internal void render(vec3 p, quat rot)
{
using (PushedMatrix dnum = new PushedMatrix())
{
mat.apply();
Gl.glTranslatef(p.x, p.y, p.z);
AxisAngle aa = rot.AxisAngle;
// apply rotation
Gl.glRotatef(aa.angle.inDegrees, aa.axis.x, aa.axis.y, aa.axis.z);
Gl.glBegin(Gl.GL_TRIANGLES);
foreach (MeshDef.Vertex[] face in faces)
{
for (int i = 0; i < 3; ++i)
{
MeshDef.Vertex v = face[i];
vec3 vert = (poseable.CurrentPose != null)
? poseable.CurrentPose.transforms[v.bone] * v.vertex
: v.vertex;
Gl.glNormal3f(v.normal.x, v.normal.y, v.normal.z);
Gl.glTexCoord2f(v.uv.x, v.uv.y);
Gl.glVertex3f(vert.x, vert.y, vert.z);
}
}
Gl.glEnd();
}
}
internal void sendRotation()
{
// -rotatation
AxisAngle aa = rotation.AxisAngle;
Gl.glRotatef(-aa.angle.inDegrees, aa.axis.x, aa.axis.y, aa.axis.z);
}
public static quat FpsQuat(quat rotation, float dx, float dy)
{
quat rx = new quat(AxisAngle.RightHandAround(vec3.Up, angle.FromDegrees(-dx)));
quat ry = new quat(AxisAngle.RightHandAround(rotation.Right, angle.FromDegrees(-dy)));
quat final = rx * ry;
return(final);
}
public quat(AxisAngle aa)
{
angle half = aa.angle * 0.5f;
vec = aa.axis * half.Sin;
w = half.Cos;
normalize();
}
public quat rotation(vec2 from, vec2 to)
{
vec3 f = transform(from);
vec3 t = transform(to);
vec3 axis = vec3.cross(f, t).Normalized;
angle angle = vec3.AngleBetween(f, t);
return(new quat(AxisAngle.RightHandAround(axis, angle)));
}
public static mat44 FromAxisAngle(AxisAngle aa)
{
float c = aa.angle.Cos;
float s = aa.angle.Sin;
float x = aa.axis.x;
float y = aa.axis.y;
float z = aa.axis.z;
return(new mat44(new float[] {
x *x *(1 - c) + c, x * y * (1 - c) - z * s, x * z * (1 - c) + y * s, 0,
y * x * (1 - c) + z * s, y * y * (1 - c) + c, y * z * (1 - c) - x * s, 0,
x * z * (1 - c) - y * s, y * z * (1 - c) + x * s, z * z * (1 - c) + c, 0,
0, 0, 0, 1
}));
}
public MatrixHelper Rotate(AxisAngle aa)
{
return(mult(mat44.FromAxisAngle(aa)));
}