private void Rebuild(UndoBuffer undoBuffer)
{
this.DebugDepth("Rebuild");
using (RebuildLock())
{
var startingAabb = this.GetAxisAlignedBoundingBox();
// remove whatever rotation has been applied (they go in reverse order)
Matrix = Matrix4X4.Identity;
// add the current rotation
Matrix = this.ApplyAtPosition(startingAabb.Center, Matrix4X4.CreateRotationX(MathHelper.DegreesToRadians(RotationXDegrees)));
Matrix = this.ApplyAtPosition(startingAabb.Center, Matrix4X4.CreateRotationY(MathHelper.DegreesToRadians(RotationYDegrees)));
Matrix = this.ApplyAtPosition(startingAabb.Center, Matrix4X4.CreateRotationZ(MathHelper.DegreesToRadians(RotationZDegrees)));
if (startingAabb.ZSize > 0)
{
// If the part was already created and at a height, maintain the height.
PlatingHelper.PlaceMeshAtHeight(this, startingAabb.minXYZ.Z);
}
}
Invalidate(new InvalidateArgs(this, InvalidateType.Matrix, null));
}
public void FrustumTransformTests()
{
Frustum frustum = new Frustum(
new Plane(new Vector3(1, 0, 0), 20),
new Plane(new Vector3(-1, 0, 0), 20),
new Plane(new Vector3(0, 1, 0), 20),
new Plane(new Vector3(0, -1, 0), 20),
new Plane(new Vector3(0, 0, 1), 20),
new Plane(new Vector3(0, 0, -1), 20));
// moved right
{
Frustum movedRightFrustum = Frustum.Transform(frustum, Matrix4X4.CreateTranslation(10, 0, 0));
Assert.IsTrue(movedRightFrustum.Planes[0] == new Plane(new Vector3(1, 0, 0), 30));
Assert.IsTrue(movedRightFrustum.Planes[1] == new Plane(new Vector3(-1, 0, 0), 10));
Assert.IsTrue(movedRightFrustum.Planes[2] == frustum.Planes[2]);
Assert.IsTrue(movedRightFrustum.Planes[3] == frustum.Planes[3]);
Assert.IsTrue(movedRightFrustum.Planes[4] == frustum.Planes[4]);
Assert.IsTrue(movedRightFrustum.Planes[5] == frustum.Planes[5]);
}
// rotated right
{
Frustum movedRightFrustum = Frustum.Transform(frustum, Matrix4X4.CreateRotationY(MathHelper.DegreesToRadians(45)));
Matrix4X4 testMatrix = Matrix4X4.CreateRotationY(MathHelper.DegreesToRadians(45));
Plane control = new Plane(Vector3.TransformNormal(frustum.Planes[0].PlaneNormal, testMatrix), frustum.Planes[0].DistanceToPlaneFromOrigin);
Assert.IsTrue(movedRightFrustum.Planes[0].Equals(control, .001, .01));
Assert.IsTrue(movedRightFrustum.Planes[1].Equals(new Plane(Vector3.TransformNormal(frustum.Planes[1].PlaneNormal, testMatrix), frustum.Planes[1].DistanceToPlaneFromOrigin)));
Assert.IsTrue(movedRightFrustum.Planes[2].Equals(frustum.Planes[2]));
Assert.IsTrue(movedRightFrustum.Planes[3].Equals(frustum.Planes[3]));
Assert.IsTrue(movedRightFrustum.Planes[4].Equals(new Plane(Vector3.TransformNormal(frustum.Planes[4].PlaneNormal, testMatrix), frustum.Planes[4].DistanceToPlaneFromOrigin)));
Assert.IsTrue(movedRightFrustum.Planes[5].Equals(new Plane(Vector3.TransformNormal(frustum.Planes[5].PlaneNormal, testMatrix), frustum.Planes[5].DistanceToPlaneFromOrigin)));
}
}
public static Vector3 MapMoveToSphere(Vector2 screenCenter, WorldView world, double trackBallRadius, Vector2 startPosition, Vector2 endPosition, bool rotateOnZ)
{
if (rotateOnZ)
{
var deltaFromScreenCenter = screenCenter - endPosition;
var angleToTravel = screenCenter.GetDeltaAngle(startPosition, endPosition);
// now rotate that position about z in the direction of the screen vector
var positionOnRotationSphere = Vector3Ex.Transform(new Vector3(1, 0, 0), Matrix4X4.CreateRotationZ(angleToTravel / 2));
return(positionOnRotationSphere);
}
else
{
var deltaFromStartPixels = endPosition - startPosition;
var deltaOnSurface = new Vector2(deltaFromStartPixels.X / trackBallRadius, deltaFromStartPixels.Y / trackBallRadius);
var lengthOnSurfaceRadi = deltaOnSurface.Length;
// get this rotation on the surface of the sphere about y
var positionAboutY = Vector3Ex.Transform(new Vector3(0, 0, 1), Matrix4X4.CreateRotationY(lengthOnSurfaceRadi));
// get the angle that this distance travels around the sphere
var angleToTravel = Math.Atan2(deltaOnSurface.Y, deltaOnSurface.X);
// now rotate that position about z in the direction of the screen vector
var positionOnRotationSphere = Vector3Ex.Transform(positionAboutY, Matrix4X4.CreateRotationZ(angleToTravel));
return(positionOnRotationSphere);
}
}
// Transform by quaternion
public void PlaneTransformTest2()
{
Plane <float> target = new Plane <float>(1, 2, 3, 4);
target = Plane.Normalize(target);
Matrix4X4 <float> m =
Matrix4X4.CreateRotationX(MathHelper.ToRadians(30.0f)) *
Matrix4X4.CreateRotationY(MathHelper.ToRadians(30.0f)) *
Matrix4X4.CreateRotationZ(MathHelper.ToRadians(30.0f));
Quaternion <float> q = Quaternion <float> .CreateFromRotationMatrix(m);
Plane <float> expected = new Plane <float>();
float x = target.Normal.X, y = target.Normal.Y, z = target.Normal.Z, w = target.Distance;
expected.Normal = new Vector3D <float>(
x * m.M11 + y * m.M21 + z * m.M31 + w * m.M41,
x * m.M12 + y * m.M22 + z * m.M32 + w * m.M42,
x * m.M13 + y * m.M23 + z * m.M33 + w * m.M43);
expected.Distance = x * m.M14 + y * m.M24 + z * m.M34 + w * m.M44;
Plane <float> actual;
actual = Plane.Transform(target, q);
Assert.True(MathHelper.Equal(expected, actual), "Plane<float>.Transform did not return the expected value.");
}
private Vector3 MapMoveToSphere(Vector2 screenPoint, bool rotateOnZ)
{
if (rotateOnZ)
{
var deltaFromScreenCenter = world.ScreenCenter - screenPoint;
var angleToTravel = world.ScreenCenter.GetDeltaAngle(mouseDownPosition, screenPoint);
// now rotate that position about z in the direction of the screen vector
var positionOnRotationSphere = Vector3.Transform(new Vector3(1, 0, 0), Matrix4X4.CreateRotationZ(angleToTravel / 2));
return(positionOnRotationSphere);
}
else
{
var deltaFromStartPixels = screenPoint - mouseDownPosition;
var deltaOnSurface = new Vector2(deltaFromStartPixels.X / rotationTrackingRadiusPixels, deltaFromStartPixels.Y / rotationTrackingRadiusPixels);
var lengthOnSurfaceRadi = deltaOnSurface.Length;
// get this rotation on the surface of the sphere about y
var positionAboutY = Vector3.Transform(new Vector3(0, 0, 1), Matrix4X4.CreateRotationY(lengthOnSurfaceRadi));
// get the angle that this distance travels around the sphere
var angleToTravel = Math.Atan2(deltaOnSurface.Y, deltaOnSurface.X);
// now rotate that position about z in the direction of the screen vector
var positionOnRotationSphere = Vector3.Transform(positionAboutY, Matrix4X4.CreateRotationZ(angleToTravel));
return(positionOnRotationSphere);
}
}
// Transform by matrix
public void PlaneTransformTest1()
{
Plane <float> target = new Plane <float>(1, 2, 3, 4);
target = Plane.Normalize(target);
Matrix4X4 <float> m =
Matrix4X4.CreateRotationX(MathHelper.ToRadians(30.0f)) *
Matrix4X4.CreateRotationY(MathHelper.ToRadians(30.0f)) *
Matrix4X4.CreateRotationZ(MathHelper.ToRadians(30.0f));
m.M41 = 10.0f;
m.M42 = 20.0f;
m.M43 = 30.0f;
Plane <float> expected = new Plane <float>();
Matrix4X4 <float> inv;
Matrix4X4.Invert(m, out inv);
Matrix4X4 <float> itm = Matrix4X4.Transpose(inv);
float x = target.Normal.X, y = target.Normal.Y, z = target.Normal.Z, w = target.Distance;
expected.Normal = new Vector3D <float>(
x * itm.M11 + y * itm.M21 + z * itm.M31 + w * itm.M41,
x * itm.M12 + y * itm.M22 + z * itm.M32 + w * itm.M42,
x * itm.M13 + y * itm.M23 + z * itm.M33 + w * itm.M43);
expected.Distance = x * itm.M14 + y * itm.M24 + z * itm.M34 + w * itm.M44;
Plane <float> actual;
actual = Plane.Transform(target, m);
Assert.True(MathHelper.Equal(expected, actual), "Plane<float>.Transform did not return the expected value.");
}
public void RotateAbsolute(double x, double y, double z)
{
Matrix4X4 M1 = Matrix4X4.Identity;
Matrix4X4 M2 = Matrix4X4.Identity;
Matrix4X4 M3 = Matrix4X4.Identity;
Matrix4X4 M4 = Matrix4X4.Identity;
Vector3 save1;
// save the old position
save1.x = AxisToWorld[3, 0];
save1.y = AxisToWorld[3, 1];
save1.z = AxisToWorld[3, 2];
M1 = Matrix4X4.CreateRotationX(x);
M2 = Matrix4X4.CreateRotationY(y);
M3 = Matrix4X4.CreateRotationZ(z);
// 1 * 2 * 3
M4 = M2 * M1;
AxisToWorld = M3 * M4;
// stuff the old position back in
AxisToWorld[3, 0] = save1.x;
AxisToWorld[3, 1] = save1.y;
AxisToWorld[3, 2] = save1.z;
AxisToWorld = Matrix4X4.Invert(WorldToAxis);
}
public void Can_Rotate_Point_Around_Y()
{
var point = new Point(0, 0, 1);
var halfQuarter = Matrix4X4.CreateRotationY(Math.PI / 4);
var fullQuarter = Matrix4X4.CreateRotationY(Math.PI / 2);
(halfQuarter * point).ShouldBe(new Point(Math.Sqrt(2) / 2, 0, Math.Sqrt(2) / 2));
(fullQuarter * point).ShouldBe(new Point(1, 0, 0));
}
public void Construct_Ray_When_Camera_Is_Transformed()
{
var camera = new Camera(201, 101, Math.PI / 2)
{
ViewTransform = Matrix4X4.CreateRotationY(Math.PI / 4) * Matrix4X4.CreateTranslation(0, -2, 5),
};
var ray = camera.RayForPixel(100, 50);
ray.Origin.ShouldBe(new Point(0, 2, -5));
ray.Direction.ShouldBe(new Vector(Math.Sqrt(2) / 2, 0, -Math.Sqrt(2) / 2));
}
public LogoSpinner(GuiWidget widget, double scale = 1.6, double spinSpeed = 0.6, double yOffset = 0.5, double rotateX = -0.1)
{
// loading animation stuff
LightingData lighting = new LightingData();
Mesh logoMesh;
using (var logoStream = StaticData.Instance.OpenStream(Path.Combine("Stls", "MH Logo.stl")))
{
logoMesh = StlProcessing.Load(logoStream, CancellationToken.None);
}
// Position
var aabb = logoMesh.GetAxisAlignedBoundingBox();
logoMesh.Transform(Matrix4X4.CreateTranslation(-aabb.Center));
logoMesh.Transform(Matrix4X4.CreateScale(scale / aabb.XSize));
var anglePerDraw = 1 / MathHelper.Tau * spinSpeed;
var angle = 0.0;
widget.BeforeDraw += (s, e) =>
{
var screenSpaceBounds = widget.TransformToScreenSpace(widget.LocalBounds);
WorldView world = new WorldView(screenSpaceBounds.Width, screenSpaceBounds.Height);
world.Translate(new Vector3(0, yOffset, 0));
world.Rotate(Quaternion.FromEulerAngles(new Vector3(rotateX, 0, 0)));
GLHelper.SetGlContext(world, screenSpaceBounds, lighting);
GLHelper.Render(logoMesh, this.MeshColor, Matrix4X4.CreateRotationY(angle), RenderTypes.Shaded);
GLHelper.UnsetGlContext();
};
Animation spinAnimation = new Animation()
{
DrawTarget = widget,
FramesPerSecond = 20
};
spinAnimation.Update += (s, time) =>
{
if (this.SpinLogo)
{
angle += anglePerDraw;
}
};
spinAnimation.Start();
}
public void GetRotation(ref Vector3 pOutVector)
{
Vector3 UpVector = new Vector3(0, 1, 0);;
Vector3 ForwardVector = new Vector3(0, 0, 1);
UpVector = Vector3.Transform(UpVector, AxisToWorld);
ForwardVector = Vector3.Transform(ForwardVector, AxisToWorld);
pOutVector.z = Math.Atan2(UpVector.x, UpVector.y);
// DebugStream("It looks like z is now " << RadToDeg(pOutVector->z));
Matrix4X4 ZMatrix = Matrix4X4.CreateRotationZ(-pOutVector.z);
UpVector = Vector3.Transform(UpVector, ZMatrix);
ForwardVector = Vector3.Transform(ForwardVector, ZMatrix);
// DebugStream("It looks like z is now " << RadToDeg(atan2(UpVector.x, UpVector.y)));
pOutVector.y = -Math.Atan2(ForwardVector.x, ForwardVector.z);
// DebugStream("It looks like y is now " << RadToDeg(pOutVector->y));
Matrix4X4 YMatrix = Matrix4X4.CreateRotationY(-pOutVector.y);
UpVector = Vector3.Transform(UpVector, YMatrix);
ForwardVector = Vector3.Transform(ForwardVector, YMatrix);
// DebugStream("It looks like y is now " << RadToDeg(-atan2(ForwardVector.x, ForwardVector.z)));
pOutVector.x = -Math.Atan2(UpVector.z, UpVector.y);
// DebugStream("It looks like x is now " << RadToDeg(pOutVector->x));
//CMatrix XMatrix;
//XMatrix.Rotate(0, -pOutVector->x, ROTATE_FAST);
//XMatrix.TransformVector(&UpVector);
//XMatrix.TransformVector(&ForwardVector);
// DebugStream("It looks like x is now " << RadToDeg(-atan2(UpVector.z, UpVector.y)));
#if _DEBUG
CMatrix Test;
CVector3D TestV, HoldV;
TestV.Set((double)(rand() % 1024), (double)(rand() % 1024), (double)(rand() % 1024));
HoldV = TestV;
Test.PrepareMatrix(0.f, 0.f, 0.f,
pOutVector->x, pOutVector->y, pOutVector->z);
WorldToAxis.TransformVector(&TestV);
Test.TransformVector(&TestV);
#endif
}
public void Vector3TransformByQuaternionTest()
{
Vector3D <float> v = new Vector3D <float>(1.0f, 2.0f, 3.0f);
Matrix4X4 <float> m =
Matrix4X4.CreateRotationX <float>(MathHelper.ToRadians(30.0f)) *
Matrix4X4.CreateRotationY <float>(MathHelper.ToRadians(30.0f)) *
Matrix4X4.CreateRotationZ <float>(MathHelper.ToRadians(30.0f));
Quaternion <float> q = Quaternion <float> .CreateFromRotationMatrix(m);
Vector3D <float> expected = Vector3D.Transform(v, m);
Vector3D <float> actual = Vector3D.Transform(v, q);
Assert.True(MathHelper.Equal(expected, actual), "Vector3D<float>f.Transform did not return the expected value.");
}
public override void SetPosition(IObject3D selectedItem)
{
Vector3 boxCenter = GetControlCenter(selectedItem);
double distBetweenPixelsWorldSpace = InteractionContext.World.GetWorldUnitsPerScreenPixelAtPosition(boxCenter);
GetCornerPosition(selectedItem, out int cornerIndexOut);
Matrix4X4 centerMatrix = Matrix4X4.Identity;
switch (RotationAxis)
{
case 0:
if (cornerIndexOut == 1 || cornerIndexOut == 3)
{
centerMatrix *= Matrix4X4.CreateRotationX(MathHelper.DegreesToRadians(90));
}
else
{
centerMatrix *= Matrix4X4.CreateRotationY(MathHelper.DegreesToRadians(-90));
}
centerMatrix *= Matrix4X4.CreateRotationZ(MathHelper.DegreesToRadians(90) * cornerIndexOut);
break;
case 1:
if (cornerIndexOut == 1 || cornerIndexOut == 3)
{
centerMatrix *= Matrix4X4.CreateRotationY(MathHelper.DegreesToRadians(-90));
}
else
{
centerMatrix *= Matrix4X4.CreateRotationX(MathHelper.DegreesToRadians(90));
}
centerMatrix *= Matrix4X4.CreateRotationZ(MathHelper.DegreesToRadians(90) * cornerIndexOut);
break;
case 2:
centerMatrix *= Matrix4X4.CreateRotationZ(MathHelper.DegreesToRadians(90) * cornerIndexOut);
break;
}
centerMatrix *= Matrix4X4.CreateScale(distBetweenPixelsWorldSpace) * Matrix4X4.CreateTranslation(boxCenter);
TotalTransform = centerMatrix;
}
public void Vector2TransformNormalTest()
{
Vector2D <float> v = new Vector2D <float>(1.0f, 2.0f);
Matrix4X4 <float> m =
Matrix4X4.CreateRotationX <float>(MathHelper.ToRadians(30.0f)) *
Matrix4X4.CreateRotationY <float>(MathHelper.ToRadians(30.0f)) *
Matrix4X4.CreateRotationZ <float>(MathHelper.ToRadians(30.0f));
m.M41 = 10.0f;
m.M42 = 20.0f;
m.M43 = 30.0f;
Vector2D <float> expected = new Vector2D <float>(0.3169873f, 2.18301272f);
Vector2D <float> actual;
actual = Vector2D.TransformNormal(v, m);
Assert.True(MathHelper.Equal(expected, actual), "Vector2f.Tranform did not return the expected value.");
}
public void Vector3TransformNormalTest()
{
Vector3D <float> v = new Vector3D <float>(1.0f, 2.0f, 3.0f);
Matrix4X4 <float> m =
Matrix4X4.CreateRotationX <float>(MathHelper.ToRadians(30.0f)) *
Matrix4X4.CreateRotationY <float>(MathHelper.ToRadians(30.0f)) *
Matrix4X4.CreateRotationZ <float>(MathHelper.ToRadians(30.0f));
m.M41 = 10.0f;
m.M42 = 20.0f;
m.M43 = 30.0f;
Vector3D <float> expected = new Vector3D <float>(2.19198728f, 1.53349364f, 2.61602545f);
Vector3D <float> actual;
actual = Vector3D.TransformNormal(v, m);
Assert.True(MathHelper.Equal(expected, actual), "Vector3D<float>f.TransformNormal did not return the expected value.");
}
public void QuaternionFromRotationMatrixWithScaledMatrixTest3()
{
float angle = MathHelper.ToRadians(180.0f);
Matrix4X4 <float> matrix = Matrix4X4.CreateRotationX <float>(angle) * Matrix4X4.CreateRotationY <float>(angle);
Quaternion <float> expected = Quaternion <float> .CreateFromAxisAngle(Vector3D <float> .UnitY, angle) * Quaternion <float> .CreateFromAxisAngle(Vector3D <float> .UnitX, angle);
Quaternion <float> actual = Quaternion <float> .CreateFromRotationMatrix(matrix);
Assert.True(MathHelper.EqualRotation(expected, actual),
$"Quaternion<float>.CreateFromRotationMatrix did not return the expected value: expected {expected} actual {actual}");
// make sure convert back to matrix is same as we passed matrix.
Matrix4X4 <float> m2 = Matrix4X4.CreateFromQuaternion <float>(actual);
Assert.True(MathHelper.Equal(matrix, m2),
$"Quaternion<float>.CreateFromQuaternion did not return the expected value: matrix {matrix} m2 {m2}");
}
public void QuaternionFromRotationMatrixTest3()
{
for (float angle = 0.0f; angle < 720.0f; angle += 10.0f)
{
Matrix4X4 <float> matrix = Matrix4X4.CreateRotationY <float>(angle);
Quaternion <float> expected = Quaternion <float> .CreateFromAxisAngle(Vector3D <float> .UnitY, angle);
Quaternion <float> actual = Quaternion <float> .CreateFromRotationMatrix(matrix);
Assert.True(MathHelper.EqualRotation(expected, actual),
$"Quaternion<float>.CreateFromRotationMatrix angle:{angle} did not return the expected value: expected {expected} actual {actual}");
// make sure convert back to matrix is same as we passed matrix.
Matrix4X4 <float> m2 = Matrix4X4.CreateFromQuaternion <float>(actual);
Assert.True(MathHelper.Equal(matrix, m2),
$"Quaternion<float>.CreateFromQuaternion angle:{angle} did not return the expected value: matrix {matrix} m2 {m2}");
}
}
public static async Task <CylinderObject3D> Create(double diameterBottom, double diameterTop, double height, int sides, Alignment alignment = Alignment.Z)
{
var item = new CylinderObject3D()
{
Advanced = true,
Diameter = diameterBottom,
DiameterTop = diameterTop,
Height = height,
Sides = sides,
};
await item.Rebuild();
switch (alignment)
{
case Alignment.X:
item.Matrix = Matrix4X4.CreateRotationY(MathHelper.Tau / 4);
break;
case Alignment.Y:
item.Matrix = Matrix4X4.CreateRotationX(MathHelper.Tau / 4);
break;
case Alignment.Z:
// This is the natural case (how it was modeled)
break;
case Alignment.negX:
item.Matrix = Matrix4X4.CreateRotationY(-MathHelper.Tau / 4);
break;
case Alignment.negY:
item.Matrix = Matrix4X4.CreateRotationX(-MathHelper.Tau / 4);
break;
case Alignment.negZ:
item.Matrix = Matrix4X4.CreateRotationX(MathHelper.Tau / 2);
break;
}
return(item);
}
public void MatrixColumnMajor()
{
// Make sure our matrix is set up colum major like opengl. LBB [7/11/2003]
Matrix4X4 ColumnMajorRotationMatrix = Matrix4X4.CreateRotationY(.2345f);
Matrix4X4 ColumnMajorTransLationMatrix = Matrix4X4.Identity;
ColumnMajorTransLationMatrix.Translate(.2342f, 234234.734f, 223.324f);
Matrix4X4 ColumnMajorAccumulatedMatrix = Matrix4X4.Identity;
ColumnMajorAccumulatedMatrix = ColumnMajorRotationMatrix * ColumnMajorTransLationMatrix;
double[] KnownMatrixFormFloats =
{
.972631f, 0.0f, -.232357f, 0.0f,
0.0f, 1.0f, 0.0f, 0.0f,
.232357f, 0.0f, .972631f, 0.0f,
.2342f, 234234.73f, 223.324f, 1.0f
};
Matrix4X4 KnownMatrixForm = Matrix4X4.Identity;
KnownMatrixForm.SetElements(KnownMatrixFormFloats);
Assert.IsTrue(KnownMatrixForm.Equals(ColumnMajorAccumulatedMatrix, .01f));
}
public override Task Rebuild()
{
this.DebugDepth("Rebuild");
using (RebuildLock())
{
using (new CenterAndHeightMantainer(this))
{
var startingAabb = this.GetAxisAlignedBoundingBox();
// remove whatever rotation has been applied (they go in reverse order)
Matrix = Matrix4X4.Identity;
// add the current rotation
Matrix = this.ApplyAtPosition(startingAabb.Center, Matrix4X4.CreateRotationX(MathHelper.DegreesToRadians(RotationXDegrees)));
Matrix = this.ApplyAtPosition(startingAabb.Center, Matrix4X4.CreateRotationY(MathHelper.DegreesToRadians(RotationYDegrees)));
Matrix = this.ApplyAtPosition(startingAabb.Center, Matrix4X4.CreateRotationZ(MathHelper.DegreesToRadians(RotationZDegrees)));
}
}
Parent?.Invalidate(new InvalidateArgs(this, InvalidateType.Matrix));
return(Task.CompletedTask);
}
private static World CreateWorld()
{
var floor = new Plane
{
Material = new Material
{
Pattern = new CheckersPattern(Color.White, Color.Black),
Color = Color.White,
Specular = 0,
}
};
var backWall = new Plane
{
TransformMatrix = new Transform().RotateX(Math.PI / 2)
.RotateY(-Math.PI / 2)
.Translate(1.5, 0, 0)
.GetTransformationMatrix(),
Material = new Material
{
Pattern = new StripePattern(new Color(0, 0.5, 0.5), new Color(1, 0, 0))
{
TransformMatrix = Matrix4X4.CreateRotationY(Math.PI / 4)
},
Specular = 0,
}
};
var middleSphere = new Sphere(Matrix4X4.CreateTranslation(-0.5, 1, 0.5))
{
Material = new Material
{
Pattern = new RingPattern(new Color(1, 0, 0), new Color(0, 1, 0))
{
TransformMatrix = Matrix4X4.CreateRotationX(Math.PI / -3) *
Matrix4X4.CreateScale(0.25, 0.25, 0.25)
},
Diffuse = 0.7,
Specular = 0.3,
}
};
var rightSphere = new Sphere(Matrix4X4.CreateTranslation(1.5, 0.5, -0.5) *
Matrix4X4.CreateScale(0.5, 0.5, 0.5))
{
Material = new Material
{
Color = new Color(0.5, 1, 0.1),
Diffuse = 0.7,
Specular = 0.3,
}
};
var leftSphere = new Sphere(Matrix4X4.CreateTranslation(-1.5, 0.33, -0.75) *
Matrix4X4.CreateScale(0.33, 0.33, 0.33))
{
Material = new Material
{
Pattern = new StripePattern(new Color(0, 0, 1), new Color(0, 1, 0))
{
TransformMatrix = Matrix4X4.CreateScale(0.25, 0.25, 0.25)
},
Diffuse = 0.7,
Specular = 0.3,
}
};
var light = new PointLight(new Point(-10, 10, -10), new Color(1, 1, 1));
return(new World
{
Objects = { middleSphere, rightSphere, leftSphere, floor, backWall },
PointLights = { light },
});
}
public void RotateRelative(double x, double y, double z)
{
#if true
if (x != 0)
{
Matrix4X4 M1 = Matrix4X4.Identity;
M1 = Matrix4X4.CreateRotationX(x);
if (y != 0)
{
Matrix4X4 M2 = Matrix4X4.Identity;
Matrix4X4 M4 = Matrix4X4.Identity;
M2 = Matrix4X4.CreateRotationY(y);
M4 = M2 * M1;
if (z != 0)
{
Matrix4X4 M3 = Matrix4X4.Identity;
M3 = Matrix4X4.CreateRotationZ(z);
Matrix4X4 Delta = Matrix4X4.Identity;
Delta = M3 * M4;
AxisToWorld *= Delta;
}
else
{
AxisToWorld *= M4;
}
}
else
{
if (z != 0)
{
Matrix4X4 M3 = Matrix4X4.Identity;
M3 = Matrix4X4.CreateRotationZ(z);
Matrix4X4 Delta = Matrix4X4.Identity;
Delta = M3 * M1;
AxisToWorld *= Delta;
}
else
{
AxisToWorld *= M1;
}
}
}
else
{
if (y != 0)
{
Matrix4X4 M2 = Matrix4X4.Identity;
M2 = Matrix4X4.CreateRotationY(y);
if (z != 0)
{
Matrix4X4 M3 = Matrix4X4.Identity;
M3 = Matrix4X4.CreateRotationZ(z);
Matrix4X4 Delta = Matrix4X4.Identity;
Delta = M3 * M2;
AxisToWorld *= Delta;
}
else
{
AxisToWorld *= M2;
}
}
else
{
if (z != 0)
{
Matrix4X4 M3 = Matrix4X4.Identity;
M3 = Matrix4X4.CreateRotationZ(z);
AxisToWorld *= M3;
}
}
}
WorldToAxis = Matrix4X4.Invert(AxisToWorld);
#else
M1.Rotate(0, x);
M2.Rotate(1, y);
M3.Rotate(2, z);
// 1 * 2 * 3
M4 = M2 * M1;
Delta = M3 * M4;
AxisToWorld = AxisToWorld * Delta;
WorldToAxis = AxisToWorld.GetInverse();
#endif
}
private static World CreateWorld()
{
var floor = new Sphere(Matrix4X4.CreateScale(10, 0.01, 10))
{
Material = new Material
{
Color = new Color(1, 0.9, 0.9),
Specular = 0,
}
};
var leftWall = new Sphere(Matrix4X4.CreateTranslation(0, 0, 5) *
Matrix4X4.CreateRotationY(-Math.PI / 4) *
Matrix4X4.CreateRotationX(Math.PI / 2) *
Matrix4X4.CreateScale(10, 0.01, 10))
{
Material = new Material
{
Color = new Color(1, 0.9, 0.9),
Specular = 0,
}
};
var rightWall = new Sphere(Matrix4X4.CreateTranslation(0, 0, 5) *
Matrix4X4.CreateRotationY(Math.PI / 4) *
Matrix4X4.CreateRotationX(Math.PI / 2) *
Matrix4X4.CreateScale(10, 0.01, 10))
{
Material = new Material
{
Color = new Color(1, 0.9, 0.9),
Specular = 0,
}
};
var middleSphere = new Sphere(Matrix4X4.CreateTranslation(-0.5, 1, 0.5))
{
Material = new Material
{
Color = new Color(0.1, 1, 0.5),
Diffuse = 0.7,
Specular = 0.3,
}
};
var rightSphere = new Sphere(Matrix4X4.CreateTranslation(1.5, 0.5, -0.5) *
Matrix4X4.CreateScale(0.5, 0.5, 0.5))
{
Material = new Material
{
Color = new Color(0.5, 1, 0.1),
Diffuse = 0.7,
Specular = 0.3,
}
};
var leftSphere = new Sphere(Matrix4X4.CreateTranslation(-1.5, 0.33, -0.75) *
Matrix4X4.CreateScale(0.33, 0.33, 0.33))
{
Material = new Material
{
Color = new Color(1, 0.8, 0.1),
Diffuse = 0.7,
Specular = 0.3,
}
};
var light = new PointLight(new Point(-10, 10, -10), new Color(1, 1, 1));
return new World
{
Objects = {floor, rightWall, leftWall, middleSphere, rightSphere, leftSphere},
PointLights = {light},
};
}
public void FrustumTransformTests()
{
{
Frustum frustum = new Frustum(
new Plane(new Vector3(1, 0, 0), -20),
new Plane(new Vector3(-1, 0, 0), -20),
new Plane(new Vector3(0, 1, 0), -20),
new Plane(new Vector3(0, -1, 0), -20),
new Plane(new Vector3(0, 0, 1), -20),
new Plane(new Vector3(0, 0, -1), -20));
Vector3Tests.TestFrustumClipLine(frustum, new Vector3(-5, 0, 0), new Vector3(5, 0, 0), true, new Vector3(-5, 0, 0), new Vector3(5, 0, 0));
Vector3Tests.TestFrustumClipLine(frustum, new Vector3(-50, 0, 0), new Vector3(-21, 0, 0), false, null, null);
Vector3Tests.TestFrustumClipLine(frustum, new Vector3(-50, 0, 0), new Vector3(-19, 0, 0), true, new Vector3(-20, 0, 0), new Vector3(-19, 0, 0));
// moved right
{
Frustum movedRightFrustum = Frustum.Transform(frustum, Matrix4X4.CreateTranslation(10, 0, 0));
Assert.IsTrue(movedRightFrustum.Planes[0] == new Plane(new Vector3(1, 0, 0), -10));
Assert.IsTrue(movedRightFrustum.Planes[1] == new Plane(new Vector3(-1, 0, 0), -30));
Assert.IsTrue(movedRightFrustum.Planes[2] == frustum.Planes[2]);
Assert.IsTrue(movedRightFrustum.Planes[3] == frustum.Planes[3]);
Assert.IsTrue(movedRightFrustum.Planes[4] == frustum.Planes[4]);
Assert.IsTrue(movedRightFrustum.Planes[5] == frustum.Planes[5]);
Vector3Tests.TestFrustumClipLine(movedRightFrustum, new Vector3(-5, 0, 0), new Vector3(5, 0, 0), true, new Vector3(-5, 0, 0), new Vector3(5, 0, 0));
Vector3Tests.TestFrustumClipLine(movedRightFrustum, new Vector3(-50, 0, 0), new Vector3(-11, 0, 0), false, null, null);
Vector3Tests.TestFrustumClipLine(movedRightFrustum, new Vector3(-50, 0, 0), new Vector3(-9, 0, 0), true, new Vector3(-10, 0, 0), new Vector3(-9, 0, 0));
}
// rotated right
{
Frustum movedRightFrustum = Frustum.Transform(frustum, Matrix4X4.CreateRotationY(MathHelper.DegreesToRadians(45)));
Matrix4X4 testMatrix = Matrix4X4.CreateRotationY(MathHelper.DegreesToRadians(45));
Plane control = new Plane(Vector3Ex.TransformNormal(frustum.Planes[0].Normal, testMatrix), frustum.Planes[0].DistanceFromOrigin);
Assert.IsTrue(movedRightFrustum.Planes[0].Equals(control, .001, .01));
Assert.IsTrue(movedRightFrustum.Planes[1].Equals(new Plane(Vector3Ex.TransformNormal(frustum.Planes[1].Normal, testMatrix), frustum.Planes[1].DistanceFromOrigin)));
Assert.IsTrue(movedRightFrustum.Planes[2].Equals(frustum.Planes[2]));
Assert.IsTrue(movedRightFrustum.Planes[3].Equals(frustum.Planes[3]));
Assert.IsTrue(movedRightFrustum.Planes[4].Equals(new Plane(Vector3Ex.TransformNormal(frustum.Planes[4].Normal, testMatrix), frustum.Planes[4].DistanceFromOrigin)));
Assert.IsTrue(movedRightFrustum.Planes[5].Equals(new Plane(Vector3Ex.TransformNormal(frustum.Planes[5].Normal, testMatrix), frustum.Planes[5].DistanceFromOrigin)));
}
}
// rotate about y 180 degrees
{
Matrix4X4 perspectiveMatrix = Matrix4X4.CreatePerspectiveFieldOfView(MathHelper.Tau / 4, 1, 3, 507);
Frustum perspectiveFrustum = Frustum.FrustumFromProjectionMatrix(perspectiveMatrix);
Vector3Tests.TestFrustumClipLine(perspectiveFrustum, new Vector3(-10, 0, -5), new Vector3(0, 0, -5), true, new Vector3(-5, 0, -5), new Vector3(0, 0, -5));
Vector3Tests.TestFrustumClipLine(perspectiveFrustum, new Vector3(-50, 0, -5), new Vector3(-21, 0, -5), false, null, null);
Vector3Tests.TestFrustumClipLine(perspectiveFrustum, new Vector3(-50, 0, -20), new Vector3(-19, 0, -20), true, new Vector3(-20, 0, -20), new Vector3(-19, 0, -20));
var frustum = Frustum.Transform(perspectiveFrustum, Matrix4X4.CreateRotationY(MathHelper.Tau / 2));
// left
Assert.IsTrue(frustum.Planes[0].Normal.Equals(new Vector3(-1, 0, 1).GetNormal(), .0001));
Assert.AreEqual(frustum.Planes[0].DistanceFromOrigin, 0, .0001);
// right
Assert.IsTrue(frustum.Planes[1].Normal.Equals(new Vector3(1, 0, 1).GetNormal(), .0001));
Assert.AreEqual(frustum.Planes[1].DistanceFromOrigin, 0, .0001);
// bottom
Assert.IsTrue(frustum.Planes[2].Normal.Equals(new Vector3(0, 1, 1).GetNormal(), .0001));
Assert.AreEqual(frustum.Planes[2].DistanceFromOrigin, 0, .0001);
// top
Assert.IsTrue(frustum.Planes[3].Normal.Equals(new Vector3(0, -1, 1).GetNormal(), .0001));
Assert.AreEqual(frustum.Planes[3].DistanceFromOrigin, 0, .0001);
// near
Assert.IsTrue(frustum.Planes[4].Normal.Equals(new Vector3(0, 0, 1), .0001));
Assert.AreEqual(frustum.Planes[4].DistanceFromOrigin, 3, .0001);
// far
Assert.IsTrue(frustum.Planes[5].Normal.Equals(new Vector3(0, 0, -1), .0001));
Assert.AreEqual(frustum.Planes[5].DistanceFromOrigin, -507, .0001);
}
// translate 10 down z
{
double zMove = 10;
Matrix4X4 perspectiveMatrix = Matrix4X4.CreatePerspectiveFieldOfView(MathHelper.Tau / 4, 1, 3, 507);
Frustum frustum = Frustum.FrustumFromProjectionMatrix(perspectiveMatrix);
frustum = Frustum.Transform(frustum, Matrix4X4.CreateTranslation(0, 0, -10));
double expectedPlaneOffset = Math.Sqrt(2 * (zMove / 2) * (zMove / 2));
// left
Assert.IsTrue(frustum.Planes[0].Normal.Equals(new Vector3(1, 0, -1).GetNormal(), .0001));
Assert.AreEqual(expectedPlaneOffset, frustum.Planes[0].DistanceFromOrigin, .0001);
// right
Assert.IsTrue(frustum.Planes[1].Normal.Equals(new Vector3(-1, 0, -1).GetNormal(), .0001));
Assert.AreEqual(expectedPlaneOffset, frustum.Planes[1].DistanceFromOrigin, .0001);
// bottom
Assert.IsTrue(frustum.Planes[2].Normal.Equals(new Vector3(0, 1, -1).GetNormal(), .0001));
Assert.AreEqual(expectedPlaneOffset, frustum.Planes[2].DistanceFromOrigin, .0001);
// top
Assert.IsTrue(frustum.Planes[3].Normal.Equals(new Vector3(0, -1, -1).GetNormal(), .0001));
Assert.AreEqual(expectedPlaneOffset, frustum.Planes[3].DistanceFromOrigin, .0001);
// near
Assert.IsTrue(frustum.Planes[4].Normal.Equals(new Vector3(0, 0, -1), .0001));
Assert.AreEqual(frustum.Planes[4].DistanceFromOrigin, 3 + zMove, .0001);
// far
Assert.IsTrue(frustum.Planes[5].Normal.Equals(new Vector3(0, 0, 1), .0001));
Assert.AreEqual(frustum.Planes[5].DistanceFromOrigin, -507 - zMove, .0001);
}
}
// Main display routine
public void glutDisplayFunc(WorldView worldView, IObject3D item)
{
var mesh = item.Mesh;
var meshVao = GLMeshVertexArrayObjectPlugin.Get(mesh);
GL.PushAttrib(AttribMask.EnableBit | AttribMask.ViewportBit | AttribMask.TransformBit);
// Projection and modelview matrices
float near = 0.01f;
float far = 20;
var top = Math.Tan(35.0 / 360.0 * Math.PI) * near;
var right = top * w / h;
var proj = Matrix4X4.Frustum(-right, right, -top, top, near, far);
// spin around
var model = Matrix4X4.CreateRotationY(Math.PI / 180.0 * count++) * Matrix4X4.CreateTranslation(0, 0, -1.5);
//proj = worldView.ProjectionMatrix;
//model = worldView.ModelviewMatrix;
gl.Enable(GL.DEPTH_TEST);
gl.Viewport(0, 0, w, h);
// select program and attach uniforms
gl.UseProgram(scene_p_id);
int proj_loc = gl.GetUniformLocation(scene_p_id, "proj");
gl.UniformMatrix4fv(proj_loc, 1, GL.FALSE, proj.GetAsFloatArray());
int model_loc = gl.GetUniformLocation(scene_p_id, "model");
gl.UniformMatrix4fv(model_loc, 1, GL.FALSE, model.GetAsFloatArray());
gl.Uniform1f(gl.GetUniformLocation(scene_p_id, "width"), w);
gl.Uniform1f(gl.GetUniformLocation(scene_p_id, "height"), h);
gl.BindVertexArray(meshVao.Vao);
gl.Disable(GL.BLEND);
for (int pass = 0; pass < renderPasses; pass++)
{
int first_pass = pass == 0 ? 1 : 0;
gl.Uniform1i(gl.GetUniformLocation(scene_p_id, "first_pass"), first_pass);
if (first_pass == 0)
{
gl.Uniform1i(gl.GetUniformLocation(scene_p_id, "depth_texture"), 0);
gl.ActiveTexture(GL.TEXTURE0 + 0);
GL.BindTexture(TextureTarget.Texture2D, depthTexture[pass - 1]);
}
gl.BindFramebuffer(GL.FRAMEBUFFER, frameBufferObject[pass]);
gl.ClearColor(0.0, 0.4, 0.7, 0.0);
gl.Clear(GL.COLOR_BUFFER_BIT | GL.DEPTH_BUFFER_BIT);
gl.DrawElements(GL.TRIANGLES, mesh.Faces.Count * 3, GL.UNSIGNED_INT, IntPtr.Zero);
}
// clean up and set to render to screen
gl.BindVertexArray(0);
gl.BindFramebuffer(GL.FRAMEBUFFER, 0);
gl.ActiveTexture(GL.TEXTURE0 + 0);
GL.BindTexture(TextureTarget.Texture2D, 0);
gl.ClearColor(0.0, 0.4, 0.7, 0.0);
gl.Clear(GL.COLOR_BUFFER_BIT | GL.DEPTH_BUFFER_BIT);
for (int pass = 0; pass < renderPasses; pass++)
{
RenderLayer(pass);
}
RenderFinal();
gl.DepthFunc(GL.LESS);
GL.PopAttrib();
gl.BindVertexArray(0);
GL.BindTexture(TextureTarget.Texture2D, 0);
gl.UseProgram(0);
}
private static void AddRevolveStrip(IVertexSource vertexSource, Mesh mesh, double startAngle, double endAngle, bool revolveAroundZ)
{
Vector3 lastPosition = Vector3.Zero;
Vector3 firstPosition = Vector3.Zero;
foreach (var vertexData in vertexSource.Vertices())
{
if (vertexData.IsStop)
{
break;
}
if (vertexData.IsMoveTo)
{
firstPosition = new Vector3(vertexData.position.X, 0, vertexData.position.Y);
if (!revolveAroundZ)
{
firstPosition = new Vector3(vertexData.position.X, vertexData.position.Y, 0);
}
lastPosition = firstPosition;
}
if (vertexData.IsLineTo || vertexData.IsClose)
{
var currentPosition = new Vector3(vertexData.position.X, 0, vertexData.position.Y);
if (!revolveAroundZ)
{
currentPosition = new Vector3(vertexData.position.X, vertexData.position.Y, 0);
}
if (vertexData.IsClose)
{
currentPosition = firstPosition;
}
if (currentPosition.X != 0 || lastPosition.X != 0)
{
if (revolveAroundZ)
{
mesh.CreateFace(new Vector3[]
{
Vector3Ex.Transform(currentPosition, Matrix4X4.CreateRotationZ(endAngle)),
Vector3Ex.Transform(currentPosition, Matrix4X4.CreateRotationZ(startAngle)),
Vector3Ex.Transform(lastPosition, Matrix4X4.CreateRotationZ(startAngle)),
Vector3Ex.Transform(lastPosition, Matrix4X4.CreateRotationZ(endAngle)),
});
}
else
{
mesh.CreateFace(new Vector3[]
{
Vector3Ex.Transform(currentPosition, Matrix4X4.CreateRotationY(endAngle)),
Vector3Ex.Transform(currentPosition, Matrix4X4.CreateRotationY(startAngle)),
Vector3Ex.Transform(lastPosition, Matrix4X4.CreateRotationY(startAngle)),
Vector3Ex.Transform(lastPosition, Matrix4X4.CreateRotationY(endAngle)),
});
}
}
lastPosition = currentPosition;
}
}
}
public static Mesh Revolve(this IVertexSource source,
int angleSteps = 30,
double angleStart = 0,
double angleEnd = MathHelper.Tau,
bool revolveAroundZ = true)
{
angleStart = MathHelper.Range0ToTau(angleStart);
angleEnd = MathHelper.Range0ToTau(angleEnd);
// make sure we close 360 shapes
angleStart = fixCloseAngles(angleStart);
angleEnd = fixCloseAngles(angleEnd);
if (angleStart == 0 && angleEnd == MathHelper.Tau)
{
angleSteps = Math.Max(angleSteps, 3);
}
else
{
angleSteps = Math.Max(angleSteps, 1);
}
// convert to clipper polygons and scale so we can ensure good shapes
Polygons polygons = source.CreatePolygons();
if (polygons.Select(poly => poly.Where(pos => pos.X < 0)).Any())
{
// ensure good winding and consistent shapes
polygons = polygons.GetCorrectedWinding();
var bounds = polygons.GetBounds();
bounds.Inflate(10);
// clip against x=0 left and right
var leftClip = new Polygon();
leftClip.Add(new IntPoint(0, bounds.Bottom));
leftClip.Add(new IntPoint(0, bounds.Top));
leftClip.Add(new IntPoint(bounds.Left, bounds.Top));
leftClip.Add(new IntPoint(bounds.Left, bounds.Bottom));
var rightStuff = polygons.Subtract(leftClip);
var rightClip = new Polygon();
rightClip.Add(new IntPoint(0, bounds.Top));
rightClip.Add(new IntPoint(0, bounds.Bottom));
rightClip.Add(new IntPoint(bounds.Right, bounds.Bottom));
rightClip.Add(new IntPoint(bounds.Right, bounds.Top));
var leftStuff = polygons.Subtract(rightClip);
// mirror left material across the origin
var leftAdd = leftStuff.Scale(-1, 1);
if (leftAdd.Count > 0)
{
if (rightStuff.Count > 0)
{
polygons = rightStuff.Union(leftAdd);
}
else
{
polygons = leftAdd;
}
}
else
{
// there is nothing on the left
polygons = rightStuff;
}
}
// convert the data back to PathStorage
VertexStorage cleanedPath = polygons.CreateVertexStorage();
var mesh = new Mesh();
var hasStartAndEndFaces = angleStart > 0.000001;
hasStartAndEndFaces |= angleEnd < MathHelper.Tau - 0.000001;
// check if we need to make closing faces
if (hasStartAndEndFaces)
{
// make a face for the start
Mesh extrudedVertexSource = cleanedPath.TriangulateFaces();
if (revolveAroundZ)
{
extrudedVertexSource.Transform(Matrix4X4.CreateRotationX(MathHelper.Tau / 4));
extrudedVertexSource.Transform(Matrix4X4.CreateRotationZ(angleStart));
}
else
{
extrudedVertexSource.Transform(Matrix4X4.CreateRotationY(angleStart));
}
mesh.CopyFaces(extrudedVertexSource);
}
// make the outside shell
double angleDelta = (angleEnd - angleStart) / angleSteps;
double currentAngle = angleStart;
if (!hasStartAndEndFaces)
{
angleSteps--;
}
for (int i = 0; i < angleSteps; i++)
{
AddRevolveStrip(cleanedPath, mesh, currentAngle, currentAngle + angleDelta, revolveAroundZ);
currentAngle += angleDelta;
}
if (!hasStartAndEndFaces)
{
if (((angleEnd - angleStart) < .0000001 ||
(angleEnd - MathHelper.Tau - angleStart) < .0000001) &&
(angleEnd - currentAngle) > .0000001)
{
// make sure we close the shape exactly
AddRevolveStrip(cleanedPath, mesh, currentAngle, angleStart, revolveAroundZ);
}
}
else // add the end face
{
// make a face for the end
Mesh extrudedVertexSource = cleanedPath.TriangulateFaces();
if (revolveAroundZ)
{
extrudedVertexSource.Transform(Matrix4X4.CreateRotationX(MathHelper.Tau / 4));
extrudedVertexSource.Transform(Matrix4X4.CreateRotationZ(currentAngle));
}
else
{
extrudedVertexSource.Transform(Matrix4X4.CreateRotationY(angleStart));
}
extrudedVertexSource.ReverseFaces();
mesh.CopyFaces(extrudedVertexSource);
}
mesh.CleanAndMerge();
// return the completed mesh
return(mesh);
}