/// <summary>
/// 投影
/// </summary>
/// <param name="m"></param>
/// <param name="h"></param>
/// <param name="p"></param>
/// <param name="cameraVector"></param>
/// <param name="mathP"></param>
/// <returns></returns>
public static MathVector Project(this ITriadManipulator m, swTriadManipulatorControlPoints_e h, IMathPoint p, IMathVector cameraVector, IMathUtility mathP)
{
IMathUtility math = mathP;
//var zero = (IMathPoint)math.CreatePoint(new[] { 0, 0, 0 });
//double pT, qT;
switch (h)
{
case swTriadManipulatorControlPoints_e.swTriadManipulatorOrigin:
return((MathVector)p.Subtract(m.Origin));
case swTriadManipulatorControlPoints_e.swTriadManipulatorXAxis:
return(ClosestPointOnAxis(m, p, cameraVector, m.XAxis));
case swTriadManipulatorControlPoints_e.swTriadManipulatorYAxis:
return(ClosestPointOnAxis(m, p, cameraVector, m.YAxis));
case swTriadManipulatorControlPoints_e.swTriadManipulatorZAxis:
return(ClosestPointOnAxis(m, p, cameraVector, m.ZAxis));
case swTriadManipulatorControlPoints_e.swTriadManipulatorXYPlane:
return((MathVector)p.Subtract(m.Origin));
case swTriadManipulatorControlPoints_e.swTriadManipulatorYZPlane:
return((MathVector)p.Subtract(m.Origin));
case swTriadManipulatorControlPoints_e.swTriadManipulatorZXPlane:
return((MathVector)p.Subtract(m.Origin));
default:
throw new ArgumentOutOfRangeException(nameof(h), h, null);
}
}
public static MathVector Project(this ITriadManipulator m, swTriadManipulatorControlPoints_e h, IMathPoint p, IMathVector cameraVector, IMathUtility mathP)
{
IMathUtility math = mathP;
var zero = (IMathPoint) math.CreatePoint(new[] {0, 0, 0});
double pT, qT;
switch (h)
{
case swTriadManipulatorControlPoints_e.swTriadManipulatorOrigin:
return (MathVector) p.Subtract(m.Origin);
case swTriadManipulatorControlPoints_e.swTriadManipulatorXAxis:
return ClosestPointOnAxis(m, p, cameraVector, m.XAxis);
case swTriadManipulatorControlPoints_e.swTriadManipulatorYAxis:
return ClosestPointOnAxis(m, p, cameraVector, m.YAxis);
case swTriadManipulatorControlPoints_e.swTriadManipulatorZAxis:
return ClosestPointOnAxis(m, p, cameraVector, m.ZAxis);
case swTriadManipulatorControlPoints_e.swTriadManipulatorXYPlane:
return (MathVector) p.Subtract(m.Origin);
case swTriadManipulatorControlPoints_e.swTriadManipulatorYZPlane:
return (MathVector) p.Subtract(m.Origin);
case swTriadManipulatorControlPoints_e.swTriadManipulatorZXPlane:
return (MathVector) p.Subtract(m.Origin);
default:
throw new ArgumentOutOfRangeException(nameof(h), h, null);
}
}
/// <summary>
/// 计算在某轴上的投影
/// </summary>
/// <param name="point"></param>
/// <param name="origin"></param>
/// <param name="axis"></param>
/// <returns></returns>
public static MathPoint Project(this IMathPoint point, IMathPoint origin, IMathVector axis)
{
var a = (IMathVector)point.Subtract(origin);
var t = a.Project(axis);
var v = (MathVector)axis.Scale(t);
return((MathPoint)origin.AddVector(v));
}
/// <summary>
/// Find the vector in model space from the point to the viewers eye.
/// </summary>
/// <param name="modelView"></param>
/// <param name="mathUtility"></param>
/// <param name="p"></param>
/// <returns></returns>
private static MathVector ViewVector(IModelView modelView, IMathUtility mathUtility, IMathPoint p)
{
var world2screen = modelView.Transform;
var pScreen = (MathPoint) p.MultiplyTransform(world2screen);
var vv = (IMathVector) mathUtility.CreateVector(new[] {0.0, 0, 1});
var pScreenUp = (MathPoint) pScreen.AddVector(vv);
var pWorldDelta = (MathPoint) pScreenUp.MultiplyTransform((MathTransform) world2screen.Inverse());
var viewVector = (MathVector) p.Subtract(pWorldDelta);
return viewVector;
}
/// <summary>
/// Find the vector in model space from the point to the viewers eye.
/// </summary>
/// <param name="modelView"></param>
/// <param name="mathUtility"></param>
/// <param name="p"></param>
/// <returns></returns>
private static MathVector ViewVector(IModelView modelView, IMathUtility mathUtility, IMathPoint p)
{
var world2screen = modelView.Transform;
var pScreen = (MathPoint)p.MultiplyTransform(world2screen);
var vv = (IMathVector)mathUtility.CreateVector(new[] { 0.0, 0, 1 });
var pScreenUp = (MathPoint)pScreen.AddVector(vv);
var pWorldDelta = (MathPoint)pScreenUp.MultiplyTransform((MathTransform)world2screen.Inverse());
var viewVector = (MathVector)p.Subtract(pWorldDelta);
return(viewVector);
}
/// <summary>
/// http://geomalgorithms.com/a07-_distance.html
/// </summary>
/// <param name="pa"></param>
/// <param name="va"></param>
/// <param name="pb"></param>
/// <param name="vb"></param>
/// <param name="a"></param>
/// <param name="b"></param>
/// <returns></returns>
private static bool ClosestPointBetweenLines(IMathPoint pOrigin, IMathVector pVector, IMathPoint qOrigin, IMathVector qVector, out double pT, out double qT)
{
var w0 = (IMathVector)(pOrigin.Subtract(qOrigin));
var u = pVector.Normalise();
var v = qVector.Normalise();
var a = u.Dot(u);
var b = u.Dot(v);
var c = v.Dot(v);
var d = u.Dot(w0);
var e = v.Dot(w0);
var den = (a * c - b * b);
if (System.Math.Abs(den) < 1e-12)
{
pT = 0;
qT = 0;
return(false);
}
pT = (b * e - c * d) / den;
qT = (a * a - b * d) / den;
return(true);
}
public static MathVector SubtractTs(this IMathPoint a, IMathPoint b)
{
return((MathVector)a.Subtract(b));
}
/// <summary>
/// http://geomalgorithms.com/a07-_distance.html
/// </summary>
/// <param name="pa"></param>
/// <param name="va"></param>
/// <param name="pb"></param>
/// <param name="vb"></param>
/// <param name="a"></param>
/// <param name="b"></param>
/// <returns></returns>
private static bool ClosestPointBetweenLines(IMathPoint pOrigin, IMathVector pVector, IMathPoint qOrigin, IMathVector qVector, out double pT, out double qT)
{
var w0 = (IMathVector) (pOrigin.Subtract(qOrigin));
var u = pVector.Normalise();
var v = qVector.Normalise();
var a = u.Dot(u);
var b = u.Dot(v);
var c = v.Dot(v);
var d = u.Dot(w0);
var e = v.Dot(w0);
var den = (a*c - b*b);
if (Math.Abs(den) < 1e-12)
{
pT = 0;
qT = 0;
return false;
}
pT = (b*e - c*d)/den;
qT = (a*a - b*d)/den;
return true;
}