public override IEnumerator <Triangle> GetEnumerator()
{
double angularStep = 2 * Math.PI / Resolution;
var basis = new Basis();
var id = Transformation.Identity();
basis = new Basis(Quat.FromToRotation(Vec3.K, this.Original.Tangent(0)) * id);
for (float t = StepDistance; t <= 1; t += StepDistance)
{
var previousFrontVec = basis.Y;
var previousSideVec = basis.X;
basis = new Basis(Quat.FromToRotation(Vec3.K, this.Original.Tangent(t)) * id);
var nextFrontVec = basis.Y;
var nextSideVec = basis.X;
for (int i = 1; i <= Resolution; i++)
{
// Position on 2D XY plane
double previousAngle = (i - 1) * angularStep;
double xi = TubeRadius * Math.Cos(previousAngle);
double yi = TubeRadius * Math.Sin(previousAngle);
double nextAngle = (i) * angularStep;
double xe = TubeRadius * Math.Cos(nextAngle);
double ye = TubeRadius * Math.Sin(nextAngle);
// Convert to 3D positions
Vec3 previousMidline = this.Original[t - StepDistance];
Vec3 nextMidline = this.Original[t];
Vec3 be = previousMidline + previousFrontVec * ye + previousSideVec * xe;
Vec3 bi = previousMidline + previousFrontVec * yi + previousSideVec * xi;
Vec3 te = nextMidline + nextFrontVec * ye + nextSideVec * xe;
Vec3 ti = nextMidline + nextFrontVec * yi + nextSideVec * xi;
/* CREATE TRIANGLES
* te -- ti
| / |
| / |
| be -- bi
*/
yield return(new Triangle(be, te, ti));
yield return(new Triangle(be, ti, bi));
}
}
}
public Vec3 VectorToLocal(Vec3 point)
{
return(Quat.Inverse(Quat.FromToRotation(Vec3.right, this.property.direction)) * point);
}
public Vec3 VectorToWorld(Vec3 point)
{
return(Quat.FromToRotation(Vec3.right, this.property.direction) * point);
}
public Vec3 PointToLocal(Vec3 point)
{
return(Quat.Inverse(Quat.FromToRotation(Vec3.right, this.property.direction)) * (point - this.property.position));
}
public Vec3 PointToWorld(Vec3 point)
{
return(this.property.position + Quat.FromToRotation(Vec3.right, this.property.direction) * point);
}
public void Quat4()
{
FQuat fq = FQuat.Euler(( Fix64 )45, ( Fix64 )(-23), ( Fix64 )(-48.88));
FQuat fq2 = FQuat.Euler(( Fix64 )23, ( Fix64 )(-78), ( Fix64 )(-132.43f));
Quat q = Quat.Euler(45, -23, -48.88f);
Quat q2 = Quat.Euler(23, -78, -132.43f);
FVec3 fv = new FVec3(12.5f, 9, 8);
FVec3 fv2 = new FVec3(1, 0, 0);
Vec3 v = new Vec3(12.5f, 9, 8);
Vec3 v2 = new Vec3(1, 0, 0);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
this._output.WriteLine(fq2.ToString());
this._output.WriteLine(q2.ToString());
Fix64 fa = FQuat.Angle(fq, fq2);
float a = Quat.Angle(q, q2);
this._output.WriteLine(fa.ToString());
this._output.WriteLine(a.ToString());
fq = FQuat.AngleAxis(( Fix64 )(-123.324), fv);
q = Quat.AngleAxis(-123.324f, v);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fa = FQuat.Dot(fq, fq2);
a = Quat.Dot(q, q2);
this._output.WriteLine(fa.ToString());
this._output.WriteLine(a.ToString());
fq = FQuat.FromToRotation(FVec3.Normalize(fv), fv2);
q = Quat.FromToRotation(Vec3.Normalize(v), v2);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq = FQuat.Lerp(fq, fq2, ( Fix64 )0.66);
q = Quat.Lerp(q, q2, 0.66f);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq = FQuat.Normalize(fq);
q.Normalize();
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq.Inverse();
q = Quat.Inverse(q);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fv = FQuat.Orthogonal(fv);
v = Quat.Orthogonal(v);
this._output.WriteLine(fv.ToString());
this._output.WriteLine(v.ToString());
fq = FQuat.Slerp(fq, fq2, ( Fix64 )0.66);
q = Quat.Slerp(q, q2, 0.66f);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq = FQuat.LookRotation(FVec3.Normalize(fv), fv2);
q = Quat.LookRotation(Vec3.Normalize(v), v2);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq.ToAngleAxis(out fa, out fv);
q.ToAngleAxis(out a, out v);
this._output.WriteLine(fa.ToString());
this._output.WriteLine(a.ToString());
this._output.WriteLine(fv.ToString());
this._output.WriteLine(v.ToString());
fq = fq.Conjugate();
q = q.Conjugate();
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
fq.SetLookRotation(FVec3.Normalize(fv), fv2);
q.SetLookRotation(Vec3.Normalize(v), v2);
this._output.WriteLine(fq.ToString());
this._output.WriteLine(q.ToString());
}
public void SetFromToRotation(Vector3 fromDirection, Vector3 toDirection)
{
this = Quat.FromToRotation(fromDirection, toDirection);
}
public override IEnumerator <Triangle> GetEnumerator()
{
var extruding = false;
var id = Transformation.Identity();
double angularStep = 2 * Math.PI / Resolution;
var basis = new Basis();
// Print head
var x = 0.0;
var y = 0.0;
var z = 0.0;
bool relative = false;
foreach (var command in this.Original)
{
if (command.Type != 'G')
{
continue;
}
switch (command.Number)
{
case 90:
// Behaviour is MoveTo
relative = false;
break;
case 91:
// Behaviour is MoveBy
relative = true;
break;
case 0:
if (extruding)
{
// Create end cap at the previous position
}
if (command.X.HasValue)
{
x = command.X.Value + (relative ? x : 0);
}
if (command.Y.HasValue)
{
y = command.Y.Value + (relative ? y : 0);
}
if (command.Z.HasValue)
{
z = command.Z.Value + (relative ? z : 0);
}
extruding = false;
break;
case 1:
if (!extruding)
{
// Create start cap at the new position
}
var start = new Vec3(x, y, z);
bool changed = false;
if (command.X.HasValue)
{
x = command.X.Value + (relative ? x : 0);
changed = true;
}
if (command.Y.HasValue)
{
y = command.Y.Value + (relative ? y : 0);
changed = true;
}
if (command.Z.HasValue)
{
z = command.Z.Value + (relative ? z : 0);
changed = true;
}
var end = new Vec3(x, y, z);
// Didn't actually move or not actually extruding
if (!changed || start == end || !command.E.HasValue)
{
continue;
}
// New extrusion, new starting basis, otherwise if continuing, reuse last basis
if (!extruding)
{
basis = new Basis(Quat.FromToRotation(Vec3.K, end - start) * id);
}
for (int i = 1; i <= Resolution; i++)
{
double previousAngle = (i - 1) * angularStep;
double xi = TubeRadius * Math.Cos(previousAngle);
double yi = TubeRadius * Math.Sin(previousAngle);
double nextAngle = (i) * angularStep;
double xe = TubeRadius * Math.Cos(nextAngle);
double ye = TubeRadius * Math.Sin(nextAngle);
Vec3 be = start + basis.Y * ye + basis.X * xe;
Vec3 bi = start + basis.Y * yi + basis.X * xi;
basis = new Basis(Quat.FromToRotation(Vec3.K, end - start) * id);
Vec3 te = end + basis.Y * ye + basis.X * xe;
Vec3 ti = end + basis.Y * yi + basis.X * xi;
yield return(new Triangle(be, te, ti));
yield return(new Triangle(be, ti, bi));
}
extruding = true;
break;
default:
continue;
}
}
}
/// <summary>
/// Look at a point in world space
/// </summary>
/// <param name="position">world space position</param>
public void LookAt(Vec3 position)
{
this.Rotate(Quat.FromToRotation(this.Basis.Y, position - this.LocalPosition));
}