// Update is called once per frame
void Update()
{
Matrix44 scale = new Matrix44();
scale[0, 0] = m_Scale.x;
scale[1, 1] = m_Scale.y;
scale[2, 2] = m_Scale.z;
scale[3, 3] = 1;
Matrix44 rotateHeading = Matrix44.AngleAxis(m_Rotate.y, new MathLearn.Vector3(0, 1, 0)).Inverse();
Matrix44 rotatePitch = Matrix44.AngleAxis(m_Rotate.x, new MathLearn.Vector3(1, 0, 0)).Inverse();
Matrix44 rotateBank = Matrix44.AngleAxis(m_Rotate.z, new MathLearn.Vector3(0, 0, 1)).Inverse();
Matrix44 rotate = rotateHeading * rotatePitch * rotateBank;
Matrix44 translate = Matrix44.Translate(new MathLearn.Vector3(m_Offset.x, m_Offset.y, m_Offset.z));
// 世界转局部
var temp1 = translate.Inverse() * rotateHeading * rotatePitch * rotateBank * scale.Inverse();
// 局部转世界
var temp2 = temp1.Inverse();
var temp3 = scale * rotateBank.Inverse() * rotatePitch.Inverse() * rotateHeading.Inverse() * translate;
var a = temp3.MulVector(new MathLearn.Vector3(1, 0, 0));
var b = temp3.MulVector(new MathLearn.Vector3(0, 1, 0));
var c = temp3.MulVector(new MathLearn.Vector3(0, 0, 1));
if (isFirsScale)
{
// 先缩放再旋转
Matrix44 m = temp1;
m = m.Inverse();
m_Mat.SetColor("m_Line1", new Color(m[0, 0], m[0, 1], m[0, 2], m[0, 3]));
m_Mat.SetColor("m_Line2", new Color(m[1, 0], m[1, 1], m[1, 2], m[1, 3]));
m_Mat.SetColor("m_Line3", new Color(m[2, 0], m[2, 1], m[2, 2], m[2, 3]));
m_Mat.SetColor("m_Line4", new Color(m[3, 0], m[3, 1], m[3, 2], m[3, 3]));
}
else
{
// 先旋转再缩放
Matrix44 m = rotate * scale * translate;
m = m.Inverse();
m_Mat.SetColor("m_Line1", new Color(m[0, 0], m[0, 1], m[0, 2], m[0, 3]));
m_Mat.SetColor("m_Line2", new Color(m[1, 0], m[1, 1], m[1, 2], m[1, 3]));
m_Mat.SetColor("m_Line3", new Color(m[2, 0], m[2, 1], m[2, 2], m[2, 3]));
m_Mat.SetColor("m_Line4", new Color(m[3, 0], m[3, 1], m[3, 2], m[3, 3]));
}
}
// Start is called before the first frame update
void Start()
{
var p = new MVector3(1, 0, 0);
var aaaaa = new UnityEngine.Quaternion(1, 1, 1, 1);
var ptemp = new UnityEngine.Vector3(0.5f, 0, 0);
var a = aaaaa * aaaaa * aaaaa * ptemp;
Matrix33 rotation = Matrix33.AngleAxis(45, new MVector3(0, 0, 1));
Matrix33 rotation2 = Matrix33.AngleAxis(-45, new MVector3(0, 0, 1));
Debug.Log(p * rotation);
Debug.Log(p * rotation * rotation2);
Debug.Log(p * (rotation * rotation2));
Debug.Log("-------------------------------------------------------------");
Matrix44 mul = Matrix44.AngleAxisTranslate(45, new MVector3(0, 0, 1), new MVector3(1, 1, 0));
Debug.Log(p * mul);
Debug.Log(p * (mul * mul.Inverse()));
Debug.Log("-------------------------------------------------------------");
Matrix44 r = Matrix44.AngleAxis(45, new MVector3(0, 0, 1));
Matrix44 t = Matrix44.Translate(new MVector3(1, 1, 0));
Matrix44 composite = r * t;
Matrix44 composite2 = t.Inverse() * r.Inverse();
Debug.Log(p * composite);
Debug.Log(p * composite * composite2);
Debug.Log(p * composite * composite.Inverse());
mMesh = GetComponent <MeshFilter>().mesh;
mVertices = mMesh.vertices;
mNormals = mMesh.normals;
var temp = new Matrix33(10, 0, 0, 0, 10, 0, 0, 0, 1);
var temp2 = temp.Inverse();
var tempInverse = new Matrix33(0, 0, 0, 0, 0, 0, -3, -4, 1);
p = new MVector3(0, 0, 1);
p = p * temp;
p.z = 1;
p = p * tempInverse;
var t3 = temp * tempInverse;
t = Matrix44.Translate(new MVector3(3, 4, 5));
r = Matrix44.AngleAxis(30, new MVector3(0, 1, 0));
var s = Matrix44.Scale(new MVector3(0.5f, 2, 1));
p = new MVector3(1, 1, 1);
var p1 = p * s * r * t;
p = p1 * t.Inverse() * r.Inverse() * s.Inverse();
var ray2d1 = new MRay(new MVector3(1, -1, 0), new MVector3(1, 1, 0));
var aaa = ray2d1.GetNearestPos(new MVector3(1, 1, 0));
float aaaa = 1;
var plane1 = new MPlane(new MVector3(1, 1, 1), 1);
var pos1 = plane1.GetNearestPos(new MVector3(5, 5, 5));
var pos2 = plane1.GetNearestPos(new MVector3(-5, -5, -5));
var plane2 = new MPlane(new MVector3(-1, -1, -1), -1);
var pos3 = plane2.GetNearestPos(new MVector3(5, 5, 5));
var pos4 = plane2.GetNearestPos(new MVector3(-5, -5, -5));
var plane3 = new MPlane(new MVector3(-1, -1, -1), 1);
var pos5 = plane3.GetNearestPos(new MVector3(5, 5, 5));
var pos6 = plane3.GetNearestPos(new MVector3(-5, -5, -5));
// 三角形测试
pos1 = new MVector3(0, 0, 3);
pos2 = new MVector3(0, 1, 3);
pos3 = new MVector3(1, 0, 3);
var triangle1 = new Triangle(pos1, pos2, pos3);
var result = triangle1.InclusionPos(pos1);
var targetPos = MVector3.zero;
result = triangle1.InclusionPos(pos2);
result = triangle1.GetGravityPos(pos2, out targetPos);
result = triangle1.InclusionPos(pos3);
result = triangle1.GetGravityPos(pos3, out targetPos);
float dis = 0;
result = triangle1.Raycast(new MRay(new MVector3(0.4f, 0.6f, -0.2567f), new MVector3(0, 0, 1)), out dis);
pos4 = new MVector3(0.5f, 0.5f, 3);
result = triangle1.InclusionPos(pos4);
result = triangle1.GetGravityPos(pos4, out targetPos);
result = triangle1.GetGravityPos(pos4, out targetPos);
pos4 = new MVector3(0.4f, 0.4f, 0.1f);
result = triangle1.InclusionPos(pos4);
result = triangle1.GetGravityPos(pos4, out targetPos);
result = triangle1.GetGravityPos(pos4, out targetPos);
pos4 = new MVector3(0.6f, 0.6f, 3);
result = triangle1.InclusionPos(pos4);
result = triangle1.GetGravityPos(pos4, out targetPos);
result = triangle1.GetGravityPos(pos4, out targetPos);
pos4 = new MVector3(-0.1f, -0.1f, 3);
result = triangle1.InclusionPos(pos4);
result = triangle1.GetGravityPos(pos4, out targetPos);
result = triangle1.GetGravityPos(pos4, out targetPos);
result = triangle1.InclusionPos(pos3);
result = triangle1.GetGravityPos(pos3, out targetPos);
result = triangle1.GetGravityPos(pos3, out targetPos);
var tempxxx = 0;
Circle2D c1 = new Circle2D(MVector2.zero, 1);
var t1 = c1.GetNearestPos(new MVector2(2, 0));
var t2 = c1.GetNearestPos(new MVector2(0.5f, 0));
tempxxx = 0;
var r1 = new MRay2D(new MVector2(1, 1), new MVector2(0, -1));
var r2 = new MRay2D(new MVector2(10, 0), new MVector2(1, 0));
MVector2 r12v;
bool r12r = r1.Interact(r2, out r12v);
float c10, c11;
bool r10 = c1.IntersectRay(r1, out c10, out c11);
tempxxx = 0;
}
// Update is called once per frame
void Update()
{
float minX = Random.Range(0, 10);
float minY = Random.Range(0, 10);
float minZ = Random.Range(0, 10);
float maxX = Random.Range(10.1f, 20);
float maxY = Random.Range(10.1f, 20);
float maxZ = Random.Range(10.1f, 20);
float originX = Random.Range(0, 10);
float originY = Random.Range(0, 10);
float originZ = Random.Range(0, 10);
float directionX = Random.Range(1, 10);
float directionY = Random.Range(1, 10);
float directionZ = Random.Range(1, 10);
MBounds myB = new MBounds(MVector3.zero, MVector3.zero);
myB.SetMinMax(new MVector3(minX, minY, minZ), new MVector3(maxX, maxY, maxZ));
float mD = 0;
var mRay = new MRay(new MVector3(originX, originY, originZ), new MVector3(directionX, directionY, directionZ));
bool mR = myB.IntersectRay(mRay, out mD);
Bounds B = new Bounds(Vector3.zero, Vector3.zero);
B.SetMinMax(new Vector3(minX, minY, minZ), new Vector3(maxX, maxY, maxZ));
float D = 0;
var uRay = new UnityEngine.Ray(new Vector3(originX, originY, originZ),
new Vector3(directionX, directionY, directionZ));
bool R = B.IntersectRay(uRay, out D);
if (Mathf.Abs(mD - D) < 0.00001f && mR == R)
{
}
else
{
if (originX < minX || originX > maxX || originY < minY || originY > maxY || originZ < minZ || originZ > maxZ)
{
mR = myB.IntersectRay(mRay, out mD);
}
}
float normalX = Random.Range(1, 10);
float normalY = Random.Range(1, 10);
float normalZ = Random.Range(1, 10);
float distance = Random.Range(1, 10);
var ray = new Ray(new Vector3(originX, originY, originZ), new Vector3(directionX, directionY, directionZ));
var mray = new MRay(new MVector3(originX, originY, originZ), new MVector3(directionX, directionY, directionZ));
var plane = new Plane(new Vector3(normalX, normalY, normalZ), -distance);
var mplane = new MPlane(new MVector3(normalX, normalY, normalZ), distance);
D = 0;
mD = 0;
R = false;
mR = false;
R = plane.Raycast(ray, out D);
mR = mplane.Raycast(mray, out mD);
if (Mathf.Abs(mD - D) < 0.00001f && mR == R)
{
}
else
{
var a = 1;
}
Matrix44 rotate = Matrix44.AngleAxis(mAngle, mAxis);
for (int i = 0; i < mVertices.Length; i++)
{
var item = mVertices[i];
var v = new MVector3(item.x, item.y, item.z);
var t = v * rotate;
mVertices[i].x = t.x;
mVertices[i].y = t.y;
mVertices[i].z = t.z;
var item2 = mNormals[i];
var v2 = new MVector3(item2.x, item2.y, item2.z);
var t2 = v2 * rotate;
mNormals[i].x = t2.x;
mNormals[i].y = t2.y;
mNormals[i].z = t2.z;
}
mMesh.vertices = mVertices;
mMesh.normals = mNormals;
}
