public aVertex cross(aVertex operand)
{
aVertex toReturn = new aVertex();
toReturn.set(y * operand.z - z * operand.y, z * operand.x - x * operand.z, x * operand.y - y * operand.x);
return(toReturn);
}
public static aVertex operator +(aVertex o1, aVertex o2)
{
aVertex toReturn = new aVertex();
toReturn.set(o1.x + o2.x, o1.y + o2.y, o1.z + o2.z);
return(toReturn);
}
public static aVertex operator *(aVertex o1, float o2)
{
aVertex toReturn = new aVertex();
toReturn.set(o1.x * o2, o1.y * o2, o1.z * o2);
return(toReturn);
}
public virtual void Update(float dt)
{
_location = _location + _linearVelocity * dt;
kQuat operationalAngularVelocity = new kQuat(_angularVelocity);
operationalAngularVelocity.scl = operationalAngularVelocity.scl * dt;
if (_angularVelocity.scl == 0.0f || _angularVelocity.scl == 2.0 * Math.PI)
{
// No angular velocity; keep old orientation
}
else if (_orientation.scl == 0.0f || _orientation.scl == 2.0 * Math.PI)
{
// Frame has not yet rotated; apply one step of velocity
_orientation = operationalAngularVelocity;
}
else
{
// Convert both quaternions to operational; combine; revert to valued
operationalAngularVelocity.convertValuedToOperational();
_orientation.convertValuedToOperational();
_orientation = operationalAngularVelocity * _orientation;
_orientation.convertOperationalToValued();
}
while (_orientation.scl > 2.0 * Math.PI)
{
_orientation.scl = _orientation.scl - 2.0f * (float)Math.PI;
}
while (_orientation.scl < 0.0)
{
_orientation.scl = _orientation.scl + 2.0f * (float)Math.PI;
}
_orientation.normalize();
}
public bool loadCube(float size)
{
// Loads vertices defining size x size x size tetrahedral, where size is the length of one side
clear();
size = size / 2.0f;
// Set up each corner vertex
aVertex vert0 = new aVertex(-size, size, size);
aVertex vert1 = new aVertex(size, size, size);
aVertex vert2 = new aVertex(size, -size, size);
aVertex vert3 = new aVertex(-size, -size, size);
aVertex vert4 = new aVertex(size, size, -size);
aVertex vert5 = new aVertex(-size, size, -size);
aVertex vert6 = new aVertex(-size, -size, -size);
aVertex vert7 = new aVertex(size, -size, -size);
// Create vertex arrays
_numVertices = 36;
_vertices.Add(vert0); _vertices.Add(vert2); _vertices.Add(vert1); // Front face
_vertices.Add(vert0); _vertices.Add(vert3); _vertices.Add(vert2);
_vertices.Add(vert1); _vertices.Add(vert7); _vertices.Add(vert4); // Right face
_vertices.Add(vert1); _vertices.Add(vert2); _vertices.Add(vert7);
_vertices.Add(vert4); _vertices.Add(vert6); _vertices.Add(vert5); // Back face
_vertices.Add(vert4); _vertices.Add(vert7); _vertices.Add(vert6);
_vertices.Add(vert5); _vertices.Add(vert3); _vertices.Add(vert0); // Left face
_vertices.Add(vert5); _vertices.Add(vert6); _vertices.Add(vert3);
_vertices.Add(vert0); _vertices.Add(vert4); _vertices.Add(vert5); // Top face
_vertices.Add(vert0); _vertices.Add(vert1); _vertices.Add(vert4);
_vertices.Add(vert2); _vertices.Add(vert6); _vertices.Add(vert7); // Bottom face
_vertices.Add(vert2); _vertices.Add(vert3); _vertices.Add(vert6);
refreshNormals();
return(true);
}
public aVertex norm()
{
aVertex toReturn = new aVertex();
float mag = this.mag();
toReturn.set(x / mag, y / mag, z / mag);
return(toReturn);
}
public aObject()
{
Mesh = new aMesh();
Mesh.loadCube(1.0f);
_location = new aVertex();
_orientation = new kQuat();
_color = new aColor();
_linearVelocity = new aVertex();
_angularVelocity = new kQuat();
}
public override void Update(float dt)
{
// Assume earth is at 0, 0, 0
float G = 0.003f; // Correct gravitational contant for unit skew
float r = _location.mag();
float gF = G * _mass * _earthMass / (r * r);
aVertex gForce = _location.norm() * -1.0f * gF;
_linearVelocity += gForce * (dt / _mass);
base.Update(dt);
}
public bool loadSphere(float size, int numFaces)
{
// Loads vertices defining sphere with radius size and the given number of faces
clear();
int nPhi = (int)(Math.Sqrt(numFaces / 2.0f));
int nTht = nPhi * 2;
float phi0, tht0, phi1, tht1;
_numVertices = 6 * nPhi * nTht;
// Create triangles by rotating about sphere
for (int i = 0; i < nPhi; i++)
{
// Construct vertices for each latitude
for (int j = 0; j < nTht; j++)
{
// Redeclare to avoid reference crossover
aVertex vert0 = new aVertex();
aVertex vert1 = new aVertex();
aVertex vert2 = new aVertex();
aVertex vert3 = new aVertex();
// Construct vertices for each longitude, beginning with spherical coordinates
phi0 = (((float)i) / ((float)nPhi)) * (float)Math.PI;
phi1 = (((float)(i + 1)) / ((float)nPhi)) * (float)Math.PI;
tht0 = (((float)j) / ((float)nTht)) * 2 * (float)Math.PI;
tht1 = (((float)(j + 1)) / ((float)nTht)) * 2 * (float)Math.PI;
// Create vertices in cartesian from spherical coordinates
vert0.set(size * (float)Math.Sin(phi0) * (float)Math.Cos(tht0), size * (float)Math.Cos(phi0), -1 * size * (float)Math.Sin(phi0) * (float)Math.Sin(tht0));
vert1.set(size * (float)Math.Sin(phi1) * (float)Math.Cos(tht0), size * (float)Math.Cos(phi1), -1 * size * (float)Math.Sin(phi1) * (float)Math.Sin(tht0));
vert2.set(size * (float)Math.Sin(phi1) * (float)Math.Cos(tht1), size * (float)Math.Cos(phi1), -1 * size * (float)Math.Sin(phi1) * (float)Math.Sin(tht1));
vert3.set(size * (float)Math.Sin(phi0) * (float)Math.Cos(tht1), size * (float)Math.Cos(phi0), -1 * size * (float)Math.Sin(phi0) * (float)Math.Sin(tht1));
// Specify triangles
_vertices.Add(vert0); _vertices.Add(vert2); _vertices.Add(vert1);
_vertices.Add(vert0); _vertices.Add(vert3); _vertices.Add(vert2);
_texCoords.Add(new aTexCoord((float)(tht0 / (2.0f * Math.PI)), (float)(phi0 / Math.PI)));
_texCoords.Add(new aTexCoord((float)(tht1 / (2.0f * Math.PI)), (float)(phi1 / Math.PI)));
_texCoords.Add(new aTexCoord((float)(tht0 / (2.0f * Math.PI)), (float)(phi1 / Math.PI)));
_texCoords.Add(new aTexCoord((float)(tht0 / (2.0f * Math.PI)), (float)(phi0 / Math.PI)));
_texCoords.Add(new aTexCoord((float)(tht1 / (2.0f * Math.PI)), (float)(phi0 / Math.PI)));
_texCoords.Add(new aTexCoord((float)(tht1 / (2.0f * Math.PI)), (float)(phi1 / Math.PI)));
}
}
refreshNormals();
return(true);
}
public bool loadTetra(float size)
{
// Loads vertices defining size x size x size cube, where size is the length of one side.
clear();
float L = size / (float)Math.Sqrt(3.0f);
float l = 2 * size / 3;
// Set up each corner vertex
aVertex vert0 = new aVertex(0.0f, l, 0.0f);
aVertex vert1 = new aVertex(size / 2, -l / 2, -L / 2);
aVertex vert2 = new aVertex(0.0f, -l / 2, L);
aVertex vert3 = new aVertex(-size / 2, -l / 2, -L / 2);
// Create vertex arrays
_numVertices = 12;
_vertices.Add(vert0); _vertices.Add(vert2); _vertices.Add(vert1); // Right face
_vertices.Add(vert0); _vertices.Add(vert1); _vertices.Add(vert3); // Back face
_vertices.Add(vert0); _vertices.Add(vert3); _vertices.Add(vert2); // Left face
_vertices.Add(vert1); _vertices.Add(vert2); _vertices.Add(vert3); // Bottom face
refreshNormals();
return(true);
}
