public static CMatrix4x4 GetRotateZ(float r)
{
CMatrix4x4 rm = new CMatrix4x4();
rm.Identity();
rm[0, 0] = (float)(System.Math.Cos(r));
rm[0, 1] = (float)(-System.Math.Sin(r));
//
rm[1, 0] = (float)(System.Math.Sin(r));
rm[1, 1] = (float)(System.Math.Cos(r));
return(rm);
}
public static CMatrix4x4 GetRotateX(float r)
{
CMatrix4x4 rm = new CMatrix4x4();
rm.Identity();
rm[1, 1] = (float)(System.Math.Cos(r));
rm[1, 2] = (float)(-System.Math.Sin(r));
//
rm[2, 1] = (float)(System.Math.Sin(r));
rm[2, 2] = (float)(System.Math.Cos(r));
return rm;
}
/// <summary>
/// 获取旋转矩阵
/// </summary>
/// <param name="x"></param>
/// <param name="y"></param>
/// <param name="z"></param>
/// <param name="r">弧度</param>
/// <returns></returns>
public static CMatrix4x4 GetRotate(float x, float y, float z, float r)
{
CMatrix4x4 rm = new CMatrix4x4();
rm.Identity();
rm[0, 0] = (float)(x * x * (1 - System.Math.Cos(r)) + System.Math.Cos(r));
rm[0, 1] = (float)(x * y * (1 - System.Math.Cos(r)) + z * System.Math.Sin(r));
rm[0, 2] = (float)(x * z * (1 - System.Math.Cos(r)) - y * System.Math.Sin(r));
//
rm[1, 0] = (float)(y * x * (1 - System.Math.Cos(r)) - z * System.Math.Sin(r));
rm[1, 1] = (float)(y * y * (1 - System.Math.Cos(r)) + System.Math.Cos(r));
rm[1, 2] = (float)(y * z * (1 - System.Math.Cos(r)) + z * System.Math.Sin(r));
//
rm[2, 0] = (float)(z * x * (1 - System.Math.Cos(r)) + z * System.Math.Sin(r));
rm[2, 1] = (float)(z * y * (1 - System.Math.Cos(r)) - System.Math.Sin(r));
rm[2, 2] = (float)(z * z * (1 - System.Math.Cos(r)) + z * System.Math.Cos(r));
return rm;
}
/// <summary>
/// 获取旋转矩阵
/// </summary>
/// <param name="x"></param>
/// <param name="y"></param>
/// <param name="z"></param>
/// <param name="r">弧度</param>
/// <returns></returns>
public static CMatrix4x4 GetRotate(float x, float y, float z, float r)
{
CMatrix4x4 rm = new CMatrix4x4();
rm.Identity();
rm[0, 0] = (float)(x * x * (1 - System.Math.Cos(r)) + System.Math.Cos(r));
rm[0, 1] = (float)(x * y * (1 - System.Math.Cos(r)) + z * System.Math.Sin(r));
rm[0, 2] = (float)(x * z * (1 - System.Math.Cos(r)) - y * System.Math.Sin(r));
//
rm[1, 0] = (float)(y * x * (1 - System.Math.Cos(r)) - z * System.Math.Sin(r));
rm[1, 1] = (float)(y * y * (1 - System.Math.Cos(r)) + System.Math.Cos(r));
rm[1, 2] = (float)(y * z * (1 - System.Math.Cos(r)) + z * System.Math.Sin(r));
//
rm[2, 0] = (float)(z * x * (1 - System.Math.Cos(r)) + z * System.Math.Sin(r));
rm[2, 1] = (float)(z * y * (1 - System.Math.Cos(r)) - System.Math.Sin(r));
rm[2, 2] = (float)(z * z * (1 - System.Math.Cos(r)) + z * System.Math.Cos(r));
return(rm);
}
public static void Test()
{
CVector3D a = new CVector3D(1, 2, 1,1);
CVector3D b = new CVector3D(5, 6, 0,1);
CVector3D c = new CVector3D(1, 2, 3, 1);
float r1 = CVector3D.Dot(a,b);
CVector3D r2 = a - b;
CVector3D r3 = CVector3D.Cross(a,b);
Console.WriteLine("a dot b:{0}", r1);
Console.WriteLine("a - b:({0},{1},{2},{3})", r2.x, r2.y, r2.z, r2.w);
Console.WriteLine("a X b:({0},{1},{2},{3})", r3.x, r3.y, r3.z, r3.w);
//
CMatrix4x4 mat1 = new CMatrix4x4(1,2,3,4,
1,2,3,4,
1,2,3,4,
0,0,0,1);
CMatrix4x4 mat2 = new CMatrix4x4(1, 2, 3, 4,
1, 2, 3, 4,
1, 2, 3, 4,
1, 2, 3, 4);
CMatrix4x4 mat3 = new CMatrix4x4();
mat3.Identity();
CMatrix4x4 mat4 = new CMatrix4x4(1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0,
1, 2, 3, 1);
CMatrix4x4 matr1 = mat1 * mat3;
Console.WriteLine("mat1 * mat3:");
showMat(matr1);
CMatrix4x4 matr2 = mat1 * mat2;
Console.WriteLine("mat1 * mat2:");
showMat(matr2);
CVector3D r4 = a * mat1;
Console.WriteLine("a * mat1:({0},{1},{2},{3})", r4.x, r4.y, r4.z, r4.w);
CVector3D r5 = a * mat4;
Console.WriteLine("a * mat4:({0},{1},{2},{3})", r5.x, r5.y, r5.z, r5.w);
}
private void timer1_Tick(object sender, EventArgs e)
{
lock (_frameBuff)
{
ClearBuff();
CMatrix4x4 m = new CMatrix4x4();
m.Identity();
m[3, 2] = 5;
rot += 0.1f;
m = MathUntil.GetRotateY(rot) * m;
CMatrix4x4 v = MathUntil.GetView(new CVector3D(0, 0, 0, 1), new CVector3D(0, 0, 1, 1), new CVector3D(0, 1, 0, 1));
CMatrix4x4 p = MathUntil.GetProjection((float)System.Math.PI / 4, this.MaximumSize.Width / (float)this.MaximumSize.Height, 1f, 500f);
//
Draw(m, v, p);
//
if (g1 == null)
{
g1 = this.CreateGraphics();
}
g1.Clear(System.Drawing.Color.Black);
g1.DrawImage(_frameBuff, 0, 0);
}
this.Invalidate();
}
