/// <summary>
/// カメラ行列(左手系)を設定する。
/// </summary>
/// <param name="eye">カメラの位置</param>
/// <param name="at">カメラの注視点</param>
/// <param name="up">カメラの上方向</param>
public void SetLookAtLH(ref Vector3DF eye, ref Vector3DF at, ref Vector3DF up)
{
// F=正面、R=右方向、U=上方向
Vector3DF F = (at - eye).Normal;
Vector3DF R = Vector3DF.Cross(ref up, ref F).Normal;
Vector3DF U = Vector3DF.Cross(ref F, ref R).Normal;
fixed(float *v = Values)
{
v[0 * 4 + 0] = R.X;
v[0 * 4 + 1] = R.Y;
v[0 * 4 + 2] = R.Z;
v[0 * 4 + 3] = 0.0f;
v[1 * 4 + 0] = U.X;
v[1 * 4 + 1] = U.Y;
v[1 * 4 + 2] = U.Z;
v[1 * 4 + 3] = 0.0f;
v[2 * 4 + 0] = F.X;
v[2 * 4 + 1] = F.Y;
v[2 * 4 + 2] = F.Z;
v[2 * 4 + 3] = 0.0f;
v[0 * 4 + 3] = -Vector3DF.Dot(ref R, ref eye);
v[1 * 4 + 3] = -Vector3DF.Dot(ref U, ref eye);
v[2 * 4 + 3] = -Vector3DF.Dot(ref F, ref eye);
v[3 * 4 + 3] = 1.0f;
}
}
/// <summary>
/// 任意軸の反時計回転行列(右手)を設定する。
/// </summary>
/// <param name="axis">軸</param>
/// <param name="angle">回転量(ラジアン)</param>
public void SetRotationAxis(ref Vector3DF axis, float angle)
{
float s = (float)Math.Sin(angle);
float c = (float)Math.Cos(angle);
float cc = 1.0f - c;
fixed(float *v = Values)
{
v[0 * 4 + 0] = cc * (axis.X * axis.X) + c;
v[1 * 4 + 0] = cc * (axis.X * axis.Y) + (axis.Z * s);
v[2 * 4 + 0] = cc * (axis.Z * axis.X) - (axis.Y * s);
v[0 * 4 + 1] = cc * (axis.X * axis.Y) - (axis.Z * s);
v[1 * 4 + 1] = cc * (axis.Y * axis.Y) + c;
v[2 * 4 + 1] = cc * (axis.Y * axis.Z) + (axis.X * s);
v[0 * 4 + 2] = cc * (axis.Z * axis.X) + (axis.Y * s);
v[1 * 4 + 2] = cc * (axis.Y * axis.Z) - (axis.X * s);
v[2 * 4 + 2] = cc * (axis.Z * axis.Z) + c;
v[0 * 4 + 3] = 0.0f;
v[1 * 4 + 3] = 0.0f;
v[2 * 4 + 3] = 0.0f;
}
}
/// <summary>
/// 2点間の距離を取得する。
/// </summary>
/// <param name="v1">値1</param>
/// <param name="v2">値2</param>
/// <returns>距離</returns>
public static float Distance(ref Vector3DF v1, ref Vector3DF v2)
{
float dx = v1.X - v2.X;
float dy = v1.Y - v2.Y;
float dz = v1.Z - v2.Z;
return((float)Math.Sqrt(dx * dx + dy * dy + dz * dz));
}
/// <summary>
/// 外積を取得する。
/// </summary>
/// <param name="v1"></param>
/// <param name="v2"></param>
/// <returns></returns>
public static Vector3DF Cross(ref Vector3DF v1, ref Vector3DF v2)
{
Vector3DF o;
float x = v1.Y * v2.Z - v1.Z * v2.Y;
float y = v1.Z * v2.X - v1.X * v2.Z;
float z = v1.X * v2.Y - v1.Y * v2.X;
o.X = x;
o.Y = y;
o.Z = z;
return(o);
}
/// <summary>
/// 行列でベクトルを変形させる。
/// </summary>
/// <param name="in_">変形前ベクトル</param>
/// <returns>変形後ベクトル</returns>
public Vector3DF Transform3D(ref Vector3DF in_)
{
float *values = stackalloc float[4];
fixed(float *v = Values)
{
for (int i = 0; i < 3; i++)
{
values[i] = 0;
values[i] += in_.X * v[i * 3 + 0];
values[i] += in_.Y * v[i * 3 + 1];
values[i] += in_.Z * v[i * 3 + 2];
}
}
Vector3DF o;
o.X = values[0];
o.Y = values[1];
o.Z = values[2];
return(o);
}
/// <summary>
/// 内積を取得する。
/// </summary>
/// <param name="v1">値1</param>
/// <param name="v2">値2</param>
/// <returns>内積</returns>
public static float Dot(ref Vector3DF v1, ref Vector3DF v2)
{
return(v1.X * v2.X + v1.Y * v2.Y + v1.Z * v2.Z);
}
public void SetVector3DF(string name, Vector3DF value)
{
SwigObject.SetVector3DF(name, value);
}
