public static MatrixEx Mult(MatrixEx M1, MatrixEx M2)
{
MatrixEx tmp = new MatrixEx();
tmp.v[0][0] = M1.v[0][0] * M2.v[0][0] + M1.v[0][1] * M2.v[1][0] + M1.v[0][2] * M2.v[2][0] + M1.v[0][3] * M2.v[3][0];
tmp.v[0][1] = M1.v[0][0] * M2.v[0][1] + M1.v[0][1] * M2.v[1][1] + M1.v[0][2] * M2.v[2][1] + M1.v[0][3] * M2.v[3][1];
tmp.v[0][2] = M1.v[0][0] * M2.v[0][2] + M1.v[0][1] * M2.v[1][2] + M1.v[0][2] * M2.v[2][2] + M1.v[0][3] * M2.v[3][2];
tmp.v[0][3] = M1.v[0][0] * M2.v[0][3] + M1.v[0][1] * M2.v[1][3] + M1.v[0][2] * M2.v[2][3] + M1.v[0][3] * M2.v[3][3];
tmp.v[1][0] = M1.v[1][0] * M2.v[0][0] + M1.v[1][1] * M2.v[1][0] + M1.v[1][2] * M2.v[2][0] + M1.v[1][3] * M2.v[3][0];
tmp.v[1][1] = M1.v[1][0] * M2.v[0][1] + M1.v[1][1] * M2.v[1][1] + M1.v[1][2] * M2.v[2][1] + M1.v[1][3] * M2.v[3][1];
tmp.v[1][2] = M1.v[1][0] * M2.v[0][2] + M1.v[1][1] * M2.v[1][2] + M1.v[1][2] * M2.v[2][2] + M1.v[1][3] * M2.v[3][2];
tmp.v[1][3] = M1.v[1][0] * M2.v[0][3] + M1.v[1][1] * M2.v[1][3] + M1.v[1][2] * M2.v[2][3] + M1.v[1][3] * M2.v[3][3];
tmp.v[2][0] = M1.v[2][0] * M2.v[0][0] + M1.v[2][1] * M2.v[1][0] + M1.v[2][2] * M2.v[2][0] + M1.v[2][3] * M2.v[3][0];
tmp.v[2][1] = M1.v[2][0] * M2.v[0][1] + M1.v[2][1] * M2.v[1][1] + M1.v[2][2] * M2.v[2][1] + M1.v[2][3] * M2.v[3][1];
tmp.v[2][2] = M1.v[2][0] * M2.v[0][2] + M1.v[2][1] * M2.v[1][2] + M1.v[2][2] * M2.v[2][2] + M1.v[2][3] * M2.v[3][2];
tmp.v[2][3] = M1.v[2][0] * M2.v[0][3] + M1.v[2][1] * M2.v[1][3] + M1.v[2][2] * M2.v[2][3] + M1.v[2][3] * M2.v[3][3];
tmp.v[3][0] = M1.v[3][0] * M2.v[0][0] + M1.v[3][1] * M2.v[1][0] + M1.v[3][2] * M2.v[2][0] + M1.v[3][3] * M2.v[3][0];
tmp.v[3][1] = M1.v[3][0] * M2.v[0][1] + M1.v[3][1] * M2.v[1][1] + M1.v[3][2] * M2.v[2][1] + M1.v[3][3] * M2.v[3][1];
tmp.v[3][2] = M1.v[3][0] * M2.v[0][2] + M1.v[3][1] * M2.v[1][2] + M1.v[3][2] * M2.v[2][2] + M1.v[3][3] * M2.v[3][2];
tmp.v[3][3] = M1.v[3][0] * M2.v[0][3] + M1.v[3][1] * M2.v[1][3] + M1.v[3][2] * M2.v[2][3] + M1.v[3][3] * M2.v[3][3];
return tmp;
}
public MatrixEx ReverseMat(MatrixEx M1)
{
//MatrixExOrg.origin
return M1;
}
void angleMatrix(Vector3fEX v, MatrixEx m)
{
//定义中间变量
float cr,cp,cy,sr,sp,sy;
float tempAngle;
/*
计算roll，pitch，yaw角的cos，sin值，用来构造旋转矩阵
*/
//yaw:表示围绕y轴的旋转，但数值是向量在XOZ面上的投影与z负的夹角
tempAngle = v.z;
sy = (float)System.Math.Sin(tempAngle);
cy = (float)System.Math.Cos(tempAngle);
//pitch:表示围绕x轴的旋转，但数值是向量在YOZ面上的投影与z负的夹角
tempAngle = v.y;
sp = (float)System.Math.Sin(tempAngle);
cp = (float)System.Math.Cos(tempAngle);
//roll:表示围绕y轴的旋转，但数值是向量在XOY面上的投影与y正的夹角
tempAngle = v.x;
sr = (float)System.Math.Sin(tempAngle);
cr = (float)System.Math.Cos(tempAngle);
m.xBasis = new Vector3fEX(cp * cy, cp * sy, (-sp));
m.yBasis = new Vector3fEX(sr * sp * cy + cr * (-sy), sr * sp * sy + cr * cy, sr * cp);
m.zBasis = new Vector3fEX((cr * sp * cy + (-sr) * (-sy)), (cr * sp * sy + (-sr) * cy), cr * cp);
}
//俯仰角 左右角 前后角
void animation(int pitches, int rolls, int yaws)
{
for(int i = 0; i < m_Joint.Count; i ++)
{
/*
求当前动作矩阵，该矩阵基于初始局部变换
*/
MatrixEx motionMatrix = new MatrixEx();
Vector3fEX vTemp = new Vector3fEX(pitches,rolls,yaws);
//修改关节角
// vTemp.x = pitches; //这些取值的依据是什么 rotation
// vTemp.z = rolls;
// vTemp.y = yaws;
//设定矩阵的旋转
angleMatrix(vTemp,motionMatrix);
//angleMatrix(joint->vCurrent, &motionMatrix);
//
//当前局部矩阵 = 初始局部矩阵*动作矩阵，程序设定的变换是基于初始局部
m_Joint[i].m_CurLocalMartic = MatrixEx.Mult(m_Joint[i].m_StaLocalMartic , motionMatrix);
// 求当前全局矩阵
if (m_Joint[i].ParentId == -1)
{
m_Joint[i].m_CurGlobMartic = m_Joint[i].m_CurLocalMartic;
}
else
{
m_Joint[i].m_CurGlobMartic = MatrixEx.Mult(m_Joint[m_Joint[i].ParentId].m_CurGlobMartic , m_Joint[i].m_CurLocalMartic);
}
//至此 joint中的所有值都已经赋值完毕了。
}
}
public void SetupJointMatrices()
{
for(int i = 0; i < m_Joint.Count; i++) {
MatrixEx relativeMatrix = new MatrixEx();
Vector3fEX vTemp = new Vector3fEX(m_Joint[i].rotation.x, m_Joint[i].rotation.y, m_Joint[i].rotation.z);
//设定矩阵的旋转
angleMatrix(vTemp,relativeMatrix);
//设定矩阵的平移
relativeMatrix.origin = new Vector3fEX(m_Joint[i].location.x, m_Joint[i].location.y, m_Joint[i].location.z); //这个值 是不是用来补齐矩阵的最后一行的 或者最后一列的
//为关节点的初始局部矩阵赋值
m_Joint[i].m_StaLocalMartic = relativeMatrix;
//如果是根节点,则局部矩阵则为全局矩阵
if(m_Joint[i].ParentId == -1) //根节点
{
//joint->matStaticGlobal = joint->matStaticLocal;
m_Joint[i].m_StaGlobaclMartic = m_Joint[i].m_StaLocalMartic;
}
else
{
m_Joint[i].m_StaGlobaclMartic = MatrixEx.Mult(m_Joint[m_Joint[i].ParentId].m_StaGlobaclMartic , m_Joint[i].m_StaLocalMartic); //需要重写乘法运算符
}
}
//绑定顶点，初始化顶点的相对坐标
//SetupVertices(); //更新顶点信息
}