void RenderResults(RenderMode renderMode, MatrixTransforms transforms, CameraEntity currentCamera)
{
_timeAttenuationHandle.SetValue(new xna.Vector4(100 * (float)Math.Cos(_appTime * (1.0f / SCAN_INTERVAL)), 0, 0, 1));
// render impact points as a quad
xna.Matrix inverseViewRotation = currentCamera.ViewMatrix;
inverseViewRotation.M41 = inverseViewRotation.M42 = inverseViewRotation.M43 = 0;
xna.Matrix.Invert(ref inverseViewRotation, out inverseViewRotation);
xna.Matrix localTransform = xna.Matrix.CreateFromAxisAngle(new xna.Vector3(1, 0, 0), (float)-Math.PI / 2) * inverseViewRotation;
SimulationEngine.GlobalInstance.Device.RenderState.DepthBufferWriteEnable = false;
for (int i = 0; i < _lastResults.ImpactPoints.Count; i++)
{
xna.Vector3 pos = new xna.Vector3(_lastResults.ImpactPoints[i].Position.X,
_lastResults.ImpactPoints[i].Position.Y,
_lastResults.ImpactPoints[i].Position.Z);
xna.Vector3 resultDir = pos - Position;
resultDir.Normalize();
localTransform.Translation = pos - .02f * resultDir;
transforms.World = localTransform;
base.Render(renderMode, transforms, Meshes[0]);
}
SimulationEngine.GlobalInstance.Device.RenderState.DepthBufferWriteEnable = true;
}
/// <summary>Rotates the camera around the specified <paramref name="axis"/> vector by <paramref name="angle"/> degrees.</summary>
/// <param name="angle">The angle to rotate by.</param>
/// <param name="axis">The axis to rotate around.</param>
public void Rotate(double angle, Vec4D axis)
{
Mat4x4D rotMat = MatrixTransforms.Rotate(angle, axis);
position = rotMat * position;
look = rotMat * look;
up = rotMat * up;
}
/// <summary>
/// Renders 4x4 body and all of its four wheels
/// </summary>
/// <param name="renderMode"></param>
/// <param name="transforms"></param>
/// <param name="currentCamera"></param>
public override void Render(RenderMode renderMode, MatrixTransforms transforms, CameraEntity currentCamera)
{
_leftFrontWheel.Render(renderMode, transforms, currentCamera);
_rightFrontWheel.Render(renderMode, transforms, currentCamera);
_leftRearWheel.Render(renderMode, transforms, currentCamera);
_rightRearWheel.Render(renderMode, transforms, currentCamera);
base.Render(renderMode, transforms, currentCamera);
}
/// <summary>
/// The render method is called every frame and updates the propellers
/// </summary>
/// <param name="renderMode"></param>
/// <param name="transforms"></param>
/// <param name="currentCamera"></param>
public override void Render(VisualEntity.RenderMode renderMode, MatrixTransforms transforms, CameraEntity currentCamera)
{
// Render the propeller updates
foreach (PropellerEntity propellerEntity in propellerEntities)
{
propellerEntity.Render(renderMode, transforms, currentCamera);
}
// Render this entity
base.Render(renderMode, transforms, currentCamera);
}
/// <summary>
/// Frame render
/// </summary>
public override void Render(RenderMode renderMode, MatrixTransforms transforms, CameraEntity currentCamera)
{
if ((int)(Flags & VisualEntityProperties.DisableRendering) > 0)
{
return;
}
if (_lastResults != null)
{
RenderResults(renderMode, transforms, currentCamera);
}
}
public override void Update()
{
base.Update();
sun.orbitCenter += new Vector2(1, 0);
float scaleChange = 0.01f *
((Input.Keyboard.IsDown(Keys.A) ? 1.0f : 0.0f) + (Input.Keyboard.IsDown(Keys.S) ? -1.0f : 0.0f));
float rotationChange = 0.01f *
((Input.Keyboard.IsDown(Keys.Q) ? 1.0f : 0.0f) + (Input.Keyboard.IsDown(Keys.W) ? -1.0f : 0.0f));
Vector2 changePosition = Vector2.Zero;
changePosition.X += Input.Keyboard.IsDown(Keys.Right) ? 1 : 0;
changePosition.X += Input.Keyboard.IsDown(Keys.Left) ? -1 : 0;
changePosition.Y += Input.Keyboard.IsDown(Keys.Up) ? -1 : 0;
changePosition.Y += Input.Keyboard.IsDown(Keys.Down) ? 1 : 0;
changePosition *= 5;
if (scaleChange != 0 || rotationChange != 0 || changePosition != Vector2.Zero)
{
scale += scaleChange;
rotation += rotationChange;
translate += changePosition;
Core.Camera = Matrix.Identity
* MatrixTransforms.TransformMatrix(-sun.GlobalPosition.X, -sun.GlobalPosition.Y)
* MatrixTransforms.ScaleMatrix(scale)
* MatrixTransforms.RotationMatrix(rotation)
* MatrixTransforms.TransformMatrix(sun.GlobalPosition.X, sun.GlobalPosition.Y)
//* MatrixTransforms.TransformMatrix(-Core.Width / 2, -Core.Height / 2)
//* MatrixTransforms.RotationMatrix(rotation)
//* MatrixTransforms.TransformMatrix(Core.Width / 2, Core.Height / 2)
* MatrixTransforms.TransformMatrix(-translate.X, -translate.Y)
;
}
}
void RenderResults(RenderMode renderMode, MatrixTransforms transforms, CameraEntity currentCamera)
{
_timeAttenuationHandle.SetValue(new xna.Vector4(100 * (float)Math.Cos(_appTime * (1.0f / SCAN_INTERVAL)), 0, 0, 1));
// render impact points as a quad
xna.Matrix inverseViewRotation = currentCamera.ViewMatrix;
inverseViewRotation.M41 = inverseViewRotation.M42 = inverseViewRotation.M43 = 0;
xna.Matrix.Invert(ref inverseViewRotation, out inverseViewRotation);
xna.Matrix localTransform = xna.Matrix.CreateFromAxisAngle(new xna.Vector3(1, 0, 0), (float)-Math.PI / 2) * inverseViewRotation;
SimulationEngine.GlobalInstance.Device.RenderState.DepthBufferWriteEnable = false;
for (int i = 0; i < _lastResults.ImpactPoints.Count; i++)
{
xna.Vector3 pos = new xna.Vector3(_lastResults.ImpactPoints[i].Position.X,
_lastResults.ImpactPoints[i].Position.Y,
_lastResults.ImpactPoints[i].Position.Z);
xna.Vector3 resultDir = pos - Position;
resultDir.Normalize();
localTransform.Translation = pos - .02f * resultDir;
transforms.World = localTransform;
base.Render(renderMode, transforms, Meshes[0]);
}
SimulationEngine.GlobalInstance.Device.RenderState.DepthBufferWriteEnable = true;
}
/// <summary>
/// Frame render
/// </summary>
public override void Render(RenderMode renderMode, MatrixTransforms transforms, CameraEntity currentCamera)
{
if ((int)(Flags & VisualEntityProperties.DisableRendering) > 0)
return;
if (_lastResults != null)
RenderResults(renderMode, transforms, currentCamera);
}
/// <summary>
/// The render method gets called every frame iteration to render the new frame
/// </summary>
/// <param name="renderMode">The current render mode</param>
/// <param name="transforms">The matrix transformations to be applied</param>
/// <param name="currentCamera">The curren camera</param>
public override void Render(VisualEntity.RenderMode renderMode, MatrixTransforms transforms, CameraEntity currentCamera)
{
// Render the propeller shape
RenderShape(renderMode, transforms, propellerShapeProperties, Meshes[0]);
}
public static Scene FromFile(string filename)
{
StreamReader reader = null;
try
{
reader = new StreamReader(filename);
Scene outScene = new Scene();
// Camera state
Camera addCam = null;
double imagePlane = 0;
double dofAmount = 0;
double focalLength = 0;
Vec4D focalPoint = Vec4D.Zero;
// Primitive state
IObject obj = null;
List <Primitive> prims = new List <Primitive>();
bool twoSided = true;
bool invert = false;
DoubleColor emission = DoubleColor.Placeholder;
DoubleColor diffuse = DoubleColor.Placeholder;
DoubleColor specular = DoubleColor.Placeholder;
double shininess = -1;
DoubleColor refraction = DoubleColor.Placeholder;
double refractionIndex = -1;
stack = new MatrixStack(); // Transform stack
invStack = new MatrixStack(); // Inverse transforms
List <Vec4D> vertices = new List <Vec4D>();
List <Vertex> verticesNormals = new List <Vertex>();
int lineNum = 1;
while (!reader.EndOfStream)
{
string line = reader.ReadLine();
var lineMatched = lineRegex.Match(line);
if (!lineMatched.Success)
{
throw new Exception("Line did not match expected format.");
}
// Line is blank
if (lineMatched.Groups[1].Captures.Count > 0)
{
// Grab the command name from the first capture group.
string cmd = lineMatched.Groups[1].Value.ToLowerInvariant();
// Pull all the parameters from the matched groups after the command name.
paramEnum = lineMatched.Groups.Values.Skip(2).SelectMany((g) => g.Captures).Select((c) => c.Value).GetEnumerator();
#if !DEBUG
try
#endif
{
Vec4D pos;
switch (cmd)
{
case "size":
outScene.Width = NextInt();
outScene.Height = NextInt();
break;
case "background":
outScene.BackgroundRGB = NextRGB();
outScene.BackgroundAlpha = NextDbl();
break;
case "ambient":
outScene.AmbientRGB = Next() switch
{
"miss" => DoubleColor.Placeholder,
"color" => NextRGB(),
_ => throw new Exception($"Unknown ambient type {paramEnum.Current}."),
};
break;
case "recursion":
case "bounce":
outScene.Recursion = NextInt();
break;
case "debug":
outScene.DebugGeom = Next() switch
{
"geom" => true,
"off" => false,
_ => throw new Exception($"Unknown debug type {paramEnum.Current}."),
};
break;
// Cameras:
case "dof":
imagePlane = NextDbl();
dofAmount = NextDbl();
switch (Next())
{
case "at":
focalPoint = NextVecTransf();
focalLength = 0;
break;
case "to":
focalLength = NextDbl();
focalPoint = Vec4D.Zero;
break;
case "camera":
focalLength = 0;
focalPoint = Vec4D.Zero;
break;
default:
throw new Exception($"Unknown dof focal command {paramEnum.Current}.");
}
break;
case "camera":
case "frustum":
case "orthographic":
pos = NextVec(1);
Vec4D lookAt = NextVec(1);
Vec4D up = Transf(NextVec(0) + pos);
pos = Transf(pos);
up -= pos;
if (cmd == "orthographic")
{
addCam = new OrthoCamera(pos, lookAt, up, NextDbl());
}
else
{
addCam = new FrustumCamera(pos, lookAt, up, NextDbl());
}
break;
// Materials:
case "twosided":
twoSided = NextBool();
break;
case "invert":
invert = NextBool();
break;
case "emission":
emission = NextRGB();
break;
case "diffuse":
diffuse = NextRGB();
break;
case "specular":
specular = NextRGB();
break;
case "shininess":
shininess = NextDbl();
if (paramEnum.MoveNext())
{
shininess = Math.Pow(shininess, ParseDbl(paramEnum.Current));
}
break;
case "refraction":
if (Next() == "off")
{
refraction = DoubleColor.Placeholder;
refractionIndex = -1;
}
else
{
refraction = new DoubleColor(ParseDbl(paramEnum.Current), NextDbl(), NextDbl());
refractionIndex = NextDbl();
}
break;
// Transforms:
case "translate":
Vec4D tVec = NextVec(0);
stack.Transform(MatrixTransforms.Translate(tVec.X, tVec.Y, tVec.Z));
invStack.InvTransform(MatrixTransforms.Translate(-tVec.X, -tVec.Y, -tVec.Z));
break;
case "scale":
Vec4D sVec = NextVec(0);
stack.Transform(MatrixTransforms.Scale(sVec.X, sVec.Y, sVec.Z));
invStack.InvTransform(MatrixTransforms.Scale(1 / sVec.X, 1 / sVec.Y, 1 / sVec.Z));
break;
case "rotate":
Vec4D axis = NextVec(0);
double angle = NextDbl();
stack.Transform(MatrixTransforms.Rotate(Consts.toRadians(angle), axis));
invStack.InvTransform(MatrixTransforms.Rotate(-Consts.toRadians(angle), axis));
break;
case "pushtransform":
stack.Push();
invStack.Push();
break;
case "poptransform":
stack.Pop();
invStack.Pop();
break;
// Primitives:
case "sphere":
prims.Add(new Sphere(NextVec(1), NextDbl()));
break;
case "plane":
prims.Add(new Plane(NextDbl(), NextVec(0)));
break;
case "vertex":
vertices.Add(NextVec(1));
break;
case "tri":
Vec4D p0 = vertices[NextInt()];
Vec4D p1 = vertices[NextInt()];
Vec4D p2 = vertices[NextInt()];
bool mirror = false;
if (paramEnum.MoveNext() && paramEnum.Current == "mirrored")
{
mirror = true;
}
Triangle tri = new Triangle(p0, p1, p2, mirror);
prims.Add(tri);
break;
case "vertexnormal":
verticesNormals.Add(new Vertex(NextVec(1), NextVec(0)));
break;
case "trinormal":
Vertex v0 = verticesNormals[NextInt()];
Vertex v1 = verticesNormals[NextInt()];
Vertex v2 = verticesNormals[NextInt()];
Triangle triNorm = new Triangle(v0, v1, v2);
prims.Add(triNorm);
break;
// Objects
case "cube":
pos = NextVec(1);
Vec4D size = NextVec(0);
Cube cube = new Cube(pos, size);
obj = cube;
if (paramEnum.MoveNext())
{
switch (paramEnum.Current)
{
case "all":
prims.AddRange(cube.GetChildren(Cube.AllSides));
break;
case "only":
prims.AddRange(cube.GetChildren(ReadAll().Aggregate(Cube.NoSides, (sides, name) => sides | Cube.GetSide(name))));
break;
case "not":
prims.AddRange(cube.GetChildren(ReadAll().Aggregate(Cube.AllSides, (sides, name) => sides & ~Cube.GetSide(name))));
break;
default:
throw new Exception("Unknown option provided for cube construction: " + paramEnum.Current);
}
}
prims.AddRange(obj.GetChildren(ObjectConsts.ImplicitInstance));
break;
// Instancing:
case "instance":
// Add instances from the previously assigned object (primitive group).
prims.AddRange(ReadAll().SelectMany((s) => obj.GetChildren(s)));
break;
// Other:
case "maxverts":
break;
case "maxvertnorms":
break;
default:
Trace.WriteLine("Unknown command: " + cmd);
break;
}
if (addCam != null)
{
addCam.imagePlane = imagePlane;
addCam.dofAmount = dofAmount;
if (focalPoint != Vec4D.Zero)
{
addCam.focalLength = (focalPoint - addCam.position).Length;
}
else if (focalLength != 0)
{
addCam.focalLength = focalLength;
}
else
{
addCam.focalLength = (addCam.initLookAt - addCam.position).Length;
}
outScene.Cameras.Add(addCam);
addCam = null;
}
foreach (Primitive prim in prims)
{
prim.TwoSided = twoSided;
prim.Invert = invert;
if (emission != DoubleColor.Placeholder)
{
prim.Emission = emission;
}
if (diffuse != DoubleColor.Placeholder)
{
prim.Diffuse = diffuse;
}
if (specular != DoubleColor.Placeholder)
{
prim.Specular = specular;
}
if (shininess != -1)
{
prim.Shininess = shininess;
}
if (refraction != DoubleColor.Placeholder)
{
prim.Refraction = refraction;
prim.RefractiveIndex = refractionIndex;
}
prim.Transform(stack.Peek(), invStack.Peek());
outScene.AddPrimitive(prim);
}
prims.Clear();
}
#if !DEBUG
catch (Exception e) when(e is Exception || e is FormatException || e is OverflowException || e is IndexOutOfRangeException)
{
throw new LoaderException(cmd, lineNum, e);
}
#endif
}
lineNum++;
}
return(outScene);
}
catch (FileNotFoundException e)
{
}
finally
{
reader?.Close();
}
return(null);
}
/*
// TT - Changed in V1.5 with different parameters
/// <summary>
/// Render entities stored as fields
/// </summary>
/// <param name="device"></param>
/// <param name="transforms"></param>
/// <param name="currentCamera"></param>
public override void Render(xnagrfx.GraphicsDevice device, MatrixTransforms transforms,
Microsoft.Robotics.Simulation.Engine.CameraEntity currentCamera)
{
_leftWheel.Render(device, transforms, currentCamera);
_rightWheel.Render(device, transforms, currentCamera);
base.Render(device, transforms, currentCamera);
}
*/
/// <summary>
/// Render entities stored as fields
/// </summary>
public override void Render(RenderMode renderMode, MatrixTransforms transforms, CameraEntity currentCamera)
{
_leftWheel.Render(renderMode, transforms, currentCamera);
_rightWheel.Render(renderMode, transforms, currentCamera);
base.Render(renderMode, transforms, currentCamera);
}
