fix
public void Bug1415_Linker_XmlAttribute ()
{
// the typeof ensure we're can't (totally) link away System.ServiceModel.dll
Type ed = typeof (System.ServiceModel.AuditLevel).Assembly.GetType ("System.ServiceModel.EndpointAddress10", false);
// type is decorated with both [XmlSchemaProvider] and [XmlRoot]
Assert.NotNull (ed, "EndpointAddress10");
var q = new OpenTK.Quaternion ();
Assert.Null (q.GetType ().GetProperty ("XYZ"), "XmlIgnore");
// should be null if application is linked (won't be if "Don't link" is used)
}