/// <summary>
///
/// </summary>
/// <param name="time"></param>
/// <param name="quatA"></param>
/// <param name="quatB"></param>
/// <param name="useShortestPath"></param>
/// <returns></returns>
public static OpenTK.Quaternion Slerp(Real time, OpenTK.Quaternion quatA, OpenTK.Quaternion quatB, bool useShortestPath)
{
Real cos = quatA.Dot(quatB);
Real angle = (Real)Utility.ACos(cos);
if (Utility.Abs(angle) < EPSILON)
{
return(quatA);
}
Real sin = Utility.Sin(angle);
Real inverseSin = 1.0f / sin;
Real coeff0 = Utility.Sin((1.0f - time) * angle) * inverseSin;
Real coeff1 = Utility.Sin(time * angle) * inverseSin;
OpenTK.Quaternion result;
if (cos < 0.0f && useShortestPath)
{
coeff0 = -coeff0;
// taking the complement requires renormalisation
OpenTK.Quaternion t = coeff0 * quatA + coeff1 * quatB;
t.Normalize();
result = t;
}
else
{
result = (coeff0 * quatA + coeff1 * quatB);
}
return(result);
}
private static GenericSkeleton ReadSkel(string path)
{
GenericSkeleton skel = new GenericSkeleton();
using (DataReader r = new DataReader(path))
{
r.BigEndian = false;
r.Seek(0x10);
var count = r.ReadInt16();
var count2 = r.ReadInt16();
var count3 = r.ReadInt32();
var boneInfoOffset = r.Position + r.ReadUInt32();
var boneParentInfoOffset = r.Position + r.ReadUInt32();
var hashOffset = r.Position + r.ReadUInt32();
// various hash table offsets
for (uint i = 0; i < count; i++)
{
GenericBone b = new GenericBone();
r.Seek(boneInfoOffset + 48 * i);
var rot = new OpenTK.Quaternion(r.ReadSingle(), r.ReadSingle(), r.ReadSingle(), r.ReadSingle()).Inverted();
rot.Normalize();
b.QuaternionRotation = rot;
b.Position = new OpenTK.Vector3(r.ReadSingle(), r.ReadSingle(), r.ReadSingle());
r.ReadSingle();
b.Scale = new OpenTK.Vector3(r.ReadSingle(), r.ReadSingle(), r.ReadSingle());
r.ReadSingle();
r.Seek(boneParentInfoOffset + 2 * i);
b.ParentIndex = r.ReadInt16();
r.Seek(hashOffset + 4 * i);
b.Name = "B_" + r.ReadInt32().ToString("X8");
skel.Bones.Add(b);
}
}
return(skel);
}
private void SetupMatrices(int gem_num, float aspect_ratio)
{
const float yFov = 0.837758041f; // 48 degrees vertical field-of-view
const float near = 10, far = 3000; // 50cm to 3m tracking limits (but reduce near to avoid object clipping)
OpenTK.Matrix4 projection;
projection = OpenTK.Matrix4.CreatePerspectiveFieldOfView(yFov, aspect_ratio, near, far);
GL.MatrixMode(MatrixMode.Projection);
GL.LoadIdentity();
GL.LoadMatrix(ref projection);
float cameraPitchAngle = AR_state.gemStates[gem_num].camera_pitch_angle;
Console.WriteLine("{0}", cameraPitchAngle);
OpenTK.Matrix4 rotation, scale, lookat;
rotation = OpenTK.Matrix4.CreateRotationX(cameraPitchAngle);
scale = OpenTK.Matrix4.Scale(-1.0f, 1.0f, 1.0f);
lookat = OpenTK.Matrix4.LookAt(0, 0, 0,
0, 0, 1,
0, 1, 0);
OpenTK.Matrix4 view = lookat * (scale * rotation);
GL.MatrixMode(MatrixMode.Modelview);
GL.LoadIdentity();
GL.LoadMatrix(ref view);
OpenTK.Matrix4 mv_mat;
GL.GetFloat(GetPName.ModelviewMatrix, out mv_mat);
//Console.WriteLine("{0}", mv_mat);
OpenTK.Vector3 gem_position = new OpenTK.Vector3(AR_state.gemStates[gem_num].pos.x, AR_state.gemStates[gem_num].pos.y, AR_state.gemStates[gem_num].pos.z);
OpenTK.Quaternion gem_rotation = new OpenTK.Quaternion(AR_state.gemStates[gem_num].quat.x, AR_state.gemStates[gem_num].quat.y, AR_state.gemStates[gem_num].quat.z, AR_state.gemStates[gem_num].quat.w);
gem_rotation.Normalize();
OpenTK.Matrix4 gem_rotation_matrix = OpenTK.Matrix4.Rotate(gem_rotation);
OpenTK.Matrix4 gem_translation_matrix = OpenTK.Matrix4.CreateTranslation(gem_position);
OpenTK.Matrix4 gem_model_matrix = gem_rotation_matrix;
gem_model_matrix.M41 = gem_position.X;
gem_model_matrix.M42 = gem_position.Y;
gem_model_matrix.M43 = gem_position.Z;
gem_model_matrix.M44 = 1.0f;
GL.MultMatrix(ref gem_model_matrix);
}
private void SetupMatrices(int gem_num, float aspect_ratio)
{
const float yFov = 0.837758041f; // 48 degrees vertical field-of-view
const float near = 10, far = 3000; // 50cm to 3m tracking limits (but reduce near to avoid object clipping)
OpenTK.Matrix4 projection;
projection = OpenTK.Matrix4.CreatePerspectiveFieldOfView(yFov, aspect_ratio, near, far);
GL.MatrixMode(MatrixMode.Projection);
GL.LoadIdentity();
GL.LoadMatrix(ref projection);
float cameraPitchAngle = AR_state.gemStates[gem_num].camera_pitch_angle;
Console.WriteLine("{0}", cameraPitchAngle);
OpenTK.Matrix4 rotation, scale, lookat;
rotation = OpenTK.Matrix4.CreateRotationX(cameraPitchAngle);
scale = OpenTK.Matrix4.Scale(-1.0f, 1.0f, 1.0f);
lookat = OpenTK.Matrix4.LookAt(0, 0, 0,
0, 0, 1,
0, 1, 0);
OpenTK.Matrix4 view = lookat * (scale * rotation);
GL.MatrixMode(MatrixMode.Modelview);
GL.LoadIdentity();
GL.LoadMatrix(ref view);
OpenTK.Matrix4 mv_mat;
GL.GetFloat(GetPName.ModelviewMatrix, out mv_mat);
//Console.WriteLine("{0}", mv_mat);
OpenTK.Vector3 gem_position = new OpenTK.Vector3(AR_state.gemStates[gem_num].pos.x, AR_state.gemStates[gem_num].pos.y, AR_state.gemStates[gem_num].pos.z);
OpenTK.Quaternion gem_rotation = new OpenTK.Quaternion(AR_state.gemStates[gem_num].quat.x, AR_state.gemStates[gem_num].quat.y, AR_state.gemStates[gem_num].quat.z, AR_state.gemStates[gem_num].quat.w);
gem_rotation.Normalize();
OpenTK.Matrix4 gem_rotation_matrix = OpenTK.Matrix4.Rotate(gem_rotation);
OpenTK.Matrix4 gem_translation_matrix = OpenTK.Matrix4.CreateTranslation(gem_position);
OpenTK.Matrix4 gem_model_matrix = gem_rotation_matrix;
gem_model_matrix.M41 = gem_position.X;
gem_model_matrix.M42 = gem_position.Y;
gem_model_matrix.M43 = gem_position.Z;
gem_model_matrix.M44 = 1.0f;
GL.MultMatrix(ref gem_model_matrix);
}
public void Rotate(float x, float y, float z)
{
Rotation *= OpenTK.Quaternion.FromEulerAngles(x, y, z);
Rotation.Normalize();
}