public void RotationMatrix_ToQuaternion_VsSystemNumerics()
{
RotationMatrix m;
Quaternion q;
SysMatrix44 m44, m44bis;
SysQuat sq;
Vector vecX, vecY;
int dir;
int runs = 500;
for (var i = 0; i < runs; i++)
{
if (i < 0.5 * runs)
{
vecX = Vector.RandomFromDoubles(-100, 100);
vecY = Vector.RandomFromDoubles(-100, 100);
}
else
{
vecX = Vector.RandomFromInts(-1, 1);
vecY = Vector.RandomFromInts(-1, 1);
}
dir = Vector.CompareDirections(vecX, vecY);
m = new RotationMatrix(vecX, vecY);
q = m.ToQuaternion();
Trace.WriteLine("");
Trace.WriteLine(vecX + " " + vecY + " dir:" + dir);
Trace.WriteLine(m);
Trace.WriteLine(q);
// Use the matrix's orthogonal values to create a M44 matrix with just rotation values:
m44 = new SysMatrix44((float)m.m00, (float)m.m01, (float)m.m02, 0,
(float)m.m10, (float)m.m11, (float)m.m12, 0,
(float)m.m20, (float)m.m21, (float)m.m22, 0,
0, 0, 0, 1);
m44 = SysMatrix44.Transpose(m44); // Numerics.Matrix4x4 uses a transposed convention, meaning the translation vector is horizontal in m41-42-43 instead of vertical in m14-24-34
sq = SysQuat.CreateFromRotationMatrix(m44);
m44bis = SysMatrix44.CreateFromQuaternion(sq);
Trace.WriteLine(m44);
Trace.WriteLine(sq);
Trace.WriteLine(m44bis);
Assert.IsTrue(q.IsEquivalent(new Quaternion(sq.W, sq.X, sq.Y, sq.Z)), "Quaternions are not equivalent!");
}
}
private static void ProcessNode(
ImportedModelContainer modelContainer,
Scene scene, Node actNode, SceneObject?actParent,
ObjectTreeBoundingBoxCalculator boundingBoxCalc)
{
SceneObject?nextParent = null;
if (actNode.HasMeshes)
{
var actTransform = Matrix4x4.Transpose(AssimpHelper.MatrixFromAssimp(actNode.Transform));
boundingBoxCalc.PushTransform(ref actTransform);
// Count vertices
var fullVertexCount = 0;
foreach (var actMeshId in actNode.MeshIndices)
{
var actMesh = scene.Meshes[actMeshId];
fullVertexCount += actMesh.VertexCount;
}
// This one has true geometry
var meshCount = actNode.MeshCount;
var newGeometry = new Geometry(fullVertexCount);
var materialKeys = new NamedOrGenericKey[meshCount];
for (var meshIndex = 0; meshIndex < meshCount; meshIndex++)
{
var actMeshId = actNode.MeshIndices[meshIndex];
var actBaseVertex = newGeometry.CountVertices;
var actMesh = scene.Meshes[actMeshId];
List <Color4D>?vertexColors = null;
if (actMesh.HasVertexColors(0))
{
vertexColors = actMesh.VertexColorChannels[0];
}
List <Vector3D>?textureCoords1 = null;
if (actMesh.TextureCoordinateChannelCount > 0)
{
textureCoords1 = actMesh.TextureCoordinateChannels[0];
}
// Create all vertices
var vertexCount = actMesh.VertexCount;
for (var actVertexId = 0; actVertexId < vertexCount; actVertexId++)
{
var vertexIndex = newGeometry.AddVertex();
ref var newVertex = ref newGeometry.GetVertexBasicRef(vertexIndex);
newVertex.Position = AssimpHelper.Vector3FromAssimp(actMesh.Vertices[actVertexId]);
if (actMesh.HasNormals)
{
newVertex.Normal = AssimpHelper.Vector3FromAssimp(actMesh.Normals[actVertexId]);
}
if (vertexColors != null)
{
newVertex.Color = AssimpHelper.Color4FromAssimp(vertexColors[actVertexId]);
}
if (textureCoords1 != null)
{
newVertex.TexCoord1 = AssimpHelper.Vector2FromAssimp(textureCoords1[actVertexId]);
}
boundingBoxCalc.AddCoordinate(ref newVertex.Position);
}
// Create all faces
var newSurface = newGeometry.CreateSurface(actMesh.FaceCount * 3);
foreach (var actFace in actMesh.Faces)
{
if (actFace.IndexCount != 3)
{
continue;
}
newSurface.AddTriangle(
actBaseVertex + actFace.Indices[0],
actBaseVertex + actFace.Indices[1],
actBaseVertex + actFace.Indices[2]);
}
materialKeys[meshIndex] = modelContainer.GetResourceKey("Material", actMesh.MaterialIndex.ToString());
}
var geometryKey = modelContainer.GetResourceKey("Geometry", actNode.Name);
modelContainer.AddResource(new ImportedResourceInfo(
modelContainer.GetResourceKey("Geometry", actNode.Name),
_ => new GeometryResource(newGeometry)));
var newMesh = new Mesh(geometryKey, materialKeys);
newMesh.CustomTransform = actTransform;
newMesh.TransformationType = SpacialTransformationType.CustomTransform;
newMesh.Name = actNode.Name;
modelContainer.AddObject(newMesh);
nextParent = newMesh;
if (actParent != null)
{
modelContainer.AddParentChildRelationship(new ParentChildRelationship(actParent, newMesh));
}
}
public Matrix4x4 NumericsTranspose()
{
return(Matrix4x4.Transpose(numericsMat1));
}