public BoundingBox3D GetBoundingBox(OpenTK.Matrix3d rot)
{
if (Drawers.Count == 0)
{
return(new BoundingBox3D(-0.5, 0.5, -0.5, 0.5, -0.5, 0.5));
}
BoundingBox3D bb = Drawers[0].GetBoundingBox(rot);
for (int iDraw = 1; iDraw < Drawers.Count; iDraw++)
{
bb += Drawers[iDraw].GetBoundingBox(rot);
}
return(bb);
}
/// <summary>
/// Z軸(001)を引数のベクトルvに回転させる行列を生成する
/// </summary>
/// <param name="v"></param>
/// <returns></returns>
public static M3d CreateRotationFromZ(V3d v)
{
v.Normalize();
if (Math.Abs(v.Z - 1) < Th)
{
return(M3d.Identity);
}
else if (Math.Abs(v.Z + 1) < Th)
{
return(M3d.CreateRotationX(Math.PI));
}
else
{
return(M3d.CreateFromAxisAngle(V3d.Cross(v, Z), V3d.CalculateAngle(Z, v)));
}
}
/// <summary>
/// Z軸(001)を引数のベクトルvに回転させる行列を生成する
/// </summary>
/// <param name="v"></param>
/// <returns></returns>
public static M3d CreateRotationToZ(V3d v)
{
M3d rot;
v.Normalize();
if (Math.Abs(v.Z - 1) < Th)
{
rot = M3d.Identity;
}
else if (Math.Abs(v.Z + 1) < Th)
{
rot = M3d.CreateRotationX(Math.PI);
}
else
{
rot = M3d.CreateFromAxisAngle(V3d.Cross(Z, v), V3d.CalculateAngle(Z, v));
}
return(rot);
}
public override OpenTK.Matrix3d RotMatrix33()
{
var rot = new OpenTK.Matrix3d();
double ct = Math.Cos(Theta);
double st = Math.Sin(Theta);
rot[0, 0] = ct;
rot[1, 0] = st;
rot[2, 0] = 0.0;
rot[0, 1] = -st;
rot[1, 1] = ct;
rot[2, 1] = 0.0;
rot[0, 2] = 0.0;
rot[1, 2] = 0.0;
rot[2, 2] = 1.0;
return(rot);
}
public BoundingBox3D GetBoundingBox(OpenTK.Matrix3d rot)
{
return(VertexArray.GetBoundingBox(rot));
}
public BoundingBox3D GetBoundingBox(OpenTK.Matrix3d rot)
{
//throw new NotImplementedException();
return(new BoundingBox3D());
}
public BoundingBox3D GetBoundingBox(OpenTK.Matrix3d rot)
{
if (VertexCoordArray == null || VertexCoordArray.Length == 0)
{
return(new BoundingBox3D());
}
if (rot == null)
{
if (Dimension == 2)
{
BoundingBox3D bb;
{
double x1 = VertexCoordArray[0];
double y1 = VertexCoordArray[1];
double z1 = 0.0;
bb = new BoundingBox3D(x1, x1, y1, y1, z1, z1);
}
for (uint iPt = 1; iPt < PointCount; iPt++)
{
double x1 = VertexCoordArray[iPt * 2];
double y1 = VertexCoordArray[iPt * 2 + 1];
double z1 = 0.0;
bb.MaxX = (x1 > bb.MaxX) ? x1 : bb.MaxX; bb.MinX = (x1 < bb.MinX) ? x1 : bb.MinX;
bb.MaxY = (y1 > bb.MaxY) ? y1 : bb.MaxY; bb.MinY = (y1 < bb.MinY) ? y1 : bb.MinY;
bb.MaxZ = (z1 > bb.MaxZ) ? z1 : bb.MaxZ; bb.MinZ = (z1 < bb.MinZ) ? z1 : bb.MinZ;
}
return(bb);
}
if (Dimension == 3)
{
BoundingBox3D bb;
{
double x1 = VertexCoordArray[0];
double y1 = VertexCoordArray[1];
double z1 = 0.0;
bb = new BoundingBox3D(x1, x1, y1, y1, z1, z1);
}
for (uint iPt = 1; iPt < PointCount; iPt++)
{
double x1 = VertexCoordArray[iPt * 3];
double y1 = VertexCoordArray[iPt * 3 + 1];
double z1 = VertexCoordArray[iPt * 3 + 2];
bb.MaxX = (x1 > bb.MaxX) ? x1 : bb.MaxX; bb.MinX = (x1 < bb.MinX) ? x1 : bb.MinX;
bb.MaxY = (y1 > bb.MaxY) ? y1 : bb.MaxY; bb.MinY = (y1 < bb.MinY) ? y1 : bb.MinY;
bb.MaxZ = (z1 > bb.MaxZ) ? z1 : bb.MaxZ; bb.MinZ = (z1 < bb.MinZ) ? z1 : bb.MinZ;
}
return(bb);
}
}
if (Dimension == 2)
{
double minX;
double maxX;
double minY;
double maxY;
double minZ;
double maxZ;
{
double x1 = VertexCoordArray[0];
double y1 = VertexCoordArray[1];
double z1 = 0.0;
minX = maxX = x1 * rot[0, 0] + y1 * rot[0, 1] + z1 * rot[0, 2];
minY = maxY = x1 * rot[1, 0] + y1 * rot[1, 1] + z1 * rot[1, 2];
minZ = maxZ = x1 * rot[2, 0] + y1 * rot[2, 1] + z1 * rot[2, 2];
}
for (uint iPt = 1; iPt < PointCount; iPt++)
{
double x1 = VertexCoordArray[iPt * 2];
double y1 = VertexCoordArray[iPt * 2 + 1];
double z1 = 0.0;
double x2 = x1 * rot[0, 0] + y1 * rot[0, 1] + z1 * rot[0, 2];
double y2 = x1 * rot[1, 0] + y1 * rot[1, 1] + z1 * rot[1, 2];
double z2 = x1 * rot[2, 0] + y1 * rot[2, 1] + z1 * rot[2, 2];
maxX = (x2 > maxX) ? x2 : maxX; minX = (x2 < minX) ? x2 : minX;
maxY = (y2 > maxY) ? y2 : maxY; minY = (y2 < minY) ? y2 : minY;
maxZ = (z2 > maxZ) ? z2 : maxZ; minZ = (z2 < minZ) ? z2 : minZ;
}
double c1X = (minX + maxX) * 0.5;
double c1Y = (minY + maxY) * 0.5;
double c1Z = (minZ + maxZ) * 0.5;
double c2X = c1X * rot[0, 0] + c1Y * rot[1, 0] + c1Z * rot[2, 0];
double c2Y = c1X * rot[0, 1] + c1Y * rot[1, 1] + c1Z * rot[2, 1];
double c2Z = c1X * rot[0, 2] + c1Y * rot[1, 2] + c1Z * rot[2, 2];
double hX = (maxX - minX) * 0.5;
double hY = (maxY - minY) * 0.5;
double hZ = (maxZ - minZ) * 0.5;
BoundingBox3D bb = new BoundingBox3D(
c2X - hX, c2X + hX,
c2Y - hY, c2Y + hY,
c2Z - hZ, c2Z + hZ);
return(bb);
}
if (Dimension == 3) // view axis alligned bounding box
{
double minX;
double maxX;
double minY;
double maxY;
double minZ;
double maxZ;
{
double x1 = VertexCoordArray[0];
double y1 = VertexCoordArray[1];
double z1 = VertexCoordArray[2];
minX = maxX = x1 * rot[0, 0] + y1 * rot[0, 1] + z1 * rot[0, 2];
minY = maxY = x1 * rot[1, 0] + y1 * rot[1, 1] + z1 * rot[1, 2];
minZ = maxZ = x1 * rot[2, 0] + y1 * rot[2, 1] + z1 * rot[2, 2];
}
for (uint iPt = 1; iPt < PointCount; iPt++)
{
double x1 = VertexCoordArray[iPt * 3];
double y1 = VertexCoordArray[iPt * 3 + 1];
double z1 = VertexCoordArray[iPt * 3 + 2];
double x2 = x1 * rot[0, 0] + y1 * rot[0, 1] + z1 * rot[0, 2];
double y2 = x1 * rot[1, 0] + y1 * rot[1, 1] + z1 * rot[1, 2];
double z2 = x1 * rot[2, 0] + y1 * rot[2, 1] + z1 * rot[2, 2];
maxX = (x2 > maxX) ? x2 : maxX; minX = (x2 < minX) ? x2 : minX;
maxY = (y2 > maxY) ? y2 : maxY; minY = (y2 < minY) ? y2 : minY;
maxZ = (z2 > maxZ) ? z2 : maxZ; minZ = (z2 < minZ) ? z2 : minZ;
}
double c1X = (minX + maxX) * 0.5;
double c1Y = (minY + maxY) * 0.5;
double c1Z = (minZ + maxZ) * 0.5;
double c2X = c1X * rot[0, 0] + c1Y * rot[1, 0] + c1Z * rot[2, 0];
double c2Y = c1X * rot[0, 1] + c1Y * rot[1, 1] + c1Z * rot[2, 1];
double c2Z = c1X * rot[0, 2] + c1Y * rot[1, 2] + c1Z * rot[2, 2];
double hX = (maxX - minX) * 0.5;
double hY = (maxY - minY) * 0.5;
double hZ = (maxZ - minZ) * 0.5;
BoundingBox3D bb = new BoundingBox3D(
c2X - hX, c2X + hX,
c2Y - hY, c2Y + hY,
c2Z - hZ, c2Z + hZ);
return(bb);
}
return(new BoundingBox3D());
}
/// <summary>
/// 拡張メソッド.
/// </summary>
/// <param name="v"></param>
/// <returns></returns>
public static M4d ToMatrix4D(this M3d m) => new M4d(
m.M11, m.M21, m.M31, 0,
m.M12, m.M22, m.M32, 0,
m.M13, m.M23, m.M33, 0,
0, 0, 0, 1
);
/// <summary>
/// 拡張メソッド.
/// </summary>
/// <param name="v"></param>
/// <returns></returns>
public static Matrix3D ToMatrix3D(this M3d m) => new Matrix3D(
m.M11, m.M21, m.M31,
m.M12, m.M22, m.M32,
m.M13, m.M23, m.M33
);
/// <summary>
/// 拡張メソッド.
/// </summary>
/// <param name="v"></param>
/// <returns></returns>
public static M3f ToM3f(this M3d m) => new M3f(
(float)m.M11, (float)m.M12, (float)m.M13,
(float)m.M21, (float)m.M22, (float)m.M23,
(float)m.M31, (float)m.M32, (float)m.M33
);
/// <summary>
/// 拡張メソッド.
/// </summary>
/// <param name="v"></param>
/// <returns></returns>
public static V3f Mult(this M3d m, V3f v) => new V3f(
(float)(m.M11 * v.X + m.M12 * v.Y + m.M13 * v.Z),
(float)(m.M21 * v.X + m.M22 * v.Y + m.M23 * v.Z),
(float)(m.M31 * v.X + m.M32 * v.Y + m.M33 * v.Z)
);
/// <summary>
/// 拡張メソッド.
/// </summary>
/// <param name="v"></param>
/// <returns></returns>
public static V3d Mult(this M3d m, V3d v) => new V3d(
m.M11 * v.X + m.M12 * v.Y + m.M13 * v.Z,
m.M21 * v.X + m.M22 * v.Y + m.M23 * v.Z,
m.M31 * v.X + m.M32 * v.Y + m.M33 * v.Z
);
