| public Parse ( float &angleDegree, vec3 &axis ) : void | ||
| angleDegree | float | |
| axis | vec3 | |
| Результат | void | |
///// <summary>
///// Get model matrix.
///// </summary>
///// <param name="model"></param>
///// <returns></returns>
//public static mat4 GetModelMatrix(this IWorldSpace model)
//{
// mat4 matrix = glm.translate(mat4.identity(), model.WorldPosition);
// matrix = glm.scale(matrix, model.Scale);
// matrix = glm.rotate(matrix, model.RotationAngle, model.RotationAxis);
// var node = model as RendererBase;
// if (node != null)
// {
// var parent = node.Parent as RendererBase;
// if (parent != null)
// {
// matrix = parent.modelMat * matrix;
// }
// node.modelMat = matrix;
// }
// return matrix;
//}
/// <summary>
/// Rotate this model based on all previous rotation actions.
/// Thus all rotations will take part in model's rotation result.
/// <para>在目前的旋转状态下继续旋转一次，即所有的旋转操作都会（按照发生顺序）生效。</para>
/// </summary>
/// <param name="model"></param>
/// <param name="angleDegree">Angle in Degree.</param>
/// <param name="axis"></param>
public static void Rotate(this IWorldSpace model, float angleDegree, vec3 axis)
{
mat4 currentRotationMatrix = glm.rotate(model.RotationAngle, model.RotationAxis);
mat4 newRotationMatrix = glm.rotate(angleDegree, axis);
mat4 latestRotationMatrix = newRotationMatrix * currentRotationMatrix;
Quaternion quaternion = latestRotationMatrix.ToQuaternion();
float latestAngle;
vec3 latestAxis;
quaternion.Parse(out latestAngle, out latestAxis);
model.RotationAngle = latestAngle;
model.RotationAxis = latestAxis;
}
void IMouseHandler.canvas_MouseMove(object sender, GLMouseEventArgs e)
{
if (mouseDownFlag && ((e.Button & this.lastBindingMouseButtons) != GLMouseButtons.None))
{
if (!cameraState.IsSameState(this.camera))
{
SetCamera(this.camera.Position, this.camera.Target, this.camera.UpVector);
}
this._endPosition = GetArcBallPosition(e.X, e.Y);
var cosRadian = _startPosition.dot(_endPosition) / (_startPosition.length() * _endPosition.length());
if (cosRadian > 1.0f)
{
cosRadian = 1.0f;
}
else if (cosRadian < -1)
{
cosRadian = -1.0f;
}
float angle = MouseSensitivity * (float)(Math.Acos(cosRadian) / Math.PI * 180);
_normalVector = _startPosition.cross(_endPosition).normalize();
if (!
((_normalVector.x == 0 && _normalVector.y == 0 && _normalVector.z == 0) ||
float.IsNaN(_normalVector.x) || float.IsNaN(_normalVector.y) || float.IsNaN(_normalVector.z)))
{
_startPosition = _endPosition;
mat4 newRotation = glm.rotate(angle, _normalVector);
this.totalRotation = newRotation * this.totalRotation;
{
var rotated = this.Rotated;
if (rotated != null)
{
Quaternion quaternion = this.totalRotation.ToQuaternion();
float angleInDegree;
vec3 axis;
quaternion.Parse(out angleInDegree, out axis);
rotated(this, new Rotation(axis, angleInDegree, e.Button, e.Clicks, e.X, e.Y, e.Delta));
}
}
}
IGLCanvas canvas = this.canvas;
if (canvas != null && canvas.RenderTrigger == RenderTrigger.Manual)
{
canvas.Repaint();
}
}
}
// https://blog.csdn.net/hunter_wwq/article/details/21473519
// https://blog.csdn.net/lql0716/article/details/72597719
/// <summary>
/// Parse <paramref name="rotation"/>, <paramref name="scale"/> and <paramref name="worldPosition"/>(Translation) inside this matrix.
/// <paramref name="rotation"/>.xyz is axis, <paramref name="rotation"/>.w is rotation angle in degrees.
/// </summary>
/// <param name="worldPosition"></param>
/// <param name="scale"></param>
/// <param name="rotation"></param>
public void ParseRST(out vec3 worldPosition, out vec3 scale, out vec4 rotation)
{
worldPosition = new vec3(this.col3.x, this.col3.y, this.col3.z);
float l0 = this.col0.length();
float l1 = this.col1.length();
float l2 = this.col2.length();
scale = new vec3(l0, l1, l2);
vec3 col0 = new vec3(this.col0.x / l0, this.col0.y / l0, this.col0.z / l0);
vec3 col1 = new vec3(this.col1.x / l1, this.col1.y / l1, this.col1.z / l1);
vec3 col2 = new vec3(this.col2.x / l2, this.col2.y / l2, this.col2.z / l2);
/*
* col0 is vec3(1 - 2 * (yy + zz), 2 * (xy - zw), 2 * (xz + yw));
* col1 is vec3(2 * (xy + zw), 1 - 2 * (xx + zz), 2 * (yz - xw));
* col2 is vec3(2 * (xz - yw), 2 * (yz + xw), 1 - 2 * (xx + yy));
*/
float w, x, y, z;
//+col0.x + col1.y + col2.z = 4ww - 1
w = (float)(Math.Sqrt(+col0.x + col1.y + col2.z + 1) / 2.0);
//+col0.x - col1.y - col2.z = 4xx - 1
x = (float)(Math.Sqrt(+col0.x - col1.y - col2.z + 1) / 2.0);
//-col0.x + col1.y - col2.z = 4yy - 1
y = (float)(Math.Sqrt(-col0.x + col1.y - col2.z + 1) / 2.0);
//-col0.x - col1.y + col2.z = 4zz - 1
z = (float)(Math.Sqrt(-col0.x - col1.y + col2.z + 1) / 2.0);
int maxIndex = GetMaxIndex(w, x, y, z);
switch (maxIndex)
{
case 0: // based on w
x = (col1.z - col2.y) * 0.25f / w;
y = (col2.x - col0.z) * 0.25f / w;
z = (col0.y - col1.x) * 0.25f / w;
break;
case 1: // based on x
w = (col1.z - col2.y) * 0.25f / x;
y = (col0.y + col1.x) * 0.25f / x;
z = (col2.x + col0.z) * 0.25f / x;
break;
case 2: // based on y
w = (col2.x - col0.z) * 0.25f / y;
x = (col0.y + col1.x) * 0.25f / y;
z = (col1.z + col2.y) * 0.25f / y;
break;
case 3: // based on z
w = (col0.y - col1.x) * 0.25f / z;
x = (col2.x + col0.z) * 0.25f / z;
y = (col1.z + col2.y) * 0.25f / z;
break;
}
// from quaternion to axis+angle.
vec3 axis; float angle;
var quaternion = new Quaternion(w, x, y, z);
quaternion.Parse(out angle, out axis);
rotation = new vec4(axis, angle);
}
