public static Matrix44D ToMatrix44D(this CardanFrame eulerFrame)
{
var alphaRotation = Matrix44D.CreateRotation(new Vector3D(1.0, 0.0, 0.0), eulerFrame.AlphaAngleAxisX);
var betaRotation = Matrix44D.CreateRotation(new Vector3D(0.0, 1.0, 0.0), eulerFrame.BetaAngleAxisY);
var gammaRotation = Matrix44D.CreateRotation(new Vector3D(0.0, 0.0, 1.0), eulerFrame.GammaAngleAxisZ);
var translation = Matrix44D.CreateTranslation(eulerFrame.Translation);
var matrix = translation * gammaRotation * betaRotation * alphaRotation;
return(matrix);
}
public Matrix44D CreateFrame()
{
var rotAlpha = Matrix44D.CreateRotation(new Vector3D(1, 0, 0), CreateAngle());
var rotBeta = Matrix44D.CreateRotation(new Vector3D(0, 1, 0), CreateAngle());
var rotGamma = Matrix44D.CreateRotation(new Vector3D(0, 0, 1), CreateAngle());
var translation = Matrix44D.CreateTranslation(CreateVector());
var randomMatrix = translation * rotAlpha * rotBeta * rotGamma;
return(randomMatrix);
}
public static Scene CreateAndPopulateScene()
{
var scene = new Scene();
var cube = Cube.Create(10.0);
cube.Frame = Matrix44D.CreateTranslation(new Vector3D(0, 0, 5));
scene.Bodies.Add(cube);
var cube2 = Cube.Create(10.0);
cube2.Frame = Matrix44D.CreateTranslation(new Vector3D(0, 0, 15)) * Matrix44D.CreateRotation(new Vector3D(0, 0, 1), 45.0.DegToRad());;
cube2.Sensor = new CylinderSensor(new Vector3D(0, 0, 1));
scene.Bodies.Add(cube2);
var cylinder = Cylinder.Create(16, 4.0, 10.0);
cylinder.Frame = Matrix44D.CreateTranslation(new Vector3D(10, 10, 5.1));
cylinder.Sensor = new LinearSensor(new Vector3D(0, 1, 0));
scene.Bodies.Add(cylinder);
var floor = Floor.Create(4, 20);
scene.Bodies.Add(floor);
double[][] segments = new double[][]
{
new [] { 0.0, 0.0, 5.0, 0.0 },
new [] { 5.0, 0.0, 5.0, 1.0 },
new [] { 5.0, 1.0, 1.0, 5.0 },
new [] { 1.0, 5.0, 1.0, 7.0 },
new [] { 1.0, 7.0, 5.0, 11.0 },
new [] { 5.0, 11.0, 5.0, 12.0 },
new [] { 5.0, 12.0, 0.0, 12.0 },
};
bool[] borderFlags = new bool[] { true, true, true, true, true, true, true };
bool[] facetsFlags = new bool[] { false, false, false, false, false, false, false };
var rotationBody = RotationBody.Create(16, segments, borderFlags, facetsFlags);
rotationBody.Sensor = new PlaneSensor(new Vector3D(0, 0, 1));
rotationBody.Frame = Matrix44D.CreateTranslation(new Vector3D(30, -30, 0.1));
scene.Bodies.Add(rotationBody);
var sphere = Sphere.Create(16, 8);
sphere.Sensor = new SphereSensor();
sphere.Frame = Matrix44D.CreateTranslation(new Vector3D(-30, 30, 10));
scene.Bodies.Add(sphere);
return(scene);
}
public void OperatorMultiplyTest_WhenTranslationWithRoationAreMultiplidWithPosition_ThenPositionIsTranslatedAndThenRotated()
{
var first = Matrix44D.CreateRotation(new Position3D(), new Vector3D(0, 0, 1), 90.0.DegToRad());
var second = Matrix44D.CreateTranslation(new Vector3D(100.0, 0.0, 0.0));
var position = new Position3D(1.0, 0.0, 0.0);
var newPosition = first * second * position;
var expected = new Position3D(0.0, 101.0, 0.0);
Assert.Equal(expected, newPosition);
}
private static void Process(LinearSensor linearSensor, Body body, Axis3D startMoveRay, Axis3D endMoveRay)
{
if (startMoveRay.Offset == endMoveRay.Offset)
{
return;
}
var moveVector = CalculateMove(body, linearSensor.Axis, startMoveRay, endMoveRay);
var moveFrame = Matrix44D.CreateTranslation(moveVector);
body.Frame = moveFrame * body.Frame;
}
public static void SetCamera(this Camera camera, Position3D target, double alpha, double beta, double distance)
{
alpha = alpha.DegToRad();
beta = beta.DegToRad();
var rotAlpha = Matrix44D.CreateRotation(new Position3D(), new Vector3D(0, 0, 1), alpha);
var rotBeta = Matrix44D.CreateRotation(new Position3D(), new Vector3D(1, 0, 0), -beta);
var translation = Matrix44D.CreateTranslation(new Vector3D(0.0, -distance, 0.0));
var targetTranslation = Matrix44D.CreateTranslation(camera.Target.ToVector3D());
var frame = targetTranslation * rotAlpha * rotBeta * translation;
camera.Frame = frame;
camera.Target = target;
}
public void CreateTranslationTest_WhenCreateTranslationIsCalledWithOffset_ThenTranslationIsOffsetAndExEyEzAreCoordinateAxes()
{
var offset = new Vector3D(2.0, 3.0, 4.0);
var mat = Matrix44D.CreateTranslation(offset);
}
