internal Bone(string name, int parent, ImmutableArray<int> boneControllers,
Vector3f position, Quaternionf quaternion, Vector3f rotation, Vector3f positionScale, Vector3f rotationScale,
Matrix4x4f poseToBone, Quaternionf alignment,
int flags, int procType, int procIndex, int physicsBone, int surfacePropIdx, int contents)
{
Name = name;
Parent = parent;
BoneControllers = boneControllers;
Position = position;
Quaternion = quaternion;
Rotation = rotation;
PositionScale = positionScale;
RotationScale = rotationScale;
PoseToBone = poseToBone;
Alignment = alignment;
Flags = flags;
ProcType = procType;
ProcIndex = procIndex;
PhysicsBone = physicsBone;
SurfacePropIdx = surfacePropIdx;
Contents = contents;
}
public virtual void SetRotation(Quaternionf rotation)
{
camera.transform.rotation = rotation;
}
static string edit_quaternion(Quaternionf q)
{
return("( " + q.w + ", " + q.x + ", " + q.y + ", " + q.z + " )");
}
static void test_func_call()
{
test_name("func_call");
// TVector
Vec3f v31 = new Vec3f(1.0f, 2.0f, 3.0f);
put("Vec3f: square ", "14.0", v31.square());
put("Vec3f: norm ", "3.7416574", v31.norm());
Vec3f v3u = v31; v3u.unitize();
Vec3f v3r = new Vec3f(0.2672612f, 0.5345225f, 0.8017837f);
put2("Vec3f: unitize", edit_vector(v3r), edit_vector(v3u));
// TQuaternion
System.Console.WriteLine("");
float pi = 3.1415927f;
float rad90 = pi / 2;
float rad45 = pi / 4;
float cos45 = 0.7071069f;
float sqrt3 = 1.7320508f;
float sqrt3div3 = sqrt3 / 3;
Quaternionf q1 = new Quaternionf(cos45, sqrt3div3, sqrt3div3, sqrt3div3);
Quaternionf q2 = new Quaternionf(q1.W(), q1.X(), q1.Y(), q1.Z());
Vec3f qv1 = new Vec3f(sqrt3div3, sqrt3div3, sqrt3div3);
put2("Quaternionf: W(),X(),Y(),Z()", edit_quaternion(q1), edit_quaternion(q2));
put2("Quaternionf: V", edit_vector(qv1), edit_vector(q1.V()));
put2("Quaternionf: Axis", edit_vector(qv1), edit_vector(q1.Axis()));
put("Quaternionf: Theta", rad90.ToString(), q1.Theta());
System.Console.WriteLine("");
float half = pi / (2 * sqrt3);
Vec3f qv2 = new Vec3f(half, half, half);
put2("Quaternionf: RotationHalf", edit_vector(qv2), edit_vector(q1.RotationHalf()));
put2("Quaternionf: Rotation ", edit_vector(qv2), edit_vector(q1.Rotation()));
float angle = rad90;
float d = sqrt3;
float s = (float)Math.Sin(angle / 2) / d;
Quaternionf qr = new Quaternionf((float)Math.Cos(angle / 2), s, s, s);
Quaternionf q3 = Quaternionf.Rot(angle, new Vec3f(1f, 1f, 1f));
put2("Quaternionf: Rot", edit_quaternion(qr), edit_quaternion(q3));
float c1 = (float)Math.Cos(angle / 2);
float s1 = (float)Math.Sin(angle / 2);
Quaternionf qs = new Quaternionf(c1, s1, 0f, 0f);
Quaternionf q4 = Quaternionf.Rot(angle, (sbyte)'x');
put2("Quaternionf: Rot", edit_quaternion(qs), edit_quaternion(q4));
Vec3f qv3 = new Vec3f(1f, 1f, 1f);
float c2 = (float)Math.Cos(sqrt3 / 2);
float s2 = (float)Math.Sin(sqrt3 / 2);
Vec3f qv4 = (s2 / sqrt3) * qv3;
Quaternionf qt = new Quaternionf(c2, qv4[0], qv4[1], qv4[2]);
Quaternionf q5 = Quaternionf.Rot(qv3);
put2("Quaternionf: Rot", edit_quaternion(qt), edit_quaternion(q5));
Quaternionf qc1 = new Quaternionf(cos45, sqrt3div3, sqrt3div3, sqrt3div3);
Quaternionf qc2 = new Quaternionf(cos45, sqrt3div3, sqrt3div3, sqrt3div3);
Quaternionf qc = new Quaternionf(cos45, -sqrt3div3, -sqrt3div3, -sqrt3div3);
qc1.Conjugate();
put2("Quaternionf: Conjugate", edit_quaternion(qc), edit_quaternion(qc1));
put2("Quaternionf: Conjugated", edit_quaternion(qc), edit_quaternion(qc2.Conjugated()));
float qf1 = (float)(cos45 * cos45 + 3 * sqrt3div3 * sqrt3div3);
Quaternionf qe = qc2.Conjugated() / qf1;
put2("Quaternionf: Inv", edit_quaternion(qe), edit_quaternion(qc2.Inv()));
// TPose
System.Console.WriteLine("");
Posef p1 = new Posef(cos45, sqrt3, sqrt3, sqrt3, 1f, 2f, 3f);
Posef p2 = new Posef(p1.W(), p1.X(), p1.Y(), p1.Z(), p1.Px(), p1.Py(), p1.Pz());
Vec3f pv31 = new Vec3f(1f, 2f, 3f);
Quaternionf pq1 = new Quaternionf(cos45, sqrt3, sqrt3, sqrt3);
Quaternionf pq2 = new Quaternionf();
Vec3f pv32 = new Vec3f();
Posef pp1 = new Posef(pq2.w, pq2.x, pq2.y, pq2.z, pv32.x, pv32.y, pv32.z);
Posef pp2 = new Posef(pq2.w, pq2.x, pq2.y, pq2.z, 1f, 2f, 3f);
put2("Posef: W(),X(),Y(),Z(),Px(),Py(),Pz()", edit_pose(p1), edit_pose(p2));
put2("Posef: Pos()", edit_vector(pv31), edit_vector(p1.Pos()));
put2("Posef: Ori()", edit_quaternion(pq1), edit_quaternion(p1.Ori()));
put2("Posef: Unit ", edit_pose(pp1), edit_pose(Posef.Unit()));
put2("Posef: Trn ", edit_pose(pp2), edit_pose(Posef.Trn(1f, 2f, 3f)));
put2("Posef: Trn ", edit_pose(pp2), edit_pose(Posef.Trn(pv31)));
}
private static void GenerateEngineStruct(TypeTreeContext context, SerializableType origin, string name)
{
switch (origin.Name)
{
case SerializableType.Vector2Name:
Vector2f.GenerateTypeTree(context, name);
break;
case SerializableType.Vector2IntName:
Vector2i.GenerateTypeTree(context, name);
break;
case SerializableType.Vector3Name:
Vector3f.GenerateTypeTree(context, name);
break;
case SerializableType.Vector3IntName:
Vector3i.GenerateTypeTree(context, name);
break;
case SerializableType.Vector4Name:
Vector4f.GenerateTypeTree(context, name);
break;
case SerializableType.RectName:
Rectf.GenerateTypeTree(context, name);
break;
case SerializableType.BoundsName:
AABB.GenerateTypeTree(context, name);
break;
case SerializableType.BoundsIntName:
AABBi.GenerateTypeTree(context, name);
break;
case SerializableType.QuaternionName:
Quaternionf.GenerateTypeTree(context, name);
break;
case SerializableType.Matrix4x4Name:
Matrix4x4f.GenerateTypeTree(context, name);
break;
case SerializableType.ColorName:
ColorRGBAf.GenerateTypeTree(context, name);
break;
case SerializableType.Color32Name:
ColorRGBA32.GenerateTypeTree(context, name);
break;
case SerializableType.LayerMaskName:
LayerMask.GenerateTypeTree(context, name);
break;
case SerializableType.AnimationCurveName:
AnimationCurveTpl <Float> .GenerateTypeTree(context, name, Float.GenerateTypeTree);
break;
case SerializableType.GradientName:
Gradient.GenerateTypeTree(context, name);
break;
case SerializableType.RectOffsetName:
RectOffset.GenerateTypeTree(context, name);
break;
case SerializableType.GUIStyleName:
GUIStyle.GenerateTypeTree(context, name);
break;
case SerializableType.PropertyNameName:
PropertyName.GenerateTypeTree(context, name);
break;
default:
throw new Exception($"Unknown engine struct {origin.Name}");
}
}
private void AddTransformCurve(float time, TransformType transType, IReadOnlyList <float> curveValues,
IReadOnlyList <float> inSlopeValues, IReadOnlyList <float> outSlopeValues, int offset, string path)
{
switch (transType)
{
case TransformType.Translation:
{
Vector3Curve curve = new Vector3Curve(path);
if (!m_translations.TryGetValue(curve, out List <KeyframeTpl <Vector3f> > transCurve))
{
transCurve = new List <KeyframeTpl <Vector3f> >();
m_translations.Add(curve, transCurve);
}
float x = curveValues[offset + 0];
float y = curveValues[offset + 1];
float z = curveValues[offset + 2];
float inX = inSlopeValues[0];
float inY = inSlopeValues[1];
float inZ = inSlopeValues[2];
float outX = outSlopeValues[0];
float outY = outSlopeValues[1];
float outZ = outSlopeValues[2];
Vector3f value = new Vector3f(x, y, z);
Vector3f inSlope = new Vector3f(inX, inY, inZ);
Vector3f outSlope = new Vector3f(outX, outY, outZ);
KeyframeTpl <Vector3f> transKey = new KeyframeTpl <Vector3f>(time, value, inSlope, outSlope, Vector3f.DefaultWeight);
transCurve.Add(transKey);
}
break;
case TransformType.Rotation:
{
QuaternionCurve curve = new QuaternionCurve(path);
if (!m_rotations.TryGetValue(curve, out List <KeyframeTpl <Quaternionf> > rotCurve))
{
rotCurve = new List <KeyframeTpl <Quaternionf> >();
m_rotations.Add(curve, rotCurve);
}
float x = curveValues[offset + 0];
float y = curveValues[offset + 1];
float z = curveValues[offset + 2];
float w = curveValues[offset + 3];
float inX = inSlopeValues[0];
float inY = inSlopeValues[1];
float inZ = inSlopeValues[2];
float inW = inSlopeValues[3];
float outX = outSlopeValues[0];
float outY = outSlopeValues[1];
float outZ = outSlopeValues[2];
float outW = outSlopeValues[3];
Quaternionf value = new Quaternionf(x, y, z, w);
Quaternionf inSlope = new Quaternionf(inX, inY, inZ, inW);
Quaternionf outSlope = new Quaternionf(outX, outY, outZ, outW);
KeyframeTpl <Quaternionf> rotKey = new KeyframeTpl <Quaternionf>(time, value, inSlope, outSlope, Quaternionf.DefaultWeight);
rotCurve.Add(rotKey);
}
break;
case TransformType.Scaling:
{
Vector3Curve curve = new Vector3Curve(path);
if (!m_scales.TryGetValue(curve, out List <KeyframeTpl <Vector3f> > scaleCurve))
{
scaleCurve = new List <KeyframeTpl <Vector3f> >();
m_scales.Add(curve, scaleCurve);
}
float x = curveValues[offset + 0];
float y = curveValues[offset + 1];
float z = curveValues[offset + 2];
float inX = inSlopeValues[0];
float inY = inSlopeValues[1];
float inZ = inSlopeValues[2];
float outX = outSlopeValues[0];
float outY = outSlopeValues[1];
float outZ = outSlopeValues[2];
Vector3f value = new Vector3f(x, y, z);
Vector3f inSlope = new Vector3f(inX, inY, inZ);
Vector3f outSlope = new Vector3f(outX, outY, outZ);
KeyframeTpl <Vector3f> scaleKey = new KeyframeTpl <Vector3f>(time, value, inSlope, outSlope, Vector3f.DefaultWeight);
scaleCurve.Add(scaleKey);
}
break;
case TransformType.EulerRotation:
{
Vector3Curve curve = new Vector3Curve(path);
if (!m_eulers.TryGetValue(curve, out List <KeyframeTpl <Vector3f> > eulerCurve))
{
eulerCurve = new List <KeyframeTpl <Vector3f> >();
m_eulers.Add(curve, eulerCurve);
}
float x = curveValues[offset + 0];
float y = curveValues[offset + 1];
float z = curveValues[offset + 2];
float inX = inSlopeValues[0];
float inY = inSlopeValues[1];
float inZ = inSlopeValues[2];
float outX = outSlopeValues[0];
float outY = outSlopeValues[1];
float outZ = outSlopeValues[2];
Vector3f value = new Vector3f(x, y, z);
Vector3f inSlope = new Vector3f(inX, inY, inZ);
Vector3f outSlope = new Vector3f(outX, outY, outZ);
KeyframeTpl <Vector3f> eulerKey = new KeyframeTpl <Vector3f>(time, value, inSlope, outSlope, Vector3f.DefaultWeight);
eulerCurve.Add(eulerKey);
}
break;
default:
throw new NotImplementedException(transType.ToString());
}
}
public override void Generate()
{
int nRings = Curve.Length;
int nRingSize = (NoSharedVertices) ? Slices + 1 : Slices;
int nCapVertices = (NoSharedVertices) ? Slices + 1 : 1;
if (Capped == false)
{
nCapVertices = 0;
}
vertices = new VectorArray3d(nRingSize * nRings + 2 * nCapVertices);
uv = new VectorArray2f(vertices.Count);
normals = new VectorArray3f(vertices.Count);
int nSpanTris = (nRings - 1) * (2 * Slices);
int nCapTris = (Capped) ? 2 * Slices : 0;
triangles = new IndexArray3i(nSpanTris + nCapTris);
float fDelta = (float)((Math.PI * 2.0) / Slices);
Frame3f f = Axis;
// generate tube
for (int ri = 0; ri < nRings; ++ri)
{
Vector3D v_along = Curve[ri];
Vector3F v_frame = f.ToFrameP((Vector3F)v_along);
float uv_along = (float)ri / (float)(nRings - 1);
// generate vertices
int nStartR = ri * nRingSize;
for (int j = 0; j < nRingSize; ++j)
{
float angle = (float)j * fDelta;
// [TODO] this is not efficient...use Matrix3f?
Vector3F v_rot = Quaternionf.AxisAngleR(Vector3F.AxisY, angle) * v_frame;
Vector3D v_new = f.FromFrameP(v_rot);
int k = nStartR + j;
vertices[k] = v_new;
float uv_around = (float)j / (float)(nRingSize);
uv[k] = new Vector2F(uv_along, uv_around);
// [TODO] proper normal
Vector3F n = (Vector3F)(v_new - f.Origin).Normalized;
normals[k] = n;
}
}
// generate triangles
int ti = 0;
for (int ri = 0; ri < nRings - 1; ++ri)
{
int r0 = ri * nRingSize;
int r1 = r0 + nRingSize;
for (int k = 0; k < nRingSize - 1; ++k)
{
triangles.Set(ti++, r0 + k, r0 + k + 1, r1 + k + 1, Clockwise);
triangles.Set(ti++, r0 + k, r1 + k + 1, r1 + k, Clockwise);
}
if (NoSharedVertices == false) // close disc if we went all the way
{
triangles.Set(ti++, r1 - 1, r0, r1, Clockwise);
triangles.Set(ti++, r1 - 1, r1, r1 + nRingSize - 1, Clockwise);
}
}
if (Capped)
{
// find avg start loop size
Vector3D vAvgStart = Vector3D.Zero, vAvgEnd = Vector3D.Zero;
for (int k = 0; k < Slices; ++k)
{
vAvgStart += vertices[k];
vAvgEnd += vertices[(nRings - 1) * nRingSize + k];
}
vAvgStart /= (double)Slices;
vAvgEnd /= (double)Slices;
Frame3f fStart = f;
fStart.Origin = (Vector3F)vAvgStart;
Frame3f fEnd = f;
fEnd.Origin = (Vector3F)vAvgEnd;
// add endcap verts
int nBottomC = nRings * nRingSize;
vertices[nBottomC] = fStart.Origin;
uv[nBottomC] = new Vector2F(0.5f, 0.5f);
normals[nBottomC] = -fStart.Z;
startCapCenterIndex = nBottomC;
int nTopC = nBottomC + 1;
vertices[nTopC] = fEnd.Origin;
uv[nTopC] = new Vector2F(0.5f, 0.5f);
normals[nTopC] = fEnd.Z;
endCapCenterIndex = nTopC;
if (NoSharedVertices)
{
// duplicate first loop and make a fan w/ bottom-center
int nExistingB = 0;
int nStartB = nTopC + 1;
for (int k = 0; k < Slices; ++k)
{
vertices[nStartB + k] = vertices[nExistingB + k];
//uv[nStartB + k] = (Vector2f)Polygon.Vertices[k].Normalized;
float angle = (float)k * fDelta;
double cosa = Math.Cos(angle), sina = Math.Sin(angle);
uv[nStartB + k] = new Vector2F(0.5f * (1.0f + cosa), 0.5f * (1 + sina));
normals[nStartB + k] = normals[nBottomC];
}
append_disc(Slices, nBottomC, nStartB, true, Clockwise, ref ti);
// duplicate second loop and make fan
int nExistingT = nRingSize * (nRings - 1);
int nStartT = nStartB + Slices;
for (int k = 0; k < Slices; ++k)
{
vertices[nStartT + k] = vertices[nExistingT + k];
//uv[nStartT + k] = (Vector2f)Polygon.Vertices[k].Normalized;
float angle = (float)k * fDelta;
double cosa = Math.Cos(angle), sina = Math.Sin(angle);
uv[nStartT + k] = new Vector2F(0.5f * (1.0f + cosa), 0.5f * (1 + sina));
normals[nStartT + k] = normals[nTopC];
}
append_disc(Slices, nTopC, nStartT, true, !Clockwise, ref ti);
}
else
{
append_disc(Slices, nBottomC, 0, true, Clockwise, ref ti);
append_disc(Slices, nTopC, nRingSize * (nRings - 1), true, !Clockwise, ref ti);
}
}
}
public void UpdateTracking(Cockpit cockpit, fCamera camera)
{
fGameObject cockpitGO = cockpit.RootGameObject;
if (!bInitialized)
{
currentFrame = cockpit.GetLevelViewFrame(CoordSpace.WorldCoords);
currentFrame.ConstrainedAlignAxis(2, Vector3f.AxisZ, Vector3f.AxisY);
bInitialized = true;
}
Vector3f vCamFW = camera.Forward();
vCamFW[1] = 0; vCamFW.Normalize(); // I don't think this is strictly necessary but
// better to be safe for now...
Vector3f vCamPos = camera.GetPosition();
//if (tracking_debug == null)
// tracking_debug = UnityUtil.CreatePrimitiveGO("tracking_indicator", PrimitiveType.Sphere, MaterialUtil.CreateStandardMaterial(Color.green), false);
//tracking_debug.transform.position = vCamPos + 15.0f * vCamFW;
//if (tracking_avg == null) {
// tracking_avg = UnityUtil.CreatePrimitiveGO("tracking_indicator", PrimitiveType.Sphere, MaterialUtil.CreateStandardMaterial(Color.blue), false);
// tracking_avg.transform.localScale = new Vector3(0.5f, 0.5f, 0.5f);
//}
//tracking_avg.transform.position = vCamPos + 10.0f * vSlowViewDirTrack;
//tracking_debug.SetVisible(false);
//tracking_avg.SetVisible(false);
if (vSlowViewDirTrack == Vector3f.Zero)
{
vSlowViewDirTrack = vCamFW;
}
float slowTrackSpeed = 0.05f;
vSlowViewDirTrack = VRUtil.AngleLerp(vSlowViewDirTrack, vCamFW, slowTrackSpeed);
// head position tracking
if (IsLocked == false)
{
cockpitGO.SetPosition(vCamPos);
}
//Vector3 vDelta = (camera.transform.position - RootGameObject.transform.position);
//if (vDelta.magnitude > 0.2f)
// RootGameObject.transform.position = camera.transform.position;
////else if ( vDelta.magnitude > 0.05f)
//else
// RootGameObject.transform.position =
// (1.0f - TrackingSpeed) * RootGameObject.transform.position +
// (TrackingSpeed) * camera.transform.position;
float RotationSpeed = 200.0f;
float WarmupTrackingAngleThresh = 55.0f;
float ImmediateTrackingAngleThresh = 65.0f;
float StopTrackingAngleThresh = 5.0f;
float TrackingWarmupDelay = 2.0f;
float TrackingCooldownDelay = 0.75f;
//Vector3 vCockpitFW = cockpitGO.transform.forward;
Vector3f vCockpitFW = currentFrame.Z;
float fSlowHDeviation = VRUtil.PlaneAngle(vCockpitFW, vSlowViewDirTrack);
float fActualViewDeviation = VRUtil.PlaneAngle(vCockpitFW, vCamFW);
bool bDoTrack = false;
if (eState == TrackingState.NotTracking)
{
//tracking_debug.GetComponent<Renderer>().material = MaterialUtil.CreateStandardMaterial(Color.green);
if (fSlowHDeviation > WarmupTrackingAngleThresh)
{
set_tracking_state(TrackingState.TrackingWarmup);
stateChangeStartTime = FPlatform.RealTime();
}
}
else if (eState == TrackingState.TrackingWarmup)
{
//tracking_debug.GetComponent<Renderer>().material = MaterialUtil.CreateStandardMaterial(Color.yellow);
if (fSlowHDeviation > ImmediateTrackingAngleThresh)
{
set_tracking_state(TrackingState.Tracking);
}
else if (fSlowHDeviation > WarmupTrackingAngleThresh)
{
if ((FPlatform.RealTime() - stateChangeStartTime) > TrackingWarmupDelay)
{
set_tracking_state(TrackingState.Tracking);
}
}
else
{
set_tracking_state(TrackingState.NotTracking);
}
}
else if (eState == TrackingState.Tracking)
{
bDoTrack = true;
//tracking_debug.GetComponent<Renderer>().material = MaterialUtil.CreateStandardMaterial(Color.red);
if (fActualViewDeviation < StopTrackingAngleThresh)
{
set_tracking_state(TrackingState.TrackingCooldown);
stateChangeStartTime = FPlatform.RealTime();
}
}
else if (eState == TrackingState.TrackingCooldown)
{
bDoTrack = true;
//tracking_debug.GetComponent<Renderer>().material = MaterialUtil.CreateStandardMaterial(Color.gray);
if (fActualViewDeviation < StopTrackingAngleThresh)
{
if ((FPlatform.RealTime() - stateChangeStartTime) > TrackingCooldownDelay)
{
set_tracking_state(TrackingState.NotTracking);
bDoTrack = false;
}
}
else
{
set_tracking_state(TrackingState.Tracking);
}
}
if (IsLocked)
{
bDoTrack = false;
set_tracking_state(TrackingState.NotTracking);
}
if (bDoTrack)
{
float dt = (float)(FPlatform.RealTime() - animation_last_time);
float fDelta = RotationSpeed * dt;
Vector3f vCurrent = new Vector3f(vCockpitFW[0], 0, vCockpitFW[2]).Normalized;
Vector3f vTarget = new Vector3f(vSlowViewDirTrack[0], 0, vSlowViewDirTrack[2]).Normalized;
//Vector3 vTarget = new Vector3(vCamFW[0], 0, vCamFW[2]).normalized;
Vector3f c = Vector3f.Cross(vCurrent, vTarget);
float a = Vector3f.AngleD(vCurrent, vTarget);
float fSign = (c[1] < 0) ? -1.0f : 1.0f;
float fRotAngle = Math.Min(a, fDelta) * fSign;
currentFrame.Rotate(Quaternionf.AxisAngleD(Vector3f.AxisY, fRotAngle));
}
cockpitGO.SetRotation(currentFrame.Rotation);
animation_last_time = FPlatform.RealTime();
if (indicator == null)
{
indicator = new CockpitTrackingWidget();
indicator.Create(this, cockpit);
cockpit.AddUIElement(indicator, false);
}
indicator.EnableIndicator = show_indicator;
}
override public void BeginTransformation()
{
base.BeginTransformation();
objectFrame = target.GetLocalFrame(CoordSpace.ObjectCoords);
curRotation = Quaternionf.Identity;
}
private void AddComplexCurve(float time, BindingType bindType, IReadOnlyList <float> curveValues, int offset, string path)
{
switch (bindType)
{
case BindingType.Translation:
{
float x = curveValues[offset + 0];
float y = curveValues[offset + 1];
float z = curveValues[offset + 2];
if (!m_translations.TryGetValue(path, out Vector3Curve transCurve))
{
transCurve = new Vector3Curve(path);
}
Vector3f trans = new Vector3f(x, y, z);
Vector3f defWeight = new Vector3f(1.0f / 3.0f);
KeyframeTpl <Vector3f> transKey = new KeyframeTpl <Vector3f>(time, trans, defWeight);
transCurve.Curve.Curve.Add(transKey);
m_translations[path] = transCurve;
}
break;
case BindingType.Rotation:
{
float x = curveValues[offset + 0];
float y = curveValues[offset + 1];
float z = curveValues[offset + 2];
float w = curveValues[offset + 3];
if (!m_rotations.TryGetValue(path, out QuaternionCurve rotCurve))
{
rotCurve = new QuaternionCurve(path);
}
Quaternionf rot = new Quaternionf(x, y, z, w);
Quaternionf defWeight = new Quaternionf(1.0f / 3.0f);
KeyframeTpl <Quaternionf> rotKey = new KeyframeTpl <Quaternionf>(time, rot, defWeight);
rotCurve.Curve.Curve.Add(rotKey);
m_rotations[path] = rotCurve;
}
break;
case BindingType.Scaling:
{
float x = curveValues[offset + 0];
float y = curveValues[offset + 1];
float z = curveValues[offset + 2];
if (!m_scales.TryGetValue(path, out Vector3Curve scaleCurve))
{
scaleCurve = new Vector3Curve(path);
}
Vector3f scale = new Vector3f(x, y, z);
Vector3f defWeight = new Vector3f(1.0f / 3.0f);
KeyframeTpl <Vector3f> scaleKey = new KeyframeTpl <Vector3f>(time, scale, defWeight);
scaleCurve.Curve.Curve.Add(scaleKey);
m_scales[path] = scaleCurve;
}
break;
case BindingType.EulerRotation:
{
float x = curveValues[offset + 0];
float y = curveValues[offset + 1];
float z = curveValues[offset + 2];
if (!m_eulers.TryGetValue(path, out Vector3Curve eulerCurve))
{
eulerCurve = new Vector3Curve(path);
}
Vector3f euler = new Vector3f(x, y, z);
Vector3f defWeight = new Vector3f(1.0f / 3.0f);
KeyframeTpl <Vector3f> eulerKey = new KeyframeTpl <Vector3f>(time, euler, defWeight);
eulerCurve.Curve.Curve.Add(eulerKey);
m_eulers[path] = eulerCurve;
}
break;
case BindingType.Floats:
{
float value = curveValues[offset];
if (!m_floats.TryGetValue(path, out FloatCurve floatCurve))
{
floatCurve = new FloatCurve(path);
}
Float @float = new Float(value);
Float defWeight = new Float(1.0f / 3.0f);
KeyframeTpl <Float> floatKey = new KeyframeTpl <Float>(time, @float, defWeight);
floatCurve.Curve.Curve.Add(floatKey);
m_floats[path] = floatCurve;
}
break;
default:
throw new NotImplementedException(bindType.ToString());
}
}
/// <summary>
/// Solve for Translate/Rotate update, based on current From and To
/// Note: From and To are invalidated, will need to be re-computed after calling this
/// </summary>
void update_transformation()
{
int N = From.Length;
// normalize weights
double wSum = 0;
for (int i = 0; i < N; ++i)
{
wSum += Weights[i];
}
double wSumInv = 1.0 / wSum;
// compute means
Vector3D MeanX = Vector3D.Zero;
Vector3D MeanY = Vector3D.Zero;
for (int i = 0; i < N; ++i)
{
MeanX += (Weights[i] * wSumInv) * From[i];
MeanY += (Weights[i] * wSumInv) * To[i];
}
// subtract means
for (int i = 0; i < N; ++i)
{
From[i] -= MeanX;
To[i] -= MeanY;
}
// construct matrix 3x3 Matrix From*Transpose(To)
// (vectors are columns)
double[] M = new double[9];
for (int k = 0; k < 3; ++k)
{
int r = 3 * k;
for (int i = 0; i < N; ++i)
{
double lhs = (Weights[i] * wSumInv) * From[i][k];
M[r + 0] += lhs * To[i].x;
M[r + 1] += lhs * To[i].y;
M[r + 2] += lhs * To[i].z;
}
}
// compute SVD of M
SingularValueDecomposition svd = new SingularValueDecomposition(3, 3, 100);
uint ok = svd.Solve(M, -1); // sort in decreasing order, like Eigen
Debug.Assert(ok < 9999999);
double[] U = new double[9], V = new double[9], Tmp = new double[9];;
svd.GetU(U);
svd.GetV(V);
// this is our rotation update
double[] RotUpdate = new double[9];
// U*V gives us desired rotation
double detU = NGonsCore.geometry3Sharp.math.MatrixUtil.Determinant3x3(U);
double detV = NGonsCore.geometry3Sharp.math.MatrixUtil.Determinant3x3(V);
if (detU * detV < 0)
{
double[] S = NGonsCore.geometry3Sharp.math.MatrixUtil.MakeDiagonal3x3(1, 1, -1);
NGonsCore.geometry3Sharp.math.MatrixUtil.Multiply3x3(V, S, Tmp);
NGonsCore.geometry3Sharp.math.MatrixUtil.Transpose3x3(U);
NGonsCore.geometry3Sharp.math.MatrixUtil.Multiply3x3(Tmp, U, RotUpdate);
}
else
{
NGonsCore.geometry3Sharp.math.MatrixUtil.Transpose3x3(U);
NGonsCore.geometry3Sharp.math.MatrixUtil.Multiply3x3(V, U, RotUpdate);
}
// convert matrix to quaternion
Matrix3f RotUpdateM = new Matrix3f(RotUpdate);
Quaternionf RotUpdateQ = new Quaternionf(RotUpdateM);
// [TODO] is this right? We are solving for a translation and
// rotation of the current From points, but when we fold these
// into Translation & Rotation variables, we have essentially
// changed the order of operations...
// figure out translation update
Vector3D TransUpdate = MeanY - RotUpdateQ * MeanX;
Translation += TransUpdate;
// and rotation
Rotation = RotUpdateQ * Rotation;
// above was ported from this code...still not supporting weights though.
// need to figure out exactly what this code does (like, what does
// transpose() do to a vector??)
// /// Normalize weight vector
//Eigen::VectorXd w_normalized = w/w.sum();
///// De-mean
//Eigen::Vector3d X_mean, Y_mean;
//for(int i=0; i<3; ++i) {
// X_mean(i) = (X.row(i).array()*w_normalized.transpose().array()).sum();
// Y_mean(i) = (Y.row(i).array()*w_normalized.transpose().array()).sum();
//Eigen::Matrix3d sigma = X * w_normalized.asDiagonal() * Y.transpose();
}
/// <summary>
/// Converts an ovrQuatf to a SharpDX Quaternion.
/// </summary>
public static Quaternion ToQuaternion(Quaternionf ovrQuatf)
{
return(new Quaternion(ovrQuatf.X, ovrQuatf.Y, ovrQuatf.Z, ovrQuatf.W));
}
public Quaternionf[] Unpack()
{
int bitIndex = 0;
int byteIndex = 0;
Quaternionf[] buffer = new Quaternionf[NumItems];
for (int i = 0; i < NumItems; i++)
{
int flags = 0;
int bitOffset = 0;
while (bitOffset < 3)
{
flags |= Data[byteIndex] >> bitIndex << bitOffset;
int read = Math.Min(3 - bitOffset, 8 - bitIndex);
bitIndex += read;
bitOffset += read;
if (bitIndex == 8)
{
byteIndex++;
bitIndex = 0;
}
}
flags &= 7;
float sum = 0;
Quaternionf quaternion = new Quaternionf();
for (int j = 0; j < 4; j++)
{
if ((flags & 3) != j)
{
int bitSize = ((flags & 3) + 1) % 4 == j ? 9 : 10;
float halfMaxValue = 0.5f * ((1 << bitSize) - 1);
int value = 0;
bitOffset = 0;
while (bitOffset < bitSize)
{
value |= Data[byteIndex] >> bitIndex << bitOffset;
int num = Math.Min(bitSize - bitOffset, 8 - bitIndex);
bitIndex += num;
bitOffset += num;
if (bitIndex == 8)
{
byteIndex++;
bitIndex = 0;
}
}
value &= (1 << bitSize) - 1;
// final value's range is [-1.0f : 1.0f]
quaternion[j] = value / halfMaxValue - 1.0f;
sum += quaternion[j] * quaternion[j];
}
}
int lastComponent = flags & 3;
quaternion[lastComponent] = (float)Math.Sqrt(1.0f - sum);
if ((flags & 4) != 0)
{
quaternion[lastComponent] = -quaternion[lastComponent];
}
buffer[i] = quaternion;
}
return(buffer);
}
public static void SwapUpDirection(FScene scene, List <PrintMeshSO> objects)
{
AxisAlignedBox3f sceneBounds = AxisAlignedBox3f.Empty;
Vector3f sharedOrigin = Vector3f.Zero;
foreach (var meshSO in objects)
{
sharedOrigin += meshSO.GetLocalFrame(CoordSpace.SceneCoords).Origin;
sceneBounds.Contain(meshSO.GetBoundingBox(CoordSpace.SceneCoords).ToAABB());
}
sharedOrigin /= objects.Count;
foreach (var so in objects)
{
Frame3f curF = so.GetLocalFrame(CoordSpace.SceneCoords);
UpDirection from = so.UpDirection;
UpDirection to = (from == UpDirection.YUp) ? UpDirection.ZUp : UpDirection.YUp;
Quaternionf rotate = Quaternionf.AxisAngleD(Vector3f.AxisX, (to == UpDirection.YUp) ? -90 : 90);
Frame3f newF = curF;
newF.RotateAround(sharedOrigin, rotate);
TransformSOChange upChange = new TransformSOChange(so, newF, CoordSpace.SceneCoords)
{
OnApplyF = (x) => { so.UpDirection = to; },
OnRevertF = (x) => { so.UpDirection = from; }
};
scene.History.PushChange(upChange, false);
}
AxisAlignedBox3f newSceneBounds = AxisAlignedBox3f.Empty;
foreach (var meshSO in objects)
{
newSceneBounds.Contain(meshSO.GetBoundingBox(CoordSpace.SceneCoords).ToAABB());
}
Vector3f startBase = sceneBounds.Center; startBase.y = 0;
Vector3f newBase = newSceneBounds.Center; newBase.y = newSceneBounds.Min.y;
Vector3f df = startBase - newBase;
foreach (var so in objects)
{
Frame3f curF = so.GetLocalFrame(CoordSpace.SceneCoords);
Frame3f newF = curF.Translated(df);
TransformSOChange centerChange = new TransformSOChange(so, newF, CoordSpace.SceneCoords);
scene.History.PushChange(centerChange, false);
}
// reposition pivots at base of
List <Frame3f> setF = new List <Frame3f>();
foreach (var so in objects)
{
Frame3f objF = so.GetLocalFrame(CoordSpace.ObjectCoords);
Vector3f center = so.GetBoundingBox(CoordSpace.SceneCoords).Center;
center.y = 0;
Frame3f sceneF = new Frame3f(center);
setF.Add(sceneF);
}
for (int k = 0; k < objects.Count; ++k)
{
RepositionPivotChangeOp change = new RepositionPivotChangeOp(setF[k], objects[k], CoordSpace.SceneCoords);
scene.History.PushChange(change, false);
}
}
public static void test_basic_generators()
{
TrivialDiscGenerator disc_gen = new TrivialDiscGenerator();
WriteGeneratedMesh(disc_gen, "meshgen_Disc.obj");
TrivialRectGenerator rect_gen = new TrivialRectGenerator();
WriteGeneratedMesh(rect_gen, "meshgen_Rect.obj");
GriddedRectGenerator gridrect_gen = new GriddedRectGenerator();
WriteGeneratedMesh(gridrect_gen, "meshgen_GriddedRect.obj");
PuncturedDiscGenerator punc_disc_gen = new PuncturedDiscGenerator();
WriteGeneratedMesh(punc_disc_gen, "meshgen_PuncturedDisc.obj");
TrivialBox3Generator box_gen = new TrivialBox3Generator();
Frame3f f = Frame3f.Identity;
f.Rotate(Quaternionf.AxisAngleD(Vector3f.AxisY, 45.0f));
f.Rotate(Quaternionf.AxisAngleD(Vector3f.AxisZ, 45.0f));
box_gen.Box = new Box3d(f.Origin, f.X, f.Y, f.Z, new Vector3d(3, 2, 1));
WriteGeneratedMesh(box_gen, "meshgen_TrivialBox_shared.obj");
box_gen.NoSharedVertices = true;
WriteGeneratedMesh(box_gen, "meshgen_TrivialBox_noshared.obj");
RoundRectGenerator roundrect_gen = new RoundRectGenerator();
roundrect_gen.Width = 2;
WriteGeneratedMesh(roundrect_gen, "meshgen_RoundRect.obj");
GridBox3Generator gridbox_gen = new GridBox3Generator();
WriteGeneratedMesh(gridbox_gen, "meshgen_GridBox_shared.obj");
gridbox_gen.NoSharedVertices = true;
WriteGeneratedMesh(gridbox_gen, "meshgen_GridBox_noshared.obj");
Sphere3Generator_NormalizedCube normcube_gen = new Sphere3Generator_NormalizedCube();
WriteGeneratedMesh(normcube_gen, "meshgen_Sphere_NormalizedCube_shared.obj");
normcube_gen.NoSharedVertices = true;
normcube_gen.Box = new Box3d(new Frame3f(Vector3f.One, Vector3f.One), Vector3d.One * 1.3);
WriteGeneratedMesh(normcube_gen, "meshgen_Sphere_NormalizedCube_noshared.obj");
TubeGenerator tube_gen = new TubeGenerator()
{
Vertices = new List <Vector3d>()
{
Vector3d.Zero, Vector3d.AxisX, 2 * Vector3d.AxisX, 3 * Vector3d.AxisX
},
Polygon = Polygon2d.MakeCircle(1, 16)
};
WriteGeneratedMesh(tube_gen, "meshgen_TubeGenerator.obj");
tube_gen.Polygon.Translate(Vector2d.One);
tube_gen.CapCenter = Vector2d.One;
WriteGeneratedMesh(tube_gen, "meshgen_TubeGenerator_shifted.obj");
}
public void update(Frame3f handF, SnapSet snap)
{
curHandF = handF;
// [RMS] this function updates the position of object based on hand frame
// Not clear how this should work, there are lots of options...
// [1] scaled relative motion of hand inherited by object (lags ray though)
//Vector3 dt = startHandF.ToFrameP(handF.Origin);
//dt *= 10.0f;
//Frame3 fNew = new Frame3(startObjFW);
//fNew.Origin += dt;
// [2] object stays on ray, inherits a bit of xform
// - resulting orientation is weird. works well for rotate in-place around ray,
// but up/down/left/right tilts are impossible w/o moving object
Frame3f fNew = handF.FromFrame(this.startObjRelF);
if (RotationSpeed != 1.0f)
{
fNew.Rotation = Quaternionf.Slerp(startObjFW.Rotation, fNew.Rotation, RotationSpeed);
}
if (TranslationSpeed != 1.0f)
{
fNew.Origin = Vector3f.Lerp(startObjFW.Origin, fNew.Origin, TranslationSpeed);
}
// [3] object stays on ray but no rotation
// - weird if you rotate left/right, because distance stays same but it
// keeps pointing in same direction
// - we have gizmo for this kind of translation.
//Frame3 fNew = handF.FromFrame(this.startObjRelF);
//fNew.Rotation = startObjFW.Rotation;
// [4] object stays in place, rotate by hand rotation
// - pretty hard to control, but would be good for approx orienting...
// - definitely needs damping!!
//Frame3 fNew = startObjFW;
//Quaternion relative = handF.Rotation * Quaternion.Inverse(startHandF.Rotation);
//fNew.Rotation = relative * fNew.Rotation;
// apply stick rotation DOESN"T WORK
//Quaternion stickY = Quaternion.AngleAxis(stickDelta[1], startHandF.X);
//fNew.Rotation = fNew.Rotation * stickY;
// shift in/out along hand-ray by Z
fNew.Origin += 0.1f * stickDelta[1] * handF.Z * cockpit.Scene.GetSceneScale();
curHandTargetF = fNew;
curUseTargetF = new Frame3f(curHandTargetF);
if (snap != null)
{
if (snapSolver == null)
{
snapSolver = new DynamicSnapSolver(grabbedSO);
}
snapSolver.SnapOrientation =
(cockpit.Context.TransformManager.ActiveFrameType == FrameType.LocalFrame);
curUseTargetF = snapSolver.UpdateSnapW(curUseTargetF, snap);
}
// update so
grabbedSO.SetLocalFrame(curUseTargetF, CoordSpace.WorldCoords);
}
private void AddComplexCurve(float time, BindingType bindType, IReadOnlyList <float> curveValues,
IReadOnlyList <float> inSlopeValues, IReadOnlyList <float> outSlopeValues, int offset, string path)
{
switch (bindType)
{
case BindingType.Translation:
{
if (!m_translations.TryGetValue(path, out List <KeyframeTpl <Vector3f> > transCurve))
{
transCurve = new List <KeyframeTpl <Vector3f> >();
m_translations.Add(path, transCurve);
}
float x = curveValues[offset + 0];
float y = curveValues[offset + 1];
float z = curveValues[offset + 2];
float inX = inSlopeValues[0];
float inY = inSlopeValues[1];
float inZ = inSlopeValues[2];
float outX = outSlopeValues[0];
float outY = outSlopeValues[1];
float outZ = outSlopeValues[2];
Vector3f value = new Vector3f(x, y, z);
Vector3f inSlope = new Vector3f(inX, inY, inZ);
Vector3f outSlope = new Vector3f(outX, outY, outZ);
Vector3f defWeight = new Vector3f(1.0f / 3.0f);
KeyframeTpl <Vector3f> transKey = new KeyframeTpl <Vector3f>(time, value, inSlope, outSlope, defWeight);
transCurve.Add(transKey);
m_translations[path] = transCurve;
}
break;
case BindingType.Rotation:
{
if (!m_rotations.TryGetValue(path, out List <KeyframeTpl <Quaternionf> > rotCurve))
{
rotCurve = new List <KeyframeTpl <Quaternionf> >();
m_rotations.Add(path, rotCurve);
}
float x = curveValues[offset + 0];
float y = curveValues[offset + 1];
float z = curveValues[offset + 2];
float w = curveValues[offset + 3];
float inX = 0; //inSlopeValues[0];
float inY = 0; //inSlopeValues[1];
float inZ = 0; //inSlopeValues[2];
float inW = 0; //inSlopeValues[3];
float outX = 0; //outSlopeValues[0];
float outY = 0; //outSlopeValues[1];
float outZ = 0; //outSlopeValues[2];
float outW = 0; //outSlopeValues[3];
Quaternionf value = new Quaternionf(x, y, z, w);
Quaternionf inSlope = new Quaternionf(inX, inY, inZ, inW);
Quaternionf outSlope = new Quaternionf(outX, outY, outZ, outW);
Quaternionf defWeight = new Quaternionf(1.0f / 3.0f);
KeyframeTpl <Quaternionf> rotKey = new KeyframeTpl <Quaternionf>(time, value, inSlope, outSlope, defWeight);
rotCurve.Add(rotKey);
m_rotations[path] = rotCurve;
}
break;
case BindingType.Scaling:
{
if (!m_scales.TryGetValue(path, out List <KeyframeTpl <Vector3f> > scaleCurve))
{
scaleCurve = new List <KeyframeTpl <Vector3f> >();
m_scales.Add(path, scaleCurve);
}
float x = curveValues[offset + 0];
float y = curveValues[offset + 1];
float z = curveValues[offset + 2];
float inX = inSlopeValues[0];
float inY = inSlopeValues[1];
float inZ = inSlopeValues[2];
float outX = outSlopeValues[0];
float outY = outSlopeValues[1];
float outZ = outSlopeValues[2];
Vector3f value = new Vector3f(x, y, z);
Vector3f inSlope = new Vector3f(inX, inY, inZ);
Vector3f outSlope = new Vector3f(outX, outY, outZ);
Vector3f defWeight = new Vector3f(1.0f / 3.0f);
KeyframeTpl <Vector3f> scaleKey = new KeyframeTpl <Vector3f>(time, value, inSlope, outSlope, defWeight);
scaleCurve.Add(scaleKey);
m_scales[path] = scaleCurve;
}
break;
case BindingType.EulerRotation:
{
if (!m_eulers.TryGetValue(path, out List <KeyframeTpl <Vector3f> > eulerCurve))
{
eulerCurve = new List <KeyframeTpl <Vector3f> >();
m_eulers.Add(path, eulerCurve);
}
float x = curveValues[offset + 0];
float y = curveValues[offset + 1];
float z = curveValues[offset + 2];
float inX = inSlopeValues[0];
float inY = inSlopeValues[1];
float inZ = inSlopeValues[2];
float outX = outSlopeValues[0];
float outY = outSlopeValues[1];
float outZ = outSlopeValues[2];
Vector3f value = new Vector3f(x, y, z);
Vector3f inSlope = new Vector3f(inX, inY, inZ);
Vector3f outSlope = new Vector3f(outX, outY, outZ);
Vector3f defWeight = new Vector3f(1.0f / 3.0f);
KeyframeTpl <Vector3f> eulerKey = new KeyframeTpl <Vector3f>(time, value, inSlope, outSlope, defWeight);
eulerCurve.Add(eulerKey);
m_eulers[path] = eulerCurve;
}
break;
case BindingType.Floats:
{
if (!m_floats.TryGetValue(path, out List <KeyframeTpl <Float> > floatCurve))
{
floatCurve = new List <KeyframeTpl <Float> >();
m_floats.Add(path, floatCurve);
}
float x = curveValues[offset];
float inX = inSlopeValues[0];
float outX = outSlopeValues[0];
Float value = new Float(x);
Float inSlope = new Float(inX);
Float outSlope = new Float(outX);
Float defWeight = new Float(1.0f / 3.0f);
KeyframeTpl <Float> floatKey = new KeyframeTpl <Float>(time, value, inSlope, outSlope, defWeight);
floatCurve.Add(floatKey);
m_floats[path] = floatCurve;
}
break;
default:
throw new NotImplementedException(bindType.ToString());
}
}
/// <summary>
/// This is the action we give to the trim-scan tool, to run on accept
/// </summary>
public static void CropScanFromSelection(DMeshSO so, MeshFaceSelection selection, object tool)
{
DMesh3 beforeMesh = new DMesh3(so.Mesh);
DMesh3 mesh = so.Mesh;
// [RMS] if we are using the two-point tool, then we can use the user input points to
// try to figure out an up axis, by assuming the first point is on the base of the scan. Steps are:
// 1) guess a midpoint. Currently centroid of upper-half of geodesic selection.
// 2) construct up axis as (midpoint-basepoint). this axis to Y-up.
Vector3f upAxisS = Vector3f.AxisY;
TwoPointFaceSelectionTool ptool = tool as TwoPointFaceSelectionTool;
if (ptool != null)
{
var cache = ptool.SelectionCache;
Interval1d range = new Interval1d(cache.CurrentScalarThreshold / 2, cache.CurrentScalarThreshold);
List <int> triangles = new List <int>(selection.Count);
cache.FindTrianglesInScalarInterval(range, triangles);
Vector3d c = MeshMeasurements.Centroid(triangles, mesh.GetTriCentroid);
Vector3d cS = SceneTransforms.ObjectToSceneP(so, c);
Vector3d basePosS = ptool.SourcePositionS.Origin;
upAxisS = (Vector3f)(cS - basePosS).Normalized;
}
// crop scan and fill top hole
List <int> borderTris = selection.FindBorderTris();
MeshEditor editor = new MeshEditor(mesh);
editor.RemoveTriangles((tid) => { return(selection.IsSelected(tid) == false); }, true);
if (OGActions.FillHoleInScan)
{
SmoothedHoleFill fill = new SmoothedHoleFill(mesh)
{
TargetEdgeLength = 2.5f,
SmoothAlpha = 0.5f,
BorderHintTris = borderTris,
OffsetDirection = SceneTransforms.SceneToObjectN(so, upAxisS),
OffsetDistance = (ptool != null) ? 25.0 : 0.0
};
fill.Apply();
}
so.NotifyMeshEdited();
DMesh3 afterMesh = new DMesh3(so.Mesh);
so.GetScene().History.PushChange(new ReplaceEntireMeshChange(so, beforeMesh, afterMesh), true);
mesh = so.Mesh;
// Now we auto-align the scan so it points upwards, and then
// recenter pivot and shift to above ground plane
if (ptool != null)
{
Vector3d basePosS = ptool.SourcePositionS.Origin;
Quaternionf alignUp = Quaternionf.FromTo(upAxisS, Vector3f.AxisY);
// rotate part so that axis points up
Frame3f curF = so.GetLocalFrame(CoordSpace.SceneCoords);
Frame3f newF = curF.Rotated(alignUp);
TransformSOChange alignUpChange = new TransformSOChange(so, curF, newF, CoordSpace.SceneCoords);
basePosS = newF.FromFrameP(curF.ToFrameP(basePosS)); // map to new frame
so.GetScene().History.PushChange(alignUpChange, false);
// recenter pivot at bbox center
// [RMS] previously was using vertex centroid, but this is then affected by mesh density
// (maybe tri centroid? but bbox makes more sense...and below we assume box center)
Vector3d centerL = mesh.CachedBounds.Center;
Vector3d centerO = newF.FromFrameP(centerL);
Frame3f newPivotO = new Frame3f(centerO);
so.GetScene().History.PushChange(new RepositionPivotChangeOp(newPivotO, so), false);
// position above ground plane
AxisAlignedBox3d bounds = so.Mesh.CachedBounds;
float h = (float)bounds.Height;
Vector3f o = newPivotO.Origin;
Vector3f translateO = new Vector3f(-o.x, h * 0.5f - o.y + BaseHeightAboveGroundPlaneMM, -o.z);
//Vector3f translateO = new Vector3f(0, h * 0.5f - o.y + BaseHeightAboveGroundPlaneMM, 0);
newPivotO.Translate(translateO);
so.GetScene().History.PushChange(new TransformSOChange(so, newPivotO, CoordSpace.ObjectCoords), false);
// save base point in frame of scan
basePosS += translateO;
Vector3d basePosL = SceneTransforms.SceneToObjectP(so, basePosS);
OG.Scan.UserBasePoint = basePosL;
}
so.GetScene().History.PushInteractionCheckpoint();
}
public virtual void SetLocalRotation(Quaternionf rotation)
{
go.transform.localRotation = rotation;
}
// Use this for initialization
public void Initialize(FContext controller)
{
this.controller = controller;
// find main camera
GameObject[] mainCameras = GameObject.FindGameObjectsWithTag("MainCamera");
if (mainCameras.Length == 0)
{
throw new MissingComponentException("CameraTracking.Initialize: could not find camera with tag MainCamera");
}
var mainCameraObj = mainCameras[0];
if (mainCameras.Length > 1)
{
DebugUtil.Log(2, "CameraTracking.Initialize: there are multiple objects with tag MainCamera. Using the one named " + mainCameraObj.GetName());
}
mainCamera = new fCamera(mainCameraObj.GetComponent <Camera> () as Camera);
// on Vive the MainCamera will have some child cameras that are a problem,
// so get rid of them
if (gs.VRPlatform.CurrentVRDevice == gs.VRPlatform.Device.HTCVive)
{
List <GameObject> children = new List <GameObject>(mainCameraObj.Children());
foreach (var child in children)
{
mainCameraObj.RemoveChild(child);
child.Destroy();
}
}
List <Camera> newCameras = new List <Camera>();
Vector3f mainPos = mainCamera.GetPosition();
Quaternionf mainRot = mainCamera.GetRotation();
// create camera for 3D widgets layer
widgetCamera = new fCamera(Camera.Instantiate((Camera)mainCamera, mainPos, mainRot));
widgetCamera.SetName("WidgetCamera");
newCameras.Add(widgetCamera);
// create camera for HUD layer
hudCamera = new fCamera(Camera.Instantiate((Camera)mainCamera, mainPos, mainRot));
hudCamera.SetName("HUDCamera");
newCameras.Add(hudCamera);
// create camera for UI
uiCamera = new fCamera(Camera.Instantiate((Camera)mainCamera, mainPos, mainRot));
uiCamera.SetName("UICamera");
((Camera)uiCamera).orthographic = true;
((Camera)uiCamera).orthographicSize = 0.5f;
newCameras.Add(uiCamera);
// create camera for cursor
cursorCamera = new fCamera(Camera.Instantiate((Camera)mainCamera, mainPos, mainRot));
cursorCamera.SetName("CursorCamera");
newCameras.Add(cursorCamera);
// configure these cameras
// - must disable audio listener if it exists
// - do depth clear so we can draw on top of other layers
foreach (Camera cam in newCameras)
{
AudioListener listener = cam.GetComponent <AudioListener>();
if (listener != null)
{
listener.enabled = false;
}
cam.clearFlags = CameraClearFlags.Depth;
cam.tag = "Untagged";
}
// set up camera masks
// this camera only renders 3DWidgetOverlay layer, and mainCam does not!
int nWidgetLayer = FPlatform.WidgetOverlayLayer;
int nHUDLayer = FPlatform.HUDLayer;
int nUILayer = FPlatform.UILayer;
int nCursorLayer = FPlatform.CursorLayer;
((Camera)widgetCamera).cullingMask = (1 << nWidgetLayer);
((Camera)hudCamera).cullingMask = (1 << nHUDLayer);
((Camera)uiCamera).cullingMask = (1 << nUILayer);
((Camera)cursorCamera).cullingMask = (1 << nCursorLayer);
((Camera)mainCamera).cullingMask &= ~(1 << nWidgetLayer);
((Camera)mainCamera).cullingMask &= ~(1 << nHUDLayer);
((Camera)mainCamera).cullingMask &= ~(1 << nUILayer);
((Camera)mainCamera).cullingMask &= ~(1 << nCursorLayer);
// attach camera animation object to main camera
CameraAnimator anim = mainCamera.AddComponent <CameraAnimator>();
anim.UseCamera = mainCamera;
anim.UseScene = this.controller.Scene;
// add target point to camera
CameraTarget target = mainCamera.AddComponent <CameraTarget>();
target.TargetPoint = new Vector3f(0.0f, mainCamera.GetPosition().y, 0.0f);
target.context = this.controller;
// add camera manipulator to camera
// TODO: this does not need to be a monobehavior...
var manipulator = mainCamera.AddComponent <CameraManipulator>();
manipulator.Camera = mainCamera;
// initialize FPlatform
FPlatform.MainCamera = mainCamera;
FPlatform.WidgetCamera = widgetCamera;
FPlatform.HUDCamera = hudCamera;
FPlatform.OrthoUICamera = uiCamera;
FPlatform.CursorCamera = cursorCamera;
}
static void test_operator()
{
test_name("operator");
// TVector
Vec3f v3a = new Vec3f(0.1f, 0.2f, 0.3f);
Vec3f v3b = new Vec3f(0.4f, 0.5f, 0.6f);
Vec3f v3c = new Vec3f(0.1f, 0.2f, 0.3f); // v3c == v3a
Vec3f v3d;
put("vector unary -", "(-0.1, -0.2, -0.3)", -v3a);
put("vector binary +", "( 0.5, 0.7, 0.9)", v3a + v3b);
put("vector binary -", "(-0.3, -0.3, -0.3)", v3a - v3b);
put("vector binary *", "( 0.2, 0.4, 0.6)", v3a * 2);
put("vector binary *", "( 0.8, 1.0, 1.2)", 2 * v3b);
put("vector binary /", "( 0.05, 0.10, 0.15)", v3a / 2);
put("vector binary *", " 0.32", v3a * v3b);
put("vector binary %", "(-0.03, 0.06, -0.03)", v3a % v3b);
put("vector binary ^", "(-0.03, 0.06, -0.03)", v3a ^ v3b);
v3d = v3a; v3d += v3b; put("vector binary +=", "( 0.5, 0.7, 0.9)", v3d);
v3d = v3a; v3d -= v3b; put("vector binary -=", "(-0.3, -0.3, -0.3)", v3d);
v3d = v3a; v3d *= 2; put("vector binary *=", "( 0.2, 0.4, 0.6)", v3d);
v3d = v3a; v3d /= 2; put("vector binary /=", "(0.05, 0.10, 0.15)", v3d);
put("vector binary ==", "True ", v3a == v3c);
put("vector binary ==", "False", v3a == v3b);
put("vector binary !=", "True ", v3a != v3b);
put("vector binary !=", "False", v3a != v3c);
// TMatrix
Matrix3f m3a = new Matrix3f(0.1f, 0.2f, 0.3f, 0.4f, 0.5f, 0.6f, 0.7f, 0.8f, 0.9f);
Matrix3f m3b = new Matrix3f(1.1f, 1.2f, 1.3f, 1.4f, 1.5f, 1.6f, 1.7f, 1.8f, 1.9f);
Matrix3f m3c = new Matrix3f(0.1f, 0.2f, 0.3f, 0.4f, 0.5f, 0.6f, 0.7f, 0.8f, 0.9f); // m3c == m3a
Matrix3f m3d;
Matrix3f m3r = new Matrix3f(-0.1f, -0.2f, -0.3f, -0.4f, -0.5f, -0.6f, -0.7f, -0.8f, -0.9f);
Matrix3f m3s = new Matrix3f(1.2f, 1.4f, 1.6f, 1.8f, 2.0f, 2.2f, 2.4f, 2.6f, 2.8f);
Matrix3f m3t = new Matrix3f(-1.0f, -1.0f, -1.0f, -1.0f, -1.0f, -1.0f, -1.0f, -1.0f, -1.0f);
Matrix3f m3u = new Matrix3f(0.2f, 0.4f, 0.6f, 0.8f, 1.0f, 1.2f, 1.4f, 1.6f, 1.8f);
put2("matrix unary -", edit_matrix(m3r), edit_matrix(-m3a));
put2("matrix binary +", edit_matrix(m3s), edit_matrix(m3a + m3b));
put2("matrix binary -", edit_matrix(m3t), edit_matrix(m3a - m3b));
put2("matrix binary *", edit_matrix(m3u), edit_matrix(m3a * 2));
put2("matrix binary *", edit_matrix(m3u), edit_matrix(2 * m3a));
put2("matrix binary *", new Vec3d(0.14, 0.32, 0.50), (m3a * v3a));
put2("matrix binary *", new Vec3d(2.16, 2.31, 2.46), (v3b * m3b));
m3d = m3a; m3d += m3b; put2("matrix binary +=", edit_matrix(m3s), edit_matrix(m3d));
m3d = m3a; m3d -= m3b; put2("matrix binary +=", edit_matrix(m3t), edit_matrix(m3d));
m3d = m3a; m3d *= 2; put2("matrix binary +=", edit_matrix(m3u), edit_matrix(m3d));
// TQuaternion
Quaternionf q1 = new Quaternionf(1.0f, 2.0f, 3.0f, 4.0f);
Quaternionf q2 = new Quaternionf(5.0f, 6.0f, 7.0f, 8.0f);
Vec3f qv1 = new Vec3f(1.0f, 2.0f, 3.0f);
Matrix3f qm1 = new Matrix3f(1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f);
Quaternionf qr = new Quaternionf(-60.0f, 12.0f, 30.0f, 24.0f);
Vec3f qvs = new Vec3f(54f, 60f, 78f);
Matrix3f qmt = new Matrix3f(150f, 156f, 162f, 120f, 150f, 180, 150f, 192f, 234f);
put2("quaternion binary *", edit_quaternion(qr), edit_quaternion(q1 * q2));
put2("quaternion binary *", edit_vector(qvs), edit_vector(q1 * qv1));
put2("quaternion binary *", edit_matrix(qmt), edit_matrix(q1 * qm1));
// TPose
Posef pp1 = new Posef(1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f);
Posef pp2 = new Posef(7.0f, 6.0f, 5.0f, 4.0f, 3.0f, 2.0f, 1.0f);
Vec3f pv1 = new Vec3f(1.0f, 2.0f, 3.0f);
Posef pr1 = new Posef(-36.0f, 12.0f, 42.0f, 24.0f, -25.0f, 66.0f, 97.0f);
put2("pose binary *", edit_pose(pr1), edit_pose(pp1 * pp2));
put2("pose binary *", "(59, 66, 85)", (pp1 * pv1));
// indexing
System.Console.WriteLine("");
Vec3f v31 = new Vec3f(0.1f, 0.2f, 0.3f);
Vec3f v32 = new Vec3f(1.0f, 1.0f, 1.0f);
Vec3f v3e = v31 + v32;
for (int i = 0; i < 3; i++)
{
v31[i] += v32[i];
}
put("indexing []", edit_vector(v3e), edit_vector(v31));
Matrix3f m31 = new Matrix3f(0.1f, 0.2f, 0.3f, 0.4f, 0.5f, 0.6f, 0.7f, 0.8f, 0.9f);
Matrix3f m32 = new Matrix3f(1.0f, 1.0f, 1.0f, 2.0f, 2.0f, 2.0f, 3.0f, 3.0f, 3.0f);
Matrix3f m3e = m31 + m32;
put("indexing [] ref", "(0.1, 0.2, 0.3)", edit_vector(m31[0]));
put(" ref", "(0.4, 0.5, 0.6)", edit_vector(m31[1]));
put(" ref", "(0.7, 0.8, 0.9)", edit_vector(m31[2]));
for (int i = 0; i < 3; i++)
{
m31[i] += v32;
}
for (int i = 1; i < 3; i++)
{
m31[i] += v32;
}
for (int i = 2; i < 3; i++)
{
m31[i] += v32;
}
put2("indexing [] set", edit_matrix(m3e), edit_matrix(m31));
}
ImmutableArray<Bone> LoadBones(Ibasa.IO.BinaryReader reader, int count)
{
long offset = reader.BaseStream.Position;
Bone[] bones = new Bone[count];
for (int i = 0; i < count; ++i)
{
reader.BaseStream.Position = offset;
long nameOffset = offset + reader.ReadInt32();
int parent = reader.ReadInt32();
ImmutableArray<int> boneControllers = new ImmutableArray<int>(new int[] {
reader.ReadInt32(),reader.ReadInt32(),reader.ReadInt32(),
reader.ReadInt32(),reader.ReadInt32(),reader.ReadInt32()});
Vector3f position = new Vector3f(reader.ReadSingle(), reader.ReadSingle(), reader.ReadSingle());
Quaternionf quaternion = new Quaternionf(reader.ReadSingle(), reader.ReadSingle(), reader.ReadSingle(), reader.ReadSingle());
Vector3f rotation = new Vector3f(reader.ReadSingle(), reader.ReadSingle(), reader.ReadSingle());
Vector3f positionScale = new Vector3f(reader.ReadSingle(), reader.ReadSingle(), reader.ReadSingle());
Vector3f rotationScale = new Vector3f(reader.ReadSingle(), reader.ReadSingle(), reader.ReadSingle());
Matrix4x4f poseToBone = new Matrix4x4f(
reader.ReadSingle(), reader.ReadSingle(), reader.ReadSingle(), reader.ReadSingle(),
reader.ReadSingle(), reader.ReadSingle(), reader.ReadSingle(), reader.ReadSingle(),
reader.ReadSingle(), reader.ReadSingle(), reader.ReadSingle(), reader.ReadSingle(),
0, 0, 0, 1);
Quaternionf alignment = new Quaternionf(reader.ReadSingle(), reader.ReadSingle(), reader.ReadSingle(), reader.ReadSingle());
int flags = reader.ReadInt32();
int procType = reader.ReadInt32();
int procIndex = reader.ReadInt32();
int physicsBone = reader.ReadInt32();
int surfacePropIdx = reader.ReadInt32();
int contents = reader.ReadInt32();
reader.Seek(8 * 4, SeekOrigin.Current); //skip 8 ints
offset = reader.BaseStream.Position;
reader.BaseStream.Position = nameOffset;
string name = LoadString(reader);
bones[i] = new Bone(name, parent, boneControllers, position, quaternion, rotation,
positionScale, rotationScale, poseToBone, alignment, flags,
procType, procIndex, physicsBone, surfacePropIdx, contents);
}
return new ImmutableArray<Bone>(bones);
}
