public static void GetRotatedVector(this Quaternion quaternion, Point3D[] points)
{
Matrix3D matrix = new Matrix3D();
matrix.Rotate(quaternion);
MatrixTransform3D transform = new MatrixTransform3D(matrix);
transform.Transform(points);
}
//------------------------------------------------------
//
// Public Properties
//
//------------------------------------------------------
private static void MatrixPropertyChanged(DependencyObject d, DependencyPropertyChangedEventArgs e)
{
MatrixTransform3D target = ((MatrixTransform3D)d);
target.PropertyChanged(MatrixProperty);
}
public object Convert(object[] values, Type targetType, object parameter, CultureInfo culture)
{
var scale = (float)values[0];
var transform = (Numerics.Matrix4x4)values[1];
var tGroup = new Media3D.Transform3DGroup();
if (scale != 1)
{
var tform = new Media3D.ScaleTransform3D(scale, scale, scale);
tform.Freeze();
tGroup.Children.Add(tform);
}
if (!transform.IsIdentity)
{
var tform = new Media3D.MatrixTransform3D(transform.ToMatrix3D());
tform.Freeze();
tGroup.Children.Add(tform);
}
tGroup.Freeze();
return(tGroup);
}
/// <summary>
/// Action to make when the mouse move
/// </summary>
public void MouseMove()
{
try
{
if (targetModel != null)
{
// Definition of new matrix value
Matrix3D m3D = targetModel.Transform.Value;
m3D.OffsetX = BaseOffsetX + jMover.manipulator.TargetTransform.Value.OffsetX;
m3D.OffsetY = BaseOffsetY + jMover.manipulator.TargetTransform.Value.OffsetY;
m3D.OffsetZ = BaseOffsetZ + jMover.manipulator.TargetTransform.Value.OffsetZ;
MatrixTransform3D mt3D = new MatrixTransform3D(m3D);
//Sauvegarde des données dans le model
joint.Matrix[Session.CurrentSession.CurrentProject.CurrentModel3D.Animation.Tick] = m3D;
// TODO : Improve
//joint.Matrix.LerpMatrix(m3D);
Session.CurrentSession.CurrentProject.CurrentModel3D.ReplaceInContent(joint);
}
}
catch (Exception e)
{
Console.WriteLine(e.Message);
}
}
/// <summary>
/// Rotates the double vector around the angle in degrees
/// </summary>
public DoubleVector GetRotatedVector(Vector3D axis, double angle)
{
Matrix3D matrix = new Matrix3D();
matrix.Rotate(new Quaternion(axis, angle));
MatrixTransform3D transform = new MatrixTransform3D(matrix);
return new DoubleVector(transform.Transform(this.Standard), transform.Transform(this.Orth));
}
public UserControl1()
{
InitializeComponent();
ax3d = new AxisAngleRotation3D(new Vector3D(0, 2, 0), 1);
RotateTransform3D myRotateTransform = new RotateTransform3D(ax3d);
var ModelVisual3D = this.GetModel();
MatrixTransform3D mTransform = new MatrixTransform3D();
ModelVisual3D.Transform = myRotateTransform;
//model
////
}
private Tuple <Material, Media3D.Transform3D> LoadSkull()
{
var m = new VolumeTextureDiffuseMaterial();
var data = VolumeTextureRawDataMaterialCore.LoadRAWFile("male128x256x256.raw", 128, 256, 256);
m.Texture = ProcessData(data.VolumeTextures, data.Width, data.Height, data.Depth, out var transferMap);
m.Color = new Color4(0.6f, 0.6f, 0.6f, 1f);
m.TransferMap = transferMap;
m.Freeze();
var rotate = Matrix.RotationAxis(new Vector3(1, 0, 0), (float)Math.PI);
var transform = new Media3D.MatrixTransform3D(rotate.ToMatrix3D());
transform.Freeze();
return(new Tuple <Material, Media3D.Transform3D>(m, transform));
}
/// <summary>
/// Provides transform that will map one set of bounds to another
/// </summary>
public static MatrixTransform3D BoundsMapping(Cuboid sourceBounds, Cuboid destinationBounds)
{
Point3D graphMin = sourceBounds.minimum;
Point3D graphMax = sourceBounds.maximum;
Point3D modelMin = destinationBounds.minimum;
Point3D modelMax = destinationBounds.maximum;
double scaleX = (modelMax.X - modelMin.X) / (graphMax.X - graphMin.X);
double scaleY = (modelMax.Y - modelMin.Y) / (graphMax.Y - graphMin.Y);
double scaleZ = (modelMax.Z - modelMin.Z) / (graphMax.Z - graphMin.Z);
double offX = -graphMin.X * scaleX + modelMin.X;
double offY = -graphMin.Y * scaleY + modelMin.Y;
double offZ = -graphMin.Z * scaleZ + modelMin.Z;
Matrix3D transform = new Matrix3D(scaleX, 0, 0, 0, 0, scaleY, 0, 0,
0, 0, scaleZ, 0, offX, offY, offZ, 1);
MatrixTransform3D matrixTransform = new MatrixTransform3D(transform);
return matrixTransform;
}
private Tuple <Material, Media3D.Transform3D> LoadTeapot()
{
//var m = new VolumeTextureRawDataMaterial();
//m.Texture = VolumeTextureRawDataMaterialCore.LoadRAWFile("teapot256x256x178.raw", 256, 256, 178);
var m = new VolumeTextureDiffuseMaterial();
var data = VolumeTextureRawDataMaterialCore.LoadRAWFile("teapot256x256x178.raw", 256, 256, 178);
m.Texture = ProcessData(data.VolumeTextures, data.Width, data.Height, data.Depth, out var transferMap);
m.Color = new Color4(1, 1, 1, 0.4f);
m.TransferMap = transferMap;
m.Freeze();
var scale = Matrix.Scaling(2, 2, 178 / 256f * 2);
var rotate = Matrix.RotationAxis(new Vector3(1, 0, 0), (float)Math.PI);
var t = new Media3D.MatrixTransform3D((scale * rotate).ToMatrix3D());
t.Freeze();
return(new Tuple <Material, Media3D.Transform3D>(m, t));
}
private void Filter_FilterUpdate(object sender, EventArgs e)
{
Quaternion corrected = new Quaternion();
corrected.X = filter.Transform.Y;
corrected.Y = filter.Transform.Z;
corrected.Z = -filter.Transform.X;
corrected.W = filter.Transform.W;
var transform = new QuaternionRotation3D(corrected);
Application.Current.Dispatcher.BeginInvoke(System.Windows.Threading.DispatcherPriority.Normal, new Action(() =>
{
var rot = new RotateTransform3D();
rot.Rotation = transform;
Transform = new MatrixTransform3D(rot.Value);
this.PropertyChanged?.Invoke(this, new PropertyChangedEventArgs("Transform"));
}));
}
private Media3D.Transform3D GetTransform(float scale, Matrix4x4 transform)
{
var tGroup = new Media3D.Transform3DGroup();
if (scale != 1)
{
var tform = new Media3D.ScaleTransform3D(scale, scale, scale);
tform.Freeze();
tGroup.Children.Add(tform);
}
if (!transform.IsIdentity)
{
var tform = new Media3D.MatrixTransform3D(transform.ToMatrix3D());
tform.Freeze();
tGroup.Children.Add(tform);
}
tGroup.Freeze();
return(tGroup);
}
/// <summary>
/// Build a joint for drawing
/// </summary>
/// <param name="joint">Joint</param>
/// <returns>Joint created</returns>
private GeometryModel3D BuildJoint(Joint joint)
{
MeshBuilder jointBuilder = new MeshBuilder();
jointBuilder.AddSphere(new Point3D(0, 0, 0), jointDiameter, thetaDiv, 10);
GeometryModel3D jointModel = new GeometryModel3D(jointBuilder.ToMesh(), Materials.Red);
jointModel.SetName(joint.Name);
MatrixTransform3D transform = new MatrixTransform3D(joint.Matrix.ElementAtOrDefault(Session.CurrentSession.CurrentProject.CurrentModel3D.Animation.Tick));
jointModel.Transform = transform;
return jointModel;
}
/// <summary>
/// This overload will rotate arrays of different types. Just pass null if you don't have any of that type
/// </summary>
public static void GetRotatedVector(this Quaternion quaternion, Vector3D[] vectors, Point3D[] points, DoubleVector[] doubleVectors)
{
Matrix3D matrix = new Matrix3D();
matrix.Rotate(quaternion);
MatrixTransform3D transform = new MatrixTransform3D(matrix);
if (vectors != null)
{
transform.Transform(vectors);
}
if (points != null)
{
transform.Transform(points);
}
if (doubleVectors != null)
{
for (int cntr = 0; cntr < doubleVectors.Length; cntr++)
{
doubleVectors[cntr] = new DoubleVector(transform.Transform(doubleVectors[cntr].Standard), transform.Transform(doubleVectors[cntr].Orth));
}
}
}
/// <summary>
/// Rotates the model around its axis
/// </summary>
/// <param name="x">Rotation around the x-axis in degrees</param>
/// <param name="y">Rotation around the y-axis in degrees</param>
/// <param name="z">Rotation around the z-axis in degrees</param>
/// <param name="safe">True if too high values should be ignored, false otherwise</param>
public void rotate(double x, double y, double z, bool safe)
{
if(safe && (Math.Abs(x) > 20 || Math.Abs(y) > 20 || Math.Abs(z) > 20)) return; //ignore if safe is checked and any operation is > 50
MatrixTransform3D matrixTransform = new MatrixTransform3D();
matrixTransform.Matrix = CalculateRotationMatrix(x, y, z);
transformations.Children.Add(matrixTransform);
model3DGroup.Transform = transformations;
angle += z;
angle %= 360;
}
protected virtual void NewTransform()
{
if (lockCount != 0)
return;
Matrix3D m = new Matrix3D();
m.Scale(new Vector3D(ScaleX, ScaleY, ScaleZ));
m.Rotate(Rotation1);
m.Rotate(Rotation2);
m.Translate(new Vector3D(Position.X, Position.Y, Position.Z));
m.Rotate(Rotation3);
Transform = new MatrixTransform3D(m);
}
public void SetTransformMatrix(Matrix3D matrix)
{
MatrixTransform3D t3d = new MatrixTransform3D(matrix);
this.GetModel().Transform = t3d;
}
/// <summary>
/// Transforms from local to world coordinates.
/// </summary>
/// <param name="vector">
/// The vector (local coordinates).
/// </param>
/// <returns>
/// Transformed vector (world coordinates).
/// </returns>
protected Vector3D ToWorld(Vector3D vector)
{
var mat = Visual3DHelper.GetTransform(this);
var t = new MatrixTransform3D(mat);
return t.Transform(vector);
}
/// <summary>
/// Rotates the vector around the angle in degrees
/// </summary>
public static Vector3D GetRotatedVector(this Vector3D vector, Vector3D axis, double angle)
{
Matrix3D matrix = new Matrix3D();
matrix.Rotate(new Quaternion(axis, angle));
MatrixTransform3D transform = new MatrixTransform3D(matrix);
return transform.Transform(vector);
}
public DraggableGeometryModel3D()
: base()
{
this.dragTransform = new MatrixTransform3D(this.Transform.Value);
}
protected void UpdateGraphToWorld()
{
Point3D graphMin = (Point3D)GetValue(GraphMinProperty);
Point3D graphMax = (Point3D)GetValue(GraphMaxProperty);
double scaleX = (worldMax.X - worldMin.X) / (graphMax.X - graphMin.X);
double scaleY = (worldMax.Y - worldMin.Y) / (graphMax.Y - graphMin.Y);
double scaleZ = (worldMax.Z - worldMin.Z) / (graphMax.Z - graphMin.Z);
double offX = -graphMin.X * scaleX + worldMin.X;
double offY = -graphMin.Y * scaleY + worldMin.Y;
double offZ = -graphMin.Z * scaleZ + worldMin.Z;
Matrix3D transform = new Matrix3D(scaleX, 0, 0, 0, 0, scaleY, 0, 0,
0, 0, scaleZ, 0, offX, offY, offZ, 1);
MatrixTransform3D matrixTransform = new MatrixTransform3D();
matrixTransform.Matrix = transform;
SetValue(GraphToWorldProperty, matrixTransform);
}
public void SetLayer2D(Canvas canvas, MatrixTransform3D modelToWorld)
{
layer2D = new SharpDXLayer2D(canvas, this, modelToWorld);
}
/// <summary>
/// Construct a new display object.
/// </summary>
/// <param name="Key">The key it is stored at.</param>
/// <param name="pRenderer">The renderer which created it.</param>
internal Display(object Key, Renderer pRenderer)
{
// Store the renderer.
this.Renderer = pRenderer;
this.Key = Key;
// Identities.
HomographyTransform = new MatrixTransform3D();
// Create the model visual.
Viewport2DVisual3D = new Viewport2DVisual3D();
// Geom (create a texturemapped rectangle).
var pMeshGeometry3D = new MeshGeometry3D();
pMeshGeometry3D.Positions.Add(new Point3D(0, 0, 0));
pMeshGeometry3D.Positions.Add(new Point3D(0, 1, 0));
pMeshGeometry3D.Positions.Add(new Point3D(1, 0, 0));
pMeshGeometry3D.Positions.Add(new Point3D(1, 1, 0));
pMeshGeometry3D.TextureCoordinates.Add(new Point(0, 0));
pMeshGeometry3D.TextureCoordinates.Add(new Point(1, 0));
pMeshGeometry3D.TextureCoordinates.Add(new Point(0, 1));
pMeshGeometry3D.TextureCoordinates.Add(new Point(1, 1));
//pMeshGeometry3D.TextureCoordinates.Add(new Point(0, 1));
//pMeshGeometry3D.TextureCoordinates.Add(new Point(0, 0));
//pMeshGeometry3D.TextureCoordinates.Add(new Point(1, 1));
//pMeshGeometry3D.TextureCoordinates.Add(new Point(1, 0));
pMeshGeometry3D.TriangleIndices.Add(0);
pMeshGeometry3D.TriangleIndices.Add(2);
pMeshGeometry3D.TriangleIndices.Add(1);
pMeshGeometry3D.TriangleIndices.Add(2);
pMeshGeometry3D.TriangleIndices.Add(3);
pMeshGeometry3D.TriangleIndices.Add(1);
Viewport2DVisual3D.Geometry = pMeshGeometry3D;
// Create a visual brush which we apply to our material.
VisualBrush = new VisualBrush();
VisualBrush.Visual = Content;
// Create a material which wraps this brush.
var pDiffuse = new DiffuseMaterial();
pDiffuse.Brush = Brushes.White;
Viewport2DVisual3D.SetIsVisualHostMaterial(pDiffuse, true);
Viewport2DVisual3D.Material = new DiffuseMaterial(VisualBrush);
Viewport2DVisual3D.Visual = Content;
// Transform.
Viewport2DVisual3D.Transform = HomographyTransform;
}
/// <summary>
/// Transforms from world to local coordinates.
/// </summary>
/// <param name="worldPoint">
/// The point (world coordinates).
/// </param>
/// <returns>
/// Transformed vector (local coordinates).
/// </returns>
protected Point3D ToLocal(Point3D worldPoint)
{
var mat = Visual3DHelper.GetTransform(this);
mat.Invert();
var t = new MatrixTransform3D(mat);
return t.Transform(worldPoint);
}
// I copy the code in each of these overloads, rather than make a private method to increase speed
//TODO: I don't use these rotate extension methods anymore, but it would be worth testing whether to use this matrix transform, or use: new RotateTransform3D(new QuaternionRotation3D(quaternion))
public static Vector3D GetRotatedVector(this Quaternion quaternion, Vector3D vector)
{
Matrix3D matrix = new Matrix3D();
matrix.Rotate(quaternion);
MatrixTransform3D transform = new MatrixTransform3D(matrix);
return transform.Transform(vector);
}
/// <summary>
/// Transforms from local to world coordinates.
/// </summary>
/// <param name="point">
/// The point (local coordinates).
/// </param>
/// <returns>
/// Transformed point (world coordinates).
/// </returns>
protected Point3D ToWorld(Point3D point)
{
var mat = Visual3DHelper.GetTransform(this);
var t = new MatrixTransform3D(mat);
return t.Transform(point);
}
public SharpDXLayer2D(Canvas canvas, ViewportImage ViewportImage, MatrixTransform3D ModelToWorld)
{
this.canvas = canvas;
this.ModelToWorld = ModelToWorld;
this.ViewportImage = ViewportImage;
}
public PBRViewModel(IEffectsManager manager)
{
EffectsManager = manager;
this.Camera = new PerspectiveCamera {
Position = new Point3D(0, 60, 60), LookDirection = new Vector3D(0, -60, -60), UpDirection = new Vector3D(0, 1, 0)
};
var builder = new MeshBuilder();
builder.AddSphere(Vector3.Zero, 2);
SphereModel = builder.ToMesh();
var normalMap = TextureModel.Create(new System.Uri("TextureNoise1_dot3.dds", System.UriKind.RelativeOrAbsolute).ToString());
for (int i = -Row; i < Row; ++i)
{
for (int j = -Col; j < Col; ++j)
{
var m = new PBRMaterial()
{
AlbedoColor = albedoColor.ToColor4(),
RoughnessFactor = 1.0 / (2 * Row) * Math.Abs(i + Row),
MetallicFactor = 1.0 / (2 * Col) * Math.Abs(j + Col),
RenderEnvironmentMap = true,
EnableAutoTangent = true,
NormalMap = normalMap,
RenderShadowMap = true
};
materials.Add(m);
Models.Add(new MeshGeometryModel3D()
{
CullMode = SharpDX.Direct3D11.CullMode.Back,
Geometry = SphereModel,
Material = m,
IsThrowingShadow = true,
Transform = new Media3D.TranslateTransform3D(new Vector3D(i * 6, 0, j * 6))
});
}
}
builder = new MeshBuilder();
builder.AddSphere(Vector3.Zero, 8, 12, 12);
Model = builder.ToMesh();
Material = new PBRMaterial()
{
AlbedoColor = albedoColor.ToColor4(),
RenderEnvironmentMap = true,
AlbedoMap = TextureModel.Create("Engraved_Metal_COLOR.jpg"),
NormalMap = TextureModel.Create("Engraved_Metal_NORM.jpg"),
DisplacementMap = TextureModel.Create("Engraved_Metal_DISP.png"),
RoughnessMetallicMap = TextureModel.Create("Engraved_Metal_RMC.png"),
DisplacementMapScaleMask = new Vector4(0.1f, 0.1f, 0.1f, 0),
EnableAutoTangent = true, EnableTessellation = true, MaxDistanceTessellationFactor = 2, MinDistanceTessellationFactor = 4
};
ModelTransform = new Media3D.MatrixTransform3D(Matrix.Translation(0, 30, 0).ToMatrix3D());
builder = new MeshBuilder();
builder.AddBox(Vector3.Zero, 100, 0.5, 100);
var floorGeo = builder.ToMesh();
for (int i = 0; i < floorGeo.TextureCoordinates.Count; ++i)
{
floorGeo.TextureCoordinates[i] *= 5;
}
FloorModel = floorGeo;
FloorMaterial = new PBRMaterial()
{
AlbedoMap = TextureModel.Create("Wood_Planks_COLOR.jpg"),
NormalMap = TextureModel.Create("Wood_Planks_NORM.jpg"),
DisplacementMap = TextureModel.Create("Wood_Planks_DISP.png"),
RoughnessMetallicMap = TextureModel.Create("Wood_Planks_RMA.png"),
AmbientOcculsionMap = TextureModel.Create("Wood_Planks_RMA.png"),
DisplacementMapScaleMask = new Vector4(1f, 1f, 1f, 0),
RoughnessFactor = 0.8,
MetallicFactor = 0.2,
RenderShadowMap = true,
EnableAutoTangent = true,
};
FloorModelTransform = new Media3D.MatrixTransform3D(Matrix.Translation(0, -5, 0).ToMatrix3D());
}
void System.Windows.Markup.IComponentConnector.Connect(int connectionId, object target)
{
switch (connectionId)
{
case 1:
this.tbM11 = ((System.Windows.Controls.TextBox)(target));
return;
case 2:
this.tbM21 = ((System.Windows.Controls.TextBox)(target));
return;
case 3:
this.tbM31 = ((System.Windows.Controls.TextBox)(target));
return;
case 4:
this.tbM41 = ((System.Windows.Controls.TextBox)(target));
return;
case 5:
this.tbM12 = ((System.Windows.Controls.TextBox)(target));
return;
case 6:
this.tbM22 = ((System.Windows.Controls.TextBox)(target));
return;
case 7:
this.tbM32 = ((System.Windows.Controls.TextBox)(target));
return;
case 8:
this.tbM42 = ((System.Windows.Controls.TextBox)(target));
return;
case 9:
this.tbM13 = ((System.Windows.Controls.TextBox)(target));
return;
case 10:
this.tbM23 = ((System.Windows.Controls.TextBox)(target));
return;
case 11:
this.tbM33 = ((System.Windows.Controls.TextBox)(target));
return;
case 12:
this.tbM43 = ((System.Windows.Controls.TextBox)(target));
return;
case 13:
this.tbM14 = ((System.Windows.Controls.TextBox)(target));
return;
case 14:
this.tbM24 = ((System.Windows.Controls.TextBox)(target));
return;
case 15:
this.tbM34 = ((System.Windows.Controls.TextBox)(target));
return;
case 16:
this.tbM44 = ((System.Windows.Controls.TextBox)(target));
return;
case 17:
this.rbOrthographic = ((System.Windows.Controls.RadioButton)(target));
return;
case 18:
this.rbPerspective = ((System.Windows.Controls.RadioButton)(target));
return;
case 19:
this.btnApply = ((System.Windows.Controls.Button)(target));
#line 112 "..\..\MatrixTransformation.xaml"
this.btnApply.Click += new System.Windows.RoutedEventHandler(this.btnApply_Click);
#line default
#line hidden
return;
case 20:
this.myViewport = ((System.Windows.Controls.Viewport3D)(target));
return;
case 21:
this.myCameraMatrix = ((System.Windows.Media.Media3D.MatrixCamera)(target));
return;
case 22:
this.myTransform = ((System.Windows.Media.Media3D.MatrixTransform3D)(target));
return;
}
this._contentLoaded = true;
}
private void LoadFile()
{
loader = new CMOReader();
var obj3Ds = loader.Read("Sphere_Bot_test.cmo");
foreach (var group in loader.AnimationHierarchy)
{
var boneGroup = new BoneGroupModel3D();
var skeletonGroup = new BoneGroupModel3D();
foreach (var obj3D in group.Meshes)
{
if (obj3D.Geometry is BoneSkinnedMeshGeometry3D boneMesh)
{
var model = new BoneSkinMeshGeometryModel3D()
{
Geometry = obj3D.Geometry,
FrontCounterClockwise = false,
CullMode = CullMode.Back,
Material = obj3D.Material.ConvertToMaterial(),
IsThrowingShadow = true
};
boneGroup.Children.Add(model);
}
else if (obj3D.Geometry is MeshGeometry3D)
{
Models.Add(new MeshGeometryModel3D()
{
Geometry = obj3D.Geometry,
CullMode = CullMode.Back,
FrontCounterClockwise = false
});
}
}
var skeletonModel = new BoneSkinMeshGeometryModel3D()
{
Geometry = BoneSkinnedMeshGeometry3D.CreateSkeletonMesh(group.Bones, 0.1f),
CullMode = CullMode.Back,
Material = BoneMaterial,
PostEffects = "xray"
};
skeletonGroup.Children.Add(skeletonModel);
Models.Add(boneGroup);
BoneModels.Add(skeletonGroup);
BoneGroupsDictionary.Add(group.GUID, new List <BoneGroupModel3D>()
{
boneGroup, skeletonGroup
});
}
var diffuse = new MemoryStream();
using (var file = File.OpenRead(@"Sphere_Bot_Rusty_UVMap_color.png"))
{
file.CopyTo(diffuse);
}
var normal = new MemoryStream();
using (var file = File.OpenRead(@"Sphere_Bot_Rusty_UVMap_nmap.png"))
{
file.CopyTo(normal);
}
foreach (var group in Models)
{
if (group is GroupElement3D g)
{
foreach (var subModel in g.Children)
{
if (subModel is MaterialGeometryModel3D model)
{
var m = model.Material as PhongMaterial;
m.EmissiveColor = Colors.Black.ToColor4();
m.DiffuseMap = diffuse;
m.NormalMap = normal;
m.RenderShadowMap = true;
}
}
}
}
Animations = loader.UniqueAnimations.Keys.ToArray();
ModelTransform = new Media3D.MatrixTransform3D((Matrix.Scaling(10, 10, 10) * Matrix.RotationAxis(Vector3.UnitX, -(float)Math.PI / 2)).ToMatrix3D());
foreach (var group in loader.AnimationHierarchy)
{
foreach (var ani in group.Animations)
{
if (!keyframeUpdaters.ContainsKey(ani.Key))
{
keyframeUpdaters.Add(ani.Key, new List <KeyValuePair <Guid, KeyFrameUpdater> >());
}
keyframeUpdaters[ani.Key].Add(new KeyValuePair <Guid, KeyFrameUpdater>(group.GUID, new KeyFrameUpdater(ani.Value, group.Bones)));
}
}
}
/// <summary>
/// Translates (moves) the model in the 3D-space
/// </summary>
/// <param name="x">Movement in x-direction</param>
/// <param name="y">Movement in y-direction</param>
/// <param name="z">Movement in z-direction</param>
/// <param name="safe">True if too high values should be ignored, false otherwise</param>
public void translate(double x, double y, double z, bool safe)
{
if (safe && (x > 20 || y > 20 || z > 20))
{
return;
}
MatrixTransform3D matrixTransform = new MatrixTransform3D();
matrixTransform.Matrix = calculateTranslationMatrix(x, y, z);
double xtmp = offsetX + matrixTransform.Matrix.OffsetX;
double ytmp = offsetY + matrixTransform.Matrix.OffsetY;
double ztmp = offsetZ + matrixTransform.Matrix.OffsetZ;
if (!safe || (xtmp < Room.ROOM_X2 && xtmp > Room.ROOM_X1 && ytmp < Room.ROOM_Y2 && ytmp > Room.ROOM_Y1 && ztmp < Room.ROOM_Z2 && ztmp > Room.ROOM_Z1))
{
//######## right coordinates logic should be moved to room #####
if (xtmp >= lochX1 && xtmp <= lochX2 && ytmp <= lochY1 && ytmp >= lochY2)
{
rightCoords = true;
}
else rightCoords = false;
if (rightCoords || ztmp > Room.WALL_Z || !safe)
{
//######## right coordinates logic should be moved to room #####
offsetX += matrixTransform.Matrix.OffsetX;
offsetY += matrixTransform.Matrix.OffsetY;
offsetZ += matrixTransform.Matrix.OffsetZ;
transformations.Children.Add(matrixTransform);
model3DGroup.Transform = transformations;
}
}
//Console.WriteLine(offsetX + " " + offsetY + " " + offsetZ + " " + angle);
}
/// <summary>
/// Returns the transform or the inverse transform between this visual and the specified ancestor.
/// If inverse is requested but does not exist (if the transform is not invertible), null is returned.
/// </summary>
/// <param name="ancestor">Ancestor visual.</param>
/// <param name="inverse">Returns inverse if this argument is true.</param>
private GeneralTransform3D InternalTransformToAncestor(Visual3D ancestor, bool inverse)
{
Debug.Assert(ancestor != null);
// used to track if all the collected transforms on the way to the ancestor were valid
bool success = true;
DependencyObject g = this;
Visual3D lastVisual3D = null;
Matrix3D m = Matrix3D.Identity;
GeneralTransform3DGroup group = null;
// This while loop will walk up the visual tree until we encounter the ancestor.
// As it does so, it will accumulate the descendent->ancestor transform.
// In most cases, this is simply a matrix, though if we encounter a 2D node we need to
// transform from 3D out in to 2D and then back in to 3D and continue the parent walk.
// We will accumulate the current transform in a matrix until we encounter a 2D parent,
// at which point we will add the matrix's current value and the transform from 3D to 2D to 3D
// to the GeneralTransform3DGroup and continue to accumulate further transforms in the matrix again.
// At the end of this loop, we will have 0 or more transforms in the GeneralTransform3DGroup
// and the matrix which, if not identity, should be appended to the GeneralTransform3DGroup.
// If, as is commonly the case, this loop terminates without encountering a 2D parent
// we will simply use the Matrix3D.
while ((VisualTreeHelper.GetParent(g) != null) && (g != ancestor))
{
Visual3D gAsVisual3D = g as Visual3D;
if (gAsVisual3D != null)
{
Transform3D transform = gAsVisual3D.Transform;
if (transform != null)
{
transform.Append(ref m);
}
lastVisual3D = gAsVisual3D;
g = VisualTreeHelper.GetParent(gAsVisual3D);
}
else
{
if (group == null)
{
group = new GeneralTransform3DGroup();
}
group.Children.Add(new MatrixTransform3D(m));
m = Matrix3D.Identity;
// construct the 3D to 2D to 3D transform
Visual gAsVisual = g as Visual;
GeneralTransform3DTo2D transform3DTo2D = lastVisual3D.TransformToAncestor(gAsVisual);
// now find the 3D parent of the 2D object
Visual3D containing3DParent = VisualTreeHelper.GetContainingVisual3D(gAsVisual);
// if containing3DParent is null, then the ancestor parameter is not really an ancestor
// break out of the loop to allow it to fail
if (containing3DParent == null)
{
break;
}
GeneralTransform2DTo3D transform2DTo3D = gAsVisual.TransformToAncestor(containing3DParent);
// if either transform ends up being null then we don't have a transform
if (transform3DTo2D == null || transform2DTo3D == null)
{
// we don't want to break here because although we own't be able to create a valid transformation
// we also want to throw an exception if the ancestor passed in is not a valid ancestor. We then
// continue the tree walk to make sure.
success = false;
}
else
{
group.Children.Add(new GeneralTransform3DTo2DTo3D(transform3DTo2D, transform2DTo3D));
}
// the last visual3D found is where we continue the search
g = containing3DParent;
}
}
if (g != ancestor)
{
throw new System.InvalidOperationException(SR.Get(inverse ? SRID.Visual_NotADescendant : SRID.Visual_NotAnAncestor));
}
// construct the generaltransform3d to return and invert it if necessary
GeneralTransform3D finalTransform = null;
// if we successfully found a transform then we can create it here, otherwise finalTransform stays null
if (success)
{
if (group != null)
{
finalTransform = group;
}
else
{
finalTransform = new MatrixTransform3D(m);
}
if (inverse)
{
finalTransform = finalTransform.Inverse;
}
}
if (finalTransform != null)
{
finalTransform.Freeze();
}
return finalTransform;
}
public static Rect3D TransformBy(this Rect3D rect, Matrix3D matrix3d)
{
MatrixTransform3D m3d = new MatrixTransform3D(matrix3d);
return m3d.TransformBounds(rect);
}
/// <summary>
/// The sort children.
/// </summary>
private void SortChildren()
{
var vp = Visual3DHelper.GetViewport3D(this);
if (vp == null)
{
return;
}
var cam = vp.Camera as ProjectionCamera;
if (cam == null)
{
return;
}
var cameraPos = cam.Position;
var transform = new MatrixTransform3D(Visual3DHelper.GetTransform(this));
IList<Visual3D> transparentChildren = new List<Visual3D>();
IList<Visual3D> opaqueChildren = new List<Visual3D>();
if (this.CheckForOpaqueVisuals)
{
foreach (var child in this.Children)
{
if (this.IsVisualTransparent(child))
{
transparentChildren.Add(child);
}
else
{
opaqueChildren.Add(child);
}
}
}
else
{
transparentChildren = this.Children;
}
// sort the children by distance from camera (note that OrderBy is a stable sort algorithm)
var sortedTransparentChildren =
transparentChildren.OrderBy(item => -this.GetCameraDistance(item, cameraPos, transform)).ToList();
this.Children.Clear();
// add the opaque children
foreach (var c in opaqueChildren)
{
this.Children.Add(c);
}
// add the sorted transparent children
foreach (var c in sortedTransparentChildren)
{
this.Children.Add(c);
}
}
public static void GetRotatedVector(this Quaternion quaternion, DoubleVector[] doubleVectors)
{
Matrix3D matrix = new Matrix3D();
matrix.Rotate(quaternion);
MatrixTransform3D transform = new MatrixTransform3D(matrix);
for (int cntr = 0; cntr < doubleVectors.Length; cntr++)
{
doubleVectors[cntr] = new DoubleVector(transform.Transform(doubleVectors[cntr].Standard), transform.Transform(doubleVectors[cntr].Orth));
}
}
public static Point3D GetRotatedVector(this Quaternion quaternion, Point3D point)
{
Matrix3D matrix = new Matrix3D();
matrix.Rotate(quaternion);
MatrixTransform3D transform = new MatrixTransform3D(matrix);
return transform.Transform(point);
}
/// <summary>
/// rotate model by angle
/// </summary>
/// <param name="axis">axis for rotate</param>
/// <param name="rotateAngle">rotation angle</param>
public void RotateObjectByAngle(Vector3D axis, double rotateAngle)
{
try
{
if (_CurrentModel != null)
{
Transform3DGroup group = _CurrentModel.Content.Transform as Transform3DGroup;
if (group.Children.Count > 0)
{
for (int i = 0; i < group.Children.Count; i++)
{
MatrixTransform3D rtrans = group.Children[i] as MatrixTransform3D;
if (rtrans != null)
{
Matrix3D matrix = rtrans.Matrix;
matrix.Rotate(new Quaternion(axis, rotateAngle));
//get current radius of X axis
double rotaterad = Math.Acos(matrix.M22);
if ((rotaterad * (180 / Math.PI)) > _MaxRotateXDegree)
{
matrix.Rotate(new Quaternion(axis, -rotateAngle));
}
MatrixTransform3D mat = new MatrixTransform3D(matrix);
rtrans = mat;
group.Children[i] = rtrans;
}
}
}
else
{
Matrix3D matrix = new Matrix3D();
matrix.Rotate(new Quaternion(axis, rotateAngle));
MatrixTransform3D mat = new MatrixTransform3D(matrix);
group.Children.Add(mat);
}
}
}
catch (Exception ex)
{
throw ex;
}
}
public static DoubleVector GetRotatedVector(this Quaternion quaternion, DoubleVector doubleVector)
{
Matrix3D matrix = new Matrix3D();
matrix.Rotate(quaternion);
MatrixTransform3D transform = new MatrixTransform3D(matrix);
return new DoubleVector(transform.Transform(doubleVector.Standard), transform.Transform(doubleVector.Orth));
}
private Robot robot; //the robot to display!
#endregion Fields
#region Constructors
public ViewPlatform(Viewport3D viewport, MotorManager motorManager, Robot robot)
{
this.robot = robot;
robot.intialise(viewport);
this.motorManager = motorManager;
//Add myself as a listener for the motor manager:
this.motorManager.addListener(this);
//Create a focussed camera to watch the origin:
focussedCamera = new FocussedCamera(200, 0, 0);
//Create the perspective camera!
camera = getCamera(focussedCamera.Location, focussedCamera.Direction);
viewport.Camera = camera;
//Now to construct the light:
light = getLight(Colors.White,focussedCamera.Direction);
ModelVisual3D visual = new ModelVisual3D();
visual.Content = light;
viewport.Children.Add(visual);
ModelVisual3D visual2 = new ModelVisual3D();
//Now add in the robot too!
updateMotors();
outerModel = new Model3DGroup();
outerModel.Children.Add(robot.getRobot());
currentMatTransform = (MatrixTransform3D)MatrixTransform3D.Identity;
TranslateTransform3D trans = new TranslateTransform3D();
outerModel.Children[0] = Transforms.applyTransform((Model3DGroup)outerModel.Children[0],currentMatTransform);
visual2.Content = outerModel;
viewport.Children.Add(visual2);
//Phew! That should be it...
viewport.ClipToBounds = true;
}
