public void translate(point3 translation)
{
for (int i = 0; i < verts.Length; i++)
{
verts[i] = Matrix.add(verts[i], translation);
}
}
public point3 translatePoint(point3 point, int side)
{
switch (side)
{
case 0:
return(new point3(point.x, point.y + 1, point.z));
case 1:
return(new point3(point.x, point.y - 1, point.z));
case 2:
return(new point3(point.x, point.y, point.z + 1));
case 3:
return(new point3(point.x + 1, point.y, point.z));
case 4:
return(new point3(point.x, point.y, point.z - 1));
case 5:
return(new point3(point.x - 1, point.y, point.z));
default:
return(null);
}
}
public void rotate(double angle, byte dir)
{
//Rotate about centerpoint of the shape: translate the center of our shape to the origin, rotate, translate back.
float cosAngle = (float)Math.Cos(angle);
float sinAngle = (float)Math.Sin(angle);
Matrix rotMtrx = null;
point3 startCoords = verts[0];
translate(new Mesh.point3(-startCoords.x, -startCoords.y, -startCoords.z));
#region rotations
/* Rotate about X Axis {{1,0, 0},
* {0, cosAngle,sinAngle*100},
* {0, -sinAngle/100, cosAngle}}, 3, 3);
*
*
* Rotate about Y Axis {{cosAngle,0,-sinAngle*100},
* {0, 1, 0},
* {sinAngle, 0, cosAngle}}, 3, 3);
* Rotate about Z axis
* {{cosAngle,-sinAngle,0},
* {sinAngle, cosAngle,0},
* {0, 0, 1}},3,3);
*/
#endregion
int x = Environment.TickCount;
if (dir == 0)
{
rotMtrx = new Matrix(new float[, ] {
{ 1, 0, 0 },
{ 0, cosAngle, sinAngle * 100 },
{ 0, -sinAngle / 100, cosAngle }
}, 3, 3);
}
else if (dir == 1)
{
rotMtrx = new Matrix(new float[, ] {
{ cosAngle, 0, -sinAngle * 100 },
{ 0, 1, 0 },
{ sinAngle / 100, 0, cosAngle }
}, 3, 3);
}
else
{
rotMtrx = new Matrix(new float[, ] {
{ cosAngle, -sinAngle, 0 },
{ sinAngle, cosAngle, 0 },
{ 0, 0, 1 }
}, 3, 3);
}
x = Environment.TickCount - x;
for (int i = 0; i < vertCount; i++)
{
verts[i] = rotMtrx.multiply(verts[i]);
}
translate(new Mesh.point3(startCoords.x, startCoords.y, startCoords.z));
}
public Mesh(point3[] meshVerts, triangle[] meshFaces, point2[] meshUvs, Material[] mtls = null)
{
verts = meshVerts;
vertCount = verts.Length;
faces = meshFaces;
faceCount = faces.Length;
uvVerts = meshUvs;
matIDs = mtls;
}
public point3 Vector2Point(Vector3 _v3)
{
point3 p = new point3();
p.x = _v3.x;
p.y = _v3.y;
p.z = _v3.z;
return(p);
}
void generateInitialPopulation()
{
// int initialStrutID = 1000;
// Use this for initialization
// int identityStrut = initialStrutID;
// int currentStrut;
for (int i = 0; i < populationSize; i++)
{
bluePrint robot;
string[] chromosomes = new string[numberOfUnits - 1];
string ID = "B" + i;
//sr.WriteLine (ID);
// string[] IDList = new string[numberOfUnits];
// int originID = 5000;
robot = new bluePrint(ID);
int originUnitType = UnityEngine.Random.Range(0, maxValueOfUnit + 1);
functionalUnit origin = new functionalUnit("5000", new point3(0, 0, 0));
robot.unitArray.Add(origin);
for (int j = 0; j < numberOfUnits - 1; j++)
{
int id = 5001 + j;
int side = UnityEngine.Random.Range(0, 6);
int connectObject = 5000 + UnityEngine.Random.Range(0, j + 1);
functionalUnit con = robot.getUnit("" + connectObject);
point3 newPoint = translatePoint(con.location, side);
while (robot.unitAreaOccupied(newPoint))
{
side = UnityEngine.Random.Range(0, 6);
connectObject = 5000 + UnityEngine.Random.Range(0, j + 1);
con = robot.getUnit("" + connectObject);
newPoint = translatePoint(con.location, side);
}
robot.unitArray.Add(new functionalUnit("" + id, newPoint));
int unitType = UnityEngine.Random.Range(0, maxValueOfUnit + 1);
string chromosome = connectObject + "," + id + "," + originUnitType + "," + unitType + "," + side;
chromosomes [j] = chromosome;
}
robot.chromosomes = chromosomes;
currentPopulation [i] = robot;
}
}
public void translate(point3 translation)
{
for (int i = 0; i < verts.Length; i++)
{
verts[i] = Matrix.add(verts[i], translation);
}
}
public void CameraRender(PointF borderx, PointF bordexy)
{
int h = pictureBox2.Image.Height;
int w = pictureBox2.Image.Width;
double xstep = double.Parse(textBox5.Text);
double ystep = xstep;
var YMax = new int[w];
var YMin = new int[w];
for (int i = 0; i < w; i++)
{
YMax[i] = -1;
YMin[i] = pictureBox2.Height;
}
for (double x = borderx.X; x <= borderx.Y; x += xstep)
{
var hor = new List <PointPol>();
for (double y = bordexy.X; y <= bordexy.Y; y += ystep)
{
hor.Add(PointToView(new PointPol(x, y, f(x, y))));
}
var cur_hor = new List <Point>();
foreach (PointPol p in hor)
{
point3 vp = ViewPortTranform(p);
cur_hor.Add(new Point((int)p.X, (int)p.Y));
}
cur_hor = cur_hor.OrderBy(p => p.X).ToList();
for (int i = 0; i < cur_hor.Count - 1; i++)
{
var line = Interpolate(cur_hor[i].X, cur_hor[i].Y, cur_hor[i + 1].X, cur_hor[i + 1].Y);
int index = -1;
for (int linex = cur_hor[i].X; linex < cur_hor[i + 1].X; ++linex)
{
index++;
if (linex >= 0 && linex < w && line[index] > YMax[linex])
{
YMax[linex] = line[index];
}
if (linex >= 0 && linex < w && line[index] < YMin[linex])
{
YMin[linex] = line[index];
}
}
}
for (int i = 0; i < w - 1; i++)
{
if (YMax[i] >= 0 && YMax[i] < h && YMax[i + 1] >= 0 && YMax[i + 1] < h)
{
g2.DrawLine(new Pen(Color.Green), new Point(i, YMax[i]), new Point(i + 1, YMax[i + 1]));
}
if (YMin[i] <= h && YMax[i] < pictureBox2.Width && YMin[i + 1] < h && YMin[i + 1] < pictureBox2.Width)
{
g2.DrawLine(new Pen(Color.GreenYellow), new Point(i, YMin[i]), new Point(i + 1, YMin[i + 1]));
}
}
}
pictureBox2.Image = pictureBox2.Image;
}