// Update is called once per frame
    void Update()
    {
        Matrix44 scale = new Matrix44();

        scale[0, 0] = m_Scale.x;
        scale[1, 1] = m_Scale.y;
        scale[2, 2] = m_Scale.z;
        scale[3, 3] = 1;

        Matrix44 rotateHeading = Matrix44.AngleAxis(m_Rotate.y, new MathLearn.Vector3(0, 1, 0)).Inverse();
        Matrix44 rotatePitch   = Matrix44.AngleAxis(m_Rotate.x, new MathLearn.Vector3(1, 0, 0)).Inverse();
        Matrix44 rotateBank    = Matrix44.AngleAxis(m_Rotate.z, new MathLearn.Vector3(0, 0, 1)).Inverse();
        Matrix44 rotate        = rotateHeading * rotatePitch * rotateBank;

        Matrix44 translate = Matrix44.Translate(new MathLearn.Vector3(m_Offset.x, m_Offset.y, m_Offset.z));

        // 世界转局部
        var temp1 = translate.Inverse() * rotateHeading * rotatePitch * rotateBank * scale.Inverse();
        // 局部转世界
        var temp2 = temp1.Inverse();
        var temp3 = scale * rotateBank.Inverse() * rotatePitch.Inverse() * rotateHeading.Inverse() * translate;
        var a     = temp3.MulVector(new MathLearn.Vector3(1, 0, 0));
        var b     = temp3.MulVector(new MathLearn.Vector3(0, 1, 0));
        var c     = temp3.MulVector(new MathLearn.Vector3(0, 0, 1));

        if (isFirsScale)
        {
            // 先缩放再旋转
            Matrix44 m = temp1;
            m = m.Inverse();
            m_Mat.SetColor("m_Line1", new Color(m[0, 0], m[0, 1], m[0, 2], m[0, 3]));
            m_Mat.SetColor("m_Line2", new Color(m[1, 0], m[1, 1], m[1, 2], m[1, 3]));
            m_Mat.SetColor("m_Line3", new Color(m[2, 0], m[2, 1], m[2, 2], m[2, 3]));
            m_Mat.SetColor("m_Line4", new Color(m[3, 0], m[3, 1], m[3, 2], m[3, 3]));
        }
        else
        {
            // 先旋转再缩放
            Matrix44 m = rotate * scale * translate;
            m = m.Inverse();
            m_Mat.SetColor("m_Line1", new Color(m[0, 0], m[0, 1], m[0, 2], m[0, 3]));
            m_Mat.SetColor("m_Line2", new Color(m[1, 0], m[1, 1], m[1, 2], m[1, 3]));
            m_Mat.SetColor("m_Line3", new Color(m[2, 0], m[2, 1], m[2, 2], m[2, 3]));
            m_Mat.SetColor("m_Line4", new Color(m[3, 0], m[3, 1], m[3, 2], m[3, 3]));
        }
    }
예제 #2
0
    // Start is called before the first frame update
    void Start()
    {
        var      p         = new MVector3(1, 0, 0);
        var      aaaaa     = new UnityEngine.Quaternion(1, 1, 1, 1);
        var      ptemp     = new UnityEngine.Vector3(0.5f, 0, 0);
        var      a         = aaaaa * aaaaa * aaaaa * ptemp;
        Matrix33 rotation  = Matrix33.AngleAxis(45, new MVector3(0, 0, 1));
        Matrix33 rotation2 = Matrix33.AngleAxis(-45, new MVector3(0, 0, 1));

        Debug.Log(p * rotation);
        Debug.Log(p * rotation * rotation2);
        Debug.Log(p * (rotation * rotation2));

        Debug.Log("-------------------------------------------------------------");
        Matrix44 mul = Matrix44.AngleAxisTranslate(45, new MVector3(0, 0, 1), new MVector3(1, 1, 0));

        Debug.Log(p * mul);
        Debug.Log(p * (mul * mul.Inverse()));

        Debug.Log("-------------------------------------------------------------");
        Matrix44 r          = Matrix44.AngleAxis(45, new MVector3(0, 0, 1));
        Matrix44 t          = Matrix44.Translate(new MVector3(1, 1, 0));
        Matrix44 composite  = r * t;
        Matrix44 composite2 = t.Inverse() * r.Inverse();

        Debug.Log(p * composite);
        Debug.Log(p * composite * composite2);
        Debug.Log(p * composite * composite.Inverse());

        mMesh     = GetComponent <MeshFilter>().mesh;
        mVertices = mMesh.vertices;
        mNormals  = mMesh.normals;


        var temp = new Matrix33(10, 0, 0, 0, 10, 0, 0, 0, 1);

        var temp2       = temp.Inverse();
        var tempInverse = new Matrix33(0, 0, 0, 0, 0, 0, -3, -4, 1);

        p   = new MVector3(0, 0, 1);
        p   = p * temp;
        p.z = 1;
        p   = p * tempInverse;
        var t3 = temp * tempInverse;

        t = Matrix44.Translate(new MVector3(3, 4, 5));
        r = Matrix44.AngleAxis(30, new MVector3(0, 1, 0));
        var s = Matrix44.Scale(new MVector3(0.5f, 2, 1));

        p = new MVector3(1, 1, 1);
        var p1 = p * s * r * t;

        p = p1 * t.Inverse() * r.Inverse() * s.Inverse();

        var ray2d1 = new MRay(new MVector3(1, -1, 0), new MVector3(1, 1, 0));

        var   aaa  = ray2d1.GetNearestPos(new MVector3(1, 1, 0));
        float aaaa = 1;

        var plane1 = new MPlane(new MVector3(1, 1, 1), 1);
        var pos1   = plane1.GetNearestPos(new MVector3(5, 5, 5));
        var pos2   = plane1.GetNearestPos(new MVector3(-5, -5, -5));

        var plane2 = new MPlane(new MVector3(-1, -1, -1), -1);
        var pos3   = plane2.GetNearestPos(new MVector3(5, 5, 5));
        var pos4   = plane2.GetNearestPos(new MVector3(-5, -5, -5));

        var plane3 = new MPlane(new MVector3(-1, -1, -1), 1);
        var pos5   = plane3.GetNearestPos(new MVector3(5, 5, 5));
        var pos6   = plane3.GetNearestPos(new MVector3(-5, -5, -5));

        // 三角形测试
        pos1 = new MVector3(0, 0, 3);
        pos2 = new MVector3(0, 1, 3);
        pos3 = new MVector3(1, 0, 3);
        var triangle1 = new Triangle(pos1, pos2, pos3);
        var result    = triangle1.InclusionPos(pos1);
        var targetPos = MVector3.zero;

        result = triangle1.InclusionPos(pos2);
        result = triangle1.GetGravityPos(pos2, out targetPos);
        result = triangle1.InclusionPos(pos3);
        result = triangle1.GetGravityPos(pos3, out targetPos);
        float dis = 0;

        result = triangle1.Raycast(new MRay(new MVector3(0.4f, 0.6f, -0.2567f), new MVector3(0, 0, 1)), out dis);
        pos4   = new MVector3(0.5f, 0.5f, 3);
        result = triangle1.InclusionPos(pos4);
        result = triangle1.GetGravityPos(pos4, out targetPos);
        result = triangle1.GetGravityPos(pos4, out targetPos);
        pos4   = new MVector3(0.4f, 0.4f, 0.1f);
        result = triangle1.InclusionPos(pos4);
        result = triangle1.GetGravityPos(pos4, out targetPos);
        result = triangle1.GetGravityPos(pos4, out targetPos);
        pos4   = new MVector3(0.6f, 0.6f, 3);
        result = triangle1.InclusionPos(pos4);
        result = triangle1.GetGravityPos(pos4, out targetPos);
        result = triangle1.GetGravityPos(pos4, out targetPos);
        pos4   = new MVector3(-0.1f, -0.1f, 3);
        result = triangle1.InclusionPos(pos4);
        result = triangle1.GetGravityPos(pos4, out targetPos);
        result = triangle1.GetGravityPos(pos4, out targetPos);
        result = triangle1.InclusionPos(pos3);
        result = triangle1.GetGravityPos(pos3, out targetPos);
        result = triangle1.GetGravityPos(pos3, out targetPos);
        var tempxxx = 0;

        Circle2D c1 = new Circle2D(MVector2.zero, 1);
        var      t1 = c1.GetNearestPos(new MVector2(2, 0));
        var      t2 = c1.GetNearestPos(new MVector2(0.5f, 0));

        tempxxx = 0;

        var      r1 = new MRay2D(new MVector2(1, 1), new MVector2(0, -1));
        var      r2 = new MRay2D(new MVector2(10, 0), new MVector2(1, 0));
        MVector2 r12v;
        bool     r12r = r1.Interact(r2, out r12v);

        float c10, c11;
        bool  r10 = c1.IntersectRay(r1, out c10, out c11);

        tempxxx = 0;
    }
예제 #3
0
    // Update is called once per frame
    void Update()
    {
        float minX = Random.Range(0, 10);
        float minY = Random.Range(0, 10);
        float minZ = Random.Range(0, 10);

        float maxX = Random.Range(10.1f, 20);
        float maxY = Random.Range(10.1f, 20);
        float maxZ = Random.Range(10.1f, 20);

        float originX = Random.Range(0, 10);
        float originY = Random.Range(0, 10);
        float originZ = Random.Range(0, 10);

        float directionX = Random.Range(1, 10);
        float directionY = Random.Range(1, 10);
        float directionZ = Random.Range(1, 10);

        MBounds myB = new MBounds(MVector3.zero, MVector3.zero);

        myB.SetMinMax(new MVector3(minX, minY, minZ), new MVector3(maxX, maxY, maxZ));
        float mD   = 0;
        var   mRay = new MRay(new MVector3(originX, originY, originZ), new MVector3(directionX, directionY, directionZ));
        bool  mR   = myB.IntersectRay(mRay, out mD);

        Bounds B = new Bounds(Vector3.zero, Vector3.zero);

        B.SetMinMax(new Vector3(minX, minY, minZ), new Vector3(maxX, maxY, maxZ));
        float D    = 0;
        var   uRay = new UnityEngine.Ray(new Vector3(originX, originY, originZ),
                                         new Vector3(directionX, directionY, directionZ));
        bool R = B.IntersectRay(uRay, out D);

        if (Mathf.Abs(mD - D) < 0.00001f && mR == R)
        {
        }
        else
        {
            if (originX < minX || originX > maxX || originY < minY || originY > maxY || originZ < minZ || originZ > maxZ)
            {
                mR = myB.IntersectRay(mRay, out mD);
            }
        }

        float normalX  = Random.Range(1, 10);
        float normalY  = Random.Range(1, 10);
        float normalZ  = Random.Range(1, 10);
        float distance = Random.Range(1, 10);
        var   ray      = new Ray(new Vector3(originX, originY, originZ), new Vector3(directionX, directionY, directionZ));
        var   mray     = new MRay(new MVector3(originX, originY, originZ), new MVector3(directionX, directionY, directionZ));
        var   plane    = new Plane(new Vector3(normalX, normalY, normalZ), -distance);
        var   mplane   = new MPlane(new MVector3(normalX, normalY, normalZ), distance);

        D  = 0;
        mD = 0;
        R  = false;
        mR = false;

        R  = plane.Raycast(ray, out D);
        mR = mplane.Raycast(mray, out mD);
        if (Mathf.Abs(mD - D) < 0.00001f && mR == R)
        {
        }
        else
        {
            var a = 1;
        }


        Matrix44 rotate = Matrix44.AngleAxis(mAngle, mAxis);

        for (int i = 0; i < mVertices.Length; i++)
        {
            var item = mVertices[i];
            var v    = new MVector3(item.x, item.y, item.z);
            var t    = v * rotate;
            mVertices[i].x = t.x;
            mVertices[i].y = t.y;
            mVertices[i].z = t.z;

            var item2 = mNormals[i];
            var v2    = new MVector3(item2.x, item2.y, item2.z);
            var t2    = v2 * rotate;
            mNormals[i].x = t2.x;
            mNormals[i].y = t2.y;
            mNormals[i].z = t2.z;
        }
        mMesh.vertices = mVertices;
        mMesh.normals  = mNormals;
    }