public void Drag(Vector2d pt)
{
edPt = pt;
edVec = MapToSphere(pt);
double epsilon = 1.0e-5;
Vector3d prep = stVec.Cross(edVec);
if (prep.Length() > epsilon)
quat = new Vector4d(prep, stVec.Dot(edVec));
else
quat = new Vector4d();
}
public static Matrix3d QuatToMatrix3d(Vector4d q)
{
double n = q.Dot(q);
double s = (n > 0.0) ? (2.0 / n) : 0.0f;
double xs, ys, zs;
double wx, wy, wz;
double xx, xy, xz;
double yy, yz, zz;
xs = q.x * s; ys = q.y * s; zs = q.z * s;
wx = q.w * xs; wy = q.w * ys; wz = q.w * zs;
xx = q.x * xs; xy = q.x * ys; xz = q.x * zs;
yy = q.y * ys; yz = q.y * zs; zz = q.z * zs;
Matrix3d m = new Matrix3d();
m[0,0] = 1.0 - (yy + zz); m[1,0] = xy - wz; m[2,0] = xz + wy;
m[0,1] = xy + wz; m[1,1] = 1.0 - (xx + zz); m[2,1] = yz - wx;
m[0,2] = xz - wy; m[1,2] = yz + wx; m[2,2] = 1.0 - (xx + yy);
return m;
}
public Matrix4d OuterCross(Vector4d v)
{
Matrix4d m = new Matrix4d();
m[0, 0] = x * v.x;
m[0, 1] = x * v.y;
m[0, 2] = x * v.z;
m[0, 3] = x * v.w;
m[1, 0] = y * v.x;
m[1, 1] = y * v.y;
m[1, 2] = y * v.z;
m[1, 3] = y * v.w;
m[2, 0] = z * v.x;
m[2, 1] = z * v.y;
m[2, 2] = z * v.z;
m[2, 3] = z * v.w;
m[3, 0] = w * v.x;
m[3, 1] = w * v.y;
m[3, 2] = w * v.z;
m[3, 3] = w * v.w;
return m;
}
public double Dot(Vector4d v)
{
return x*v.x + y*v.y + z*v.z + w*v.w;
}
public static Vector4d Min(Vector4d v1, Vector4d v2)
{
return new Vector4d(
(v1.x < v2.x) ? v1.x : v2.x,
(v1.y < v2.y) ? v1.y : v2.y,
(v1.z < v2.z) ? v1.z : v2.z,
(v1.w < v2.w) ? v1.w : v2.w
);
}
public static Vector4d Max(Vector4d v1, Vector4d v2)
{
return new Vector4d(
(v1.x > v2.x) ? v1.x : v2.x,
(v1.y > v2.y) ? v1.y : v2.y,
(v1.z > v2.z) ? v1.z : v2.z,
(v1.w > v2.w) ? v1.w : v2.w
);
}
public void End()
{
quat = new Vector4d();
type = MotionType.None;
}
public void Transform(Matrix4d tran)
{
for (int i=0,j=0; i<vertexCount; i++,j+=3)
{
Vector4d v = new Vector4d(vertexPos[j], vertexPos[j + 1], vertexPos[j + 2], 1.0);
v = tran * v;
vertexPos[j] = v.x;
vertexPos[j+1] = v.y;
vertexPos[j+2] = v.z;
}
}
protected override void OnMouseMove(MouseEventArgs e)
{
base.OnMouseMove(e);
this.currMousePosition = new Vector2d(e.X, this.Height - e.Y);
if (currMeshRecord == null) return;
switch (Program.currentMode)
{
case Program.EnumOperationMode.Viewing:
switch (e.Button)
{
case MouseButtons.Left: ball.Drag(currMousePosition); break;
case MouseButtons.Middle: ball.Drag(currMousePosition / this.scaleRatio); break;
case MouseButtons.Right: ball.Drag(currMousePosition); break;
}
this.Refresh();
break;
case Program.EnumOperationMode.Selection:
if (isMouseDown)
this.Refresh();
break;
case Program.EnumOperationMode.Sketching:
if (e.Button == MouseButtons.Left && currMeshRecord.CrossBoundaryBrushes != null)
{
if ((currMousePosition - prevMousePosition).Length() > 1)
{
this.strokeScreenPos.Add(currMousePosition);
prevMousePosition.x = currMousePosition.x;
prevMousePosition.y = currMousePosition.y;
}
this.Refresh();
}
break;
case Program.EnumOperationMode.Moving:
if (isMouseDown)
{
Vector2d p = currMousePosition - new Vector2d(projectedCenter.x, projectedCenter.y);
int d = 0;
p.x += 100;
p.y += 100;
switch (e.Button)
{
case MouseButtons.Right: movingBall.Drag(p); break;
case MouseButtons.Left: movingBall.Drag(p / this.scaleRatio); d = 1; break;
case MouseButtons.Middle: movingBall.Drag(p); break;
}
Matrix4d currInverseTransformation = this.currTransformation.Inverse();
Matrix4d tran = currInverseTransformation * this.movingBall.GetMatrix() * currTransformation;
//Matrix4d tran = currTransformation * this.movingBall.GetMatrix() * currInverseTransformation;
double[] pos = this.currMeshRecord.Mesh.VertexPos;
for (int i = 0; i < handleIndex.Count; i++)
{
int j = handleIndex[i] * 3;
Vector4d q = new Vector4d((Vector3d)this.oldHandlePos[i], d);
q = tran * (q - this.handleCenter) + this.handleCenter;
pos[j] = q.x;
pos[j + 1] = q.y;
pos[j + 2] = q.z;
}
this.Refresh();
}
break;
}
}
private void SortFaces()
{
Mesh m = currMeshRecord.Mesh;
Matrix4d tran = ball.GetMatrix() * currTransformation;
//sort faces
FaceDepth[] d = new FaceDepth[m.FaceCount];
for (int i = 0; i < m.FaceCount; i++)
{
Vector4d v = new Vector4d(new Vector3d(m.DualVertexPos, i * 3), 1.0);
v = tran * v;
d[i] = new FaceDepth(i, v.z);
}
Array.Sort(d);
faceDepth = new int[m.FaceCount];
for (int i = 0; i < m.FaceCount; i++)
faceDepth[i] = d[i].index;
}
public static Vector4d operator *(Matrix4d m, Vector4d v)
{
Vector4d ret = new Vector4d();
ret.x = m[0]*v.x + m[1]*v.y + m[2]*v.z + m[3]*v.w;
ret.y = m[4]*v.x + m[5]*v.y + m[6]*v.z + m[7]*v.w;
ret.z = m[8]*v.x + m[9]*v.y + m[10]*v.z + m[11]*v.w;
ret.w = m[12]*v.x + m[13]*v.y + m[14]*v.z + m[15]*v.w;
return ret;
}
public Matrix4d(Vector4d u, Vector4d v, Vector4d w, Vector4d x)
{
for (int i = 0; i < row_size; i++)
{
this[i, 0] = u[i];
this[i, 1] = v[i];
this[i, 2] = w[i];
this[i, 3] = x[i];
}
}