/// <summary>
/// Defines the view matrix with an eye position, a look at point and an up vector.
/// This method is equivalent to the OpenGL function gluLookAt.
/// If Up is a zero vector a default up vector is calculated with a default
/// look-right vector (VZ) that lies in the x-z plane.
/// </summary>
/// <param name="Eye">Eye Vector to the position of the eye (view point)</param>
/// <param name="At">At Vector to the target point</param>
/// <param name="Up">Up Vector that points from the viewpoint upwards.</param>
public void LookAt(SLVec3f Eye, SLVec3f At, SLVec3f Up)
{
SLVec3f VX, VY, VZ, VT, ZERO;
//SLMat3<T> xz(0.0, 0.0, 1.0, // matrix that transforms YZ into a
// 0.0, 0.0, 0.0, // vector that is perpendicular to YZ and
// -1.0, 0.0, 0.0); // lies in the x-z plane
VZ = Eye - At;
VZ.Normalize();
VX = new SLVec3f();
ZERO = new SLVec3f();
if (Up == ZERO)
{
VX.x = VZ.z;
VX.y = 0;
VX.z = -1 * VZ.x;
}
else
{
VX = Up.Cross(VZ);
}
VY = SLVec3f.CrossProduct(VZ, VX);
VX.Normalize();
VY.Normalize();
VZ.Normalize();
VT = -Eye;
Set(VX.x, VX.y, VX.z, SLVec3f.DotProduct(VX, VT),
VY.x, VY.y, VY.z, SLVec3f.DotProduct(VY, VT),
VZ.x, VZ.y, VZ.z, SLVec3f.DotProduct(VZ, VT),
0.0f, 0.0f, 0.0f, 1.0f);
}
public void SetZNormal()
{
VX = myEndXAxis - myOrigin;
if (IsSameDbl(VX.Length, 0))
{
return;
}
VX.Normalise();
VY = myEndYAxis - myOrigin;
if (IsSameDbl(VY.Length, 0))
{
return;
}
VY.Normalise();
VZ = VX.Cross(VY);
if (IsSameDbl(VZ.Length, 0))
{
return;
}
VZ.Normalise();
VY = VZ.Cross(VX);
if (IsSameDbl(VY.Length, 0))
{
return;
}
VY.Normalise();
}
new public string ToXML()
{
string s = xmlStartTag;
s += "<VX>" + VX.ToString();
s += "</VX><VY>" + VY.ToString();
s += "</VY><VZ>" + VZ.ToString() + "</VZ>";
s += xmlEndTag;
return(s);
}
public override string ToString()
{
string stroka = "";
stroka = n.ToString() + " ";
foreach (double M in m)
{
stroka += M.ToString() + " ";
}
foreach (double X in x)
{
stroka += X.ToString() + " ";
}
foreach (double Y in y)
{
stroka += Y.ToString() + " ";
}
foreach (double Z in z)
{
stroka += Z.ToString() + " ";
}
foreach (double VX in vx)
{
stroka += VX.ToString() + " ";
}
foreach (double VY in vy)
{
stroka += VY.ToString() + " ";
}
foreach (double VZ in vz)
{
stroka += VZ.ToString() + " ";
}
stroka = stroka + "\n";
return(String.Format("{0}", stroka));
}
public void Load(System.IO.StreamReader sr)
{
clsPoint3d p1;
//var version = myPGLoadedVersion.Split('.');
//var nLoadedVersionMajor = version.Count() >= 1 ? Convert.ToInt32(version[0]) : 0;
//var nLoadedVersionMinor = version.Count() >= 2 ? Convert.ToInt32(version[1]) : 0;
while (sr.EndOfStream == false)
{
var myLine = sr.ReadLine();
if (myLine == "END_MARKER_POINT_SETTINGS")
{
break;
}
if (myLine.IndexOf(",") > -1)
{
var mySplit = myLine.Split(',');
if (mySplit.GetUpperBound(0) == 1)
{
if (mySplit[0] == "MarkerID")
{
myMarkerID = Convert.ToInt32(mySplit[1]);
}
if (mySplit[0] == "SeenFromMarkerID")
{
mySeenFromMarkerID = Convert.ToInt32(mySplit[1]);
}
if (mySplit[0] == "SeenFromMarkerIDs")
{
mySeenFromMarkerIDs.Add(Convert.ToInt32(mySplit[1]));
}
if (mySplit[0] == "ActualMarkerID")
{
myActualMarkerID = Convert.ToInt32(mySplit[1]);
}
if (mySplit[0] == "VerticalVectorX")
{
if (myVerticalVect == null)
{
myVerticalVect = new clsPoint3d();
}
myVerticalVect.X = Convert.ToDouble(mySplit[1]);
}
if (mySplit[0] == "VerticalVectorY")
{
if (myVerticalVect == null)
{
myVerticalVect = new clsPoint3d();
}
myVerticalVect.Y = Convert.ToDouble(mySplit[1]);
}
if (mySplit[0] == "VerticalVectorZ")
{
if (myVerticalVect == null)
{
myVerticalVect = new clsPoint3d();
}
myVerticalVect.Z = Convert.ToDouble(mySplit[1]);
}
if (mySplit[0] == "BulkheadHeight")
{
BulkheadHeight = Convert.ToDouble(mySplit[1]);
}
if (mySplit[0] == "Confirmed")
{
_confirmed = (mySplit[1] == "1");
}
}
}
}
if (mySeenFromMarkerIDs.Contains(mySeenFromMarkerID) == false)
{
mySeenFromMarkerIDs.Add(mySeenFromMarkerID);
}
myOrigin.Load(sr);
myEndXAxis.Load(sr);
myEndYAxis.Load(sr);
myPoint.Load(sr);
VX.Load(sr);
VY.Load(sr);
VZ.Load(sr);
var n = Convert.ToInt32(sr.ReadLine());
for (var i = 1; i <= n; i++)
{
p1 = new clsPoint3d();
p1.Load(sr);
myCameraPoints.Add(p1);
}
n = Convert.ToInt32(sr.ReadLine());
for (var i = 1; i <= n; i++)
{
p1 = new clsPoint3d();
p1.Load(sr);
mySeenFromCameraPoints.Add(p1);
}
n = Convert.ToInt32(sr.ReadLine());
for (var i = 1; i <= n; i++)
{
p1 = new clsPoint3d();
p1.Load(sr);
myPts1.Add(p1);
}
n = Convert.ToInt32(sr.ReadLine());
for (var i = 1; i <= n; i++)
{
p1 = new clsPoint3d();
p1.Load(sr);
myPts2.Add(p1);
}
n = Convert.ToInt32(sr.ReadLine());
for (var i = 1; i <= n; i++)
{
p1 = new clsPoint3d();
p1.Load(sr);
myPts3.Add(p1);
}
n = Convert.ToInt32(sr.ReadLine());
for (var i = 1; i <= n; i++)
{
p1 = new clsPoint3d();
p1.Load(sr);
GyroData.Add(p1);
}
n = Convert.ToInt32(sr.ReadLine());
for (var i = 1; i <= n; i++)
{
p1 = new clsPoint3d();
p1.Load(sr);
LastGyroData.Add(p1);
}
n = Convert.ToInt32(sr.ReadLine());
for (var i = 1; i <= n; i++)
{
p1 = new clsPoint3d();
p1.Load(sr);
AccelData.Add(p1);
}
n = Convert.ToInt32(sr.ReadLine());
for (var i = 1; i <= n; i++)
{
p1 = new clsPoint3d();
p1.Load(sr);
LastAccelData.Add(p1);
}
n = Convert.ToInt32(sr.ReadLine());
for (var i = 1; i <= n; i++)
{
var myHistoricPoint = new clsMarkerPoint();
myHistoricPoint.Load(sr);
myHistory.Add(myHistoricPoint);
}
}
public void Save(System.IO.StreamWriter sw)
{
sw.WriteLine("MARKER_POINT_SETTINGS");
sw.WriteLine("MarkerID," + myMarkerID.ToString());
sw.WriteLine("SeenFromMarkerID," + mySeenFromMarkerID.ToString());
sw.WriteLine("ActualMarkerID," + myActualMarkerID.ToString());
if (myVerticalVect != null)
{
sw.WriteLine("VerticalVectorX," + myVerticalVect.X.ToString());
sw.WriteLine("VerticalVectorY," + myVerticalVect.Y.ToString());
sw.WriteLine("VerticalVectorZ," + myVerticalVect.Z.ToString());
}
sw.WriteLine("BulkheadHeight," + BulkheadHeight.ToString());
foreach (int myID in mySeenFromMarkerIDs)
{
sw.WriteLine("SeenFromMarkerIDs," + myID.ToString());
}
sw.WriteLine("Confirmed," + (_confirmed ? "1" : "0"));
sw.WriteLine("END_MARKER_POINT_SETTINGS");
myOrigin.Save(sw);
myEndXAxis.Save(sw);
myEndYAxis.Save(sw);
myPoint.Save(sw);
VX.Save(sw);
VY.Save(sw);
VZ.Save(sw);
sw.WriteLine(myCameraPoints.Count);
foreach (clsPoint3d p1 in myCameraPoints)
{
p1.Save(sw);
}
sw.WriteLine(mySeenFromCameraPoints.Count);
foreach (clsPoint3d p1 in mySeenFromCameraPoints)
{
p1.Save(sw);
}
sw.WriteLine(myPts1.Count);
foreach (clsPoint3d p1 in myPts1)
{
p1.Save(sw);
}
sw.WriteLine(myPts2.Count);
foreach (clsPoint3d p1 in myPts2)
{
p1.Save(sw);
}
sw.WriteLine(myPts3.Count);
foreach (clsPoint3d p1 in myPts3)
{
p1.Save(sw);
}
sw.WriteLine(GyroData.Count);
for (int i = 0; i < GyroData.Count; i++)
{
GyroData[i].Save(sw);
}
sw.WriteLine(LastGyroData.Count);
for (int i = 0; i < LastGyroData.Count; i++)
{
LastGyroData[i].Save(sw);
}
sw.WriteLine(AccelData.Count);
for (int i = 0; i < AccelData.Count; i++)
{
AccelData[i].Save(sw);
}
sw.WriteLine(LastAccelData.Count);
for (int i = 0; i < LastAccelData.Count; i++)
{
LastAccelData[i].Save(sw);
}
sw.WriteLine(myHistory.Count);
foreach (clsMarkerPoint myHistoricPoint in myHistory)
{
myHistoricPoint.Save(sw);
}
}
