/// <summary>
/// Aligns the rigid bodies by correcting their orienation
/// This should be called after the simulation step
/// </summary>
private void AlignBones()
{
// orient the bodies accordingly
for (var i = this.BoneInset; i < this.simulatedTransforms.Count - this.BoneInset; i++)
{
if (!this.simulatedTransforms[i].Dynamic)
{
continue;
}
var a = this.simulatedTransforms[i - 1].Position;
var b = this.simulatedTransforms[i + 1].Position;
// this is the upVector computed for each bone of the rest pose
var transform = this.restPoseSpace * this.restPoseTransforms[i]; // todo: direction of multiply?
var y = SimdExtensions.CreateQuaternion(transform).Act(new SCNVector3(0f, 1f, 0f));
var x = SCNVector3.Normalize(b - a);
var z = SCNVector3.Normalize(SCNVector3.Cross(x, y));
y = SCNVector3.Normalize(SCNVector3.Cross(z, x));
var rot = new OpenTK.Matrix3(x.X, y.X, z.X, x.Y, y.Y, z.Y, x.Z, y.Z, z.Z);
this.simulatedTransforms[i].Orientation = new SCNQuaternion(rot.ToQuaternion());
}
}
public static Assimp.Matrix3x3 ToAssimp(this OpenTK.Matrix3 matrix)
{
var m = matrix;
m.Transpose();
return(new Assimp.Matrix3x3(m.M11, m.M12, m.M13, m.M21, m.M22, m.M23, m.M31, m.M32, m.M33));
}
//TODO: Maybe rewrite and document?
/// <summary>
///
/// </summary>
/// <typeparam name="T"></typeparam>
/// <param name="name"></param>
/// <param name="input"></param>
public void SetAttribute <T>(String name, T input)
{
Int32 program = GL.GetUniformLocation(this.address, name);
switch (typeof(T).Name) //hmm
{
case nameof(Int16): { Int16 output = (Int16)(Object)input; GL.Uniform1(program, output); break; }
case nameof(Int32): { Int32 output = (Int32)(Object)input; GL.Uniform1(program, output); break; }
case nameof(Int64): { Int64 output = (Int64)(Object)input; GL.Uniform1(program, output); break; }
case nameof(Single): { Single output = (Single)(Object)input; GL.Uniform1(program, output); break; }
case nameof(Double): { Double output = (Double)(Object)input; GL.Uniform1(program, output); break; }
case nameof(OpenTK.Vector2): { OpenTK.Vector2 output = (OpenTK.Vector2)(Object) input; GL.Uniform2(program, ref output); break; }
case nameof(OpenTK.Vector3): { OpenTK.Vector3 output = (OpenTK.Vector3)(Object) input; GL.Uniform3(program, ref output); break; }
case nameof(OpenTK.Vector4): { OpenTK.Vector4 output = (OpenTK.Vector4)(Object) input; GL.Uniform4(program, ref output); break; }
case nameof(OpenTK.Matrix2): { OpenTK.Matrix2 output = (OpenTK.Matrix2)(Object) input; GL.UniformMatrix2(program, false, ref output); break; }
case nameof(OpenTK.Matrix3): { OpenTK.Matrix3 output = (OpenTK.Matrix3)(Object) input; GL.UniformMatrix3(program, false, ref output); break; }
case nameof(OpenTK.Matrix4): { OpenTK.Matrix4 output = (OpenTK.Matrix4)(Object) input; GL.UniformMatrix4(program, false, ref output); break; }
default: throw new Exception("Bad type providen");
}
}
public static OpenTK.Vector3 Transform(this OpenTK.Vector3 left, OpenTK.Matrix3 right)
{
OpenTK.Vector3 product = new OpenTK.Vector3();
product.X = right.M11 * left.X + right.M12 * left.Y + right.M13 * left.Z;
product.Y = right.M21 * left.X + right.M22 * left.Y + right.M23 * left.Z;
product.Z = right.M31 * left.X + right.M32 * left.Y + right.M33 * left.Z;
return(product);
}
public void LookAt(OpenTK.Vector3 at, OpenTK.Vector3 up)
{
var zaxis = (at - Position).Normalized();
var xaxis = OpenTK.Vector3.Cross(up, zaxis).Normalized();
var yaxis = OpenTK.Vector3.Cross(zaxis, xaxis);
var mat = new OpenTK.Matrix3(xaxis, yaxis, zaxis);
Rotation = mat.ExtractRotation();
}
public void Apply(int location, ref int textures)
{
var mat = new OpenTK.Matrix3();
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
mat[i, j] = (float)matrix[i, j];
}
}
GL.UniformMatrix3(location, false, ref mat);
}
/// <summary>
/// Returns the interpolated transform at a given length (l from 0.0 to totalLength)
/// </summary>
public SCNMatrix4 Transform(float l)
{
var position = this.Position(l);
var x = this.Tangent(l);
var y = SCNVector3.Normalize(this.UpVector);
var z = SCNVector3.Normalize(SCNVector3.Cross(x, y));
y = SCNVector3.Normalize(SCNVector3.Cross(z, x));
var rot = new OpenTK.Matrix3(x.X, y.X, z.X, x.Y, y.Y, z.Y, x.Z, y.Z, z.Z);
var matrix = SCNMatrix4.Rotate(rot.ToQuaternion());
return(matrix.SetTranslation((OpenTK.Vector3)position));
}
public static OpenTK.Matrix4 ToMatrix4(this OpenTK.Matrix3 left)
{
OpenTK.Matrix4 result = OpenTK.Matrix4.Identity;
result.M11 = left.M11;
result.M12 = left.M12;
result.M13 = left.M13;
result.M21 = left.M21;
result.M22 = left.M22;
result.M23 = left.M23;
result.M31 = left.M31;
result.M32 = left.M32;
result.M33 = left.M33;
return(result);
}
public static GenericBone ToBone(byte[] data)
{
if (data.Length == 0)
{
return(null);
}
GenericBone bone = new GenericBone();
using (DataReader r = new DataReader(new System.IO.MemoryStream(data)))
{
bone.ID = r.ReadInt32();
bone.ParentIndex = r.ReadInt32();
r.Skip(4);
r.Seek(0xC);
bone.Position = new OpenTK.Vector3(r.ReadSingle(), r.ReadSingle(), r.ReadSingle());
var rot = new OpenTK.Matrix3(r.ReadSingle(), r.ReadSingle(), r.ReadSingle(),
r.ReadSingle(), r.ReadSingle(), r.ReadSingle(),
r.ReadSingle(), r.ReadSingle(), r.ReadSingle());
bone.QuaternionRotation = rot.ExtractRotation().Inverted();
bone.Scale = new OpenTK.Vector3(r.ReadSingle(), r.ReadSingle(), r.ReadSingle());
}
return(bone);
}
/// <summary>
/// Reorder matrix to VC quaternion<para/>
/// Пересчёт матрицы в VC-кватернион
/// </summary>
/// <returns>Correct quaternion<para/>Исправленный кватернион</returns>
public static OpenTK.Quaternion ToVCQuaternion(this OpenTK.Matrix3 rotation)
{
OpenTK.Quaternion q = OpenTK.Quaternion.FromMatrix(rotation);
return(new OpenTK.Quaternion(-q.X, -q.Z, -q.Y, -q.W));
}
/// <summary>
/// Set data in the uniform at the location
/// </summary>
/// <param name="name">The uniform name</param>
/// <param name="value"></param>
public void Uniform(string name, ref OpenTK.Matrix3 value)
{
Bind();
GL.UniformMatrix3(GetUniformLocation(name), false, ref value);
}
/// <summary>
/// Set data in the uniform at the location
/// </summary>
/// <param name="location">The uniform location</param>
/// <param name="value"></param>
/// <returns>Uniform location</returns>
public void Uniform(int location, ref OpenTK.Matrix3 value)
{
Bind();
GL.UniformMatrix3(location, false, ref value);
}
public static SSBHLib.Formats.Matrix3x3 ToSsbh(this OpenTK.Matrix3 matrix)
{
return(new SSBHLib.Formats.Matrix3x3(matrix.Row0.ToSsbh(), matrix.Row1.ToSsbh(), matrix.Row2.ToSsbh()));
}
/// <summary>
///
/// </summary>
/// <param name="m"></param>
/// <param name="v"></param>
public Transformation(OpenTK.Matrix3 m, OpenTK.Vector3 v)
{
_rotation = m;
_translation = v;
}
public static LDDModder.Simple3D.Matrix3 ToLDD(this OpenTK.Matrix3 matrix)
{
return(new Simple3D.Matrix3(matrix.Row0.ToLDD(), matrix.Row1.ToLDD(), matrix.Row2.ToLDD()));
}
public static OpenTK.Vector2 Transform(this OpenTK.Vector2 position, OpenTK.Matrix3 matrix)
{
return(position.Transform(matrix.ToMatrix4()));
}