public static Matrix4x4 LookAtLeftHanded(Vector3 camera, Vector3 target, Vector3 up)
{
var zAxis = target - camera;
zAxis = zAxis.Normalize();
var xAxis = up.CrossProduct(zAxis);
xAxis = xAxis.Normalize();
var yAxis = zAxis.CrossProduct(xAxis);
var result = MatrixPrefabs.Identity();
result[0, 0] = xAxis.X; result[1, 0] = xAxis.Y; result[2, 0] = xAxis.Z;
result[0, 1] = yAxis.X; result[1, 1] = yAxis.Y; result[2, 1] = yAxis.Z;
result[0, 2] = zAxis.X; result[1, 2] = zAxis.Y; result[2, 2] = zAxis.Z;
result[3, 0] = xAxis.DotProduct(camera);
result[3, 1] = yAxis.DotProduct(camera);
result[3, 2] = zAxis.DotProduct(camera);
result[3, 0] = -result[3, 0];
result[3, 1] = -result[3, 1];
result[3, 2] = -result[3, 2];
return(result);
}
private static Matrix4x4 TranslationMatrix(float x, float y, float z)
{
// 1 0 0 0
// 0 1 0 0
// 0 0 1 0
// x y z 1
var result = MatrixPrefabs.Identity();
result[3, 0] = x;
result[3, 1] = y;
result[3, 2] = z;
return(result);
}
public void Render(Camera camera, Bitmap bmp, IEnumerable <LightSource> lightSources, params Mesh[] meshes)
{
workingBitmap = bmp;
zBuffer = new ZBuffer(workingBitmap.Size.Width, workingBitmap.Size.Height);
pointDrawingAlgorithm = new PointDrawingAlgorithm(workingBitmap, zBuffer);
var viewMatrix = MatrixPrefabs.LookAtLeftHanded(camera.Position, camera.Target, Vector3Prefabs.UnitY);
var projectionMatrix = MatrixPrefabs.PerspectiveFieldOfViewRightHanded(
0.78f,
(float)workingBitmap.Size.Width / workingBitmap.Size.Height,
0.01f,
1.0f);
foreach (Mesh mesh in meshes)
{
var worldMatrix = MatrixPrefabs.RotationMatrixYawPitchRoll(
mesh.Rotation.Y,
mesh.Rotation.X,
mesh.Rotation.Z) *
MatrixPrefabs.TranslationMatrix(mesh.Position);
var transformMatrix = worldMatrix * viewMatrix * projectionMatrix;
foreach (var face in mesh.Faces)
{
var vertexA = mesh.Vertices[face.A];
var vertexB = mesh.Vertices[face.B];
var vertexC = mesh.Vertices[face.C];
var vertexATransformed = Project(vertexA, transformMatrix, worldMatrix);
var vertexBTransformed = Project(vertexB, transformMatrix, worldMatrix);
var vertexCTransformed = Project(vertexC, transformMatrix, worldMatrix);
//DrawLine(pixelA, pixelB, vertexA.Color, vertexB.Color);
//DrawLine(pixelB, pixelC, vertexB.Color, vertexC.Color);
//DrawLine(pixelC, pixelA, vertexC.Color, vertexA.Color);
//DrawLineBresenham(pixelA, pixelB, vertexA.Color, vertexB.Color);
//DrawLineBresenham(pixelB, pixelC, vertexB.Color, vertexC.Color);
//DrawLineBresenham(pixelC, pixelA, vertexC.Color, vertexA.Color);
DrawTriangle(vertexATransformed, vertexBTransformed, vertexCTransformed, lightSources);
}
}
}
public static Matrix4x4 RotationMatrixYawPitchRoll(float yaw, float pitch, float roll)
{
// TODO learn quaternions
float halfRoll = roll * 0.5f;
float halfPitch = pitch * 0.5f;
float halfYaw = yaw * 0.5f;
float sinRoll = (float)Math.Sin(halfRoll);
float cosRoll = (float)Math.Cos(halfRoll);
float sinPitch = (float)Math.Sin(halfPitch);
float cosPitch = (float)Math.Cos(halfPitch);
float sinYaw = (float)Math.Sin(halfYaw);
float cosYaw = (float)Math.Cos(halfYaw);
var vec4 = new Vector4();
vec4.X = (cosYaw * sinPitch * cosRoll) + (sinYaw * cosPitch * sinRoll);
vec4.Y = (sinYaw * cosPitch * cosRoll) - (cosYaw * sinPitch * sinRoll);
vec4.Z = (cosYaw * cosPitch * sinRoll) - (sinYaw * sinPitch * cosRoll);
vec4.W = (cosYaw * cosPitch * cosRoll) + (sinYaw * sinPitch * sinRoll);
float xx = vec4.X * vec4.X;
float yy = vec4.Y * vec4.Y;
float zz = vec4.Z * vec4.Z;
float xy = vec4.X * vec4.Y;
float zw = vec4.Z * vec4.W;
float zx = vec4.Z * vec4.X;
float yw = vec4.Y * vec4.W;
float yz = vec4.Y * vec4.Z;
float xw = vec4.X * vec4.W;
var result = MatrixPrefabs.Identity();
result[0, 0] = 1.0f - (2.0f * (yy + zz));
result[0, 2] = 2.0f * (xy + zw);
result[0, 2] = 2.0f * (zx - yw);
result[1, 0] = 2.0f * (xy - zw);
result[1, 1] = 1.0f - (2.0f * (zz + xx));
result[1, 2] = 2.0f * (yz + xw);
result[2, 0] = 2.0f * (zx + yw);
result[2, 1] = 2.0f * (yz - xw);
result[2, 2] = 1.0f - (2.0f * (yy + xx));
return(result);
}
public static Matrix4x4 TranslationMatrix(Vector3 toPosition)
{
return(MatrixPrefabs.TranslationMatrix(toPosition.X, toPosition.Y, toPosition.Z));
}
