public static Matrix4 Rotate(Quaternion q)
{
Vector3 axis;
float angle;
q.ToAxisAngle(out axis, out angle);
return(Matrix4.CreateFromAxisAngle(axis, angle));
}
/// <summary>
/// Build a rotation matrix from the specified quaternion.
/// </summary>
/// <param name="q">Quaternion to translate.</param>
/// <param name="result">Matrix result.</param>
public static void CreateFromQuaternion(ref Quaternion q, out Matrix3 result)
{
Vector3 axis;
float angle;
q.ToAxisAngle(out axis, out angle);
CreateFromAxisAngle(axis, angle, out result);
}
public static void DrawObject(DrawingContext ctx, uint[] indeices, VertexPositionNormalTexture[] array, tkVector3 position, tkQuaternion orientation, object tag, bool selected = false)
{
GL.Translate(position.X, position.Y, position.Z);
OpenTK.Quaternion q = orientation;
OpenTK.Vector3 r;
float angle = 0;
q.ToAxisAngle(out r, out angle);
GL.Rotate((float)(angle * 180.0f / Math.PI), r);
if (selected)
{
//DrawBoundingBox(array.Select(z => z.Position).Select(x => new BEPUutilities.Vector3(x.X, x.Y, x.Z)).ToArray());
}
else
{
GL.Color3(255, 255, 255);
}
//GL.Scale(10,10,10);
List <tkVector3> vv = new List <tkVector3>();
List <tkVector3> nv = new List <tkVector3>();
for (int i = 0; i < indeices.Count(); i += 3)
{
for (int j = 0; j < 3; j++)
{
vv.Add(array[indeices[i + j]].Position);
nv.Add(array[indeices[i + j]].Normal);
}
}
if (ctx.Solid)
{
GL.Color3(Color.Gray);
GL.Begin(PrimitiveType.Triangles);
GL.Disable(EnableCap.ColorMaterial);
int index = 0;
if (tag != null && tag is EntityTagInfo)
{
var info = tag as EntityTagInfo;
if (info.UseOneColor)
{
GL.Color3(info.Color);
}
}
for (int j = 0; j < vv.Count; j += 3)
{
index++;
for (int i = 0; i < 3; i++)
{
var vector3 = vv[j + i];
var n3 = nv[j + i];
var v = vector3;
GL.Normal3(n3.X, n3.Y, n3.Z);
GL.Vertex3(v.X, v.Y, v.Z);
}
}
GL.End();
}
//triangl
if (ctx.Wireframe)
{
GL.Disable(EnableCap.Lighting);
GL.Enable(EnableCap.ColorMaterial);
GL.LineWidth(ctx.WireframeLineWidth);
for (int j = 0; j < vv.Count; j += 3)
{
GL.Color3(255, 0, 0);
GL.Begin(PrimitiveType.LineLoop);
for (int i = 0; i < 3; i++)
{
var vector3 = vv[j + i];
var n3 = nv[j + i];
var v = vector3;
GL.Vertex3(v.X, v.Y, v.Z);
}
GL.End();
}
}
}
