public static void CreateFromAxisAngle(Vector3d axis, double angle, out SCNMatrix4 result)
{
double cos = System.Math.Cos(-angle);
double sin = System.Math.Sin(-angle);
double t = 1.0f - cos;
axis.Normalize();
result = new SCNMatrix4((pfloat)(t * axis.X * axis.X + cos), (pfloat)(t * axis.X * axis.Y - sin * axis.Z), (pfloat)(t * axis.X * axis.Z + sin * axis.Y), (pfloat)(0.0f),
(pfloat)(t * axis.X * axis.Y + sin * axis.Z), (pfloat)(t * axis.Y * axis.Y + cos), (pfloat)(t * axis.Y * axis.Z - sin * axis.X), (pfloat)0.0f,
(pfloat)(t * axis.X * axis.Z - sin * axis.Y), (pfloat)(t * axis.Y * axis.Z + sin * axis.X), (pfloat)(t * axis.Z * axis.Z + cos), (pfloat)0.0f,
0, 0, 0, 1);
}
public Vector3 UnProject(float[] winxyz, float[] model, float[] proj, int[] viewport)
{
global::OpenTK.Matrix4d projection;
global::OpenTK.Matrix4d modelview;
int[] _viewport = new int[4];
if (model != null && proj != null && viewport != null)
{
throw new Exception("BUG");
}
else
{
GL.GetDouble(GetPName.ProjectionMatrix, out projection);
GL.GetDouble(GetPName.ModelviewMatrix, out modelview);
GL.GetInteger(GetPName.Viewport, _viewport);
}
global::OpenTK.Vector3d obj=new global::OpenTK.Vector3d();
Imgui.Glu.UnProject(new global::OpenTK.Vector3d((double)winxyz[0], (double)winxyz[1], (double)winxyz[2]), modelview, projection, _viewport, ref obj);
if (double.IsNaN(obj.X))
throw new Exception("NaN");
return new Vector3((float)obj.X,(float)obj.Y,(float)obj.Z);
}
public float[] GetRasterPosition(float[] pos3d)
{
global::OpenTK.Matrix4d projection;
global::OpenTK.Matrix4d modelview;
int[] viewport = new int[4];
GL.GetDouble(GetPName.ProjectionMatrix, out projection);
GL.GetDouble(GetPName.ModelviewMatrix, out modelview);
GL.GetInteger(GetPName.Viewport, viewport);
global::OpenTK.Vector3d win=new global::OpenTK.Vector3d();
Imgui.Glu.Project(new global::OpenTK.Vector3d((double)pos3d[0], (double)pos3d[1], (double)pos3d[2]), modelview, projection, viewport, ref win);
return new float[] { (float)win.X, (float)win.Y, (float)win.Z };
}