public override void Initialize() {
GL.Enable(EnableCap.DepthTest);
GL.Enable(EnableCap.CullFace);
GL.Enable(EnableCap.Lighting);
GL.Enable(EnableCap.Light0);
cameraPlane = new Plane();
Resize(MainGameWindow.Window.Width, MainGameWindow.Window.Height);
grid = new Grid(true);
model = new OBJLoader("Assets/test_object.obj");
GL.Light(LightName.Light0, LightParameter.Position, new float[] { 0.0f, 0.5f, 0.5f, 0.0f });
GL.Light(LightName.Light0, LightParameter.Ambient, new float[] { 0f, 1f, 0f, 1f });
GL.Light(LightName.Light0, LightParameter.Diffuse, new float[] { 0f, 1f, 0f, 1f });
GL.Light(LightName.Light0, LightParameter.Specular, new float[] { 1f, 1f, 1f, 1f });
for (int i = 0; i < 6; i++) {
frustum[i] = new Plane();
}
MouseState mouse = OpenTK.Input.Mouse.GetState();
LastMousePosition = new Vector2(mouse.X, mouse.Y);
viewMatrix = Move3DCamera(0f);
}
public static Matrix4 operator /(Matrix4 matrixA, Matrix4 matrixB) {
Matrix4 result = new Matrix4();
for (int i = 0; i < 4; i++) {
for (int j = 0; j < 4; j++) {
result[i, j] = matrixA[i, j] / matrixB[i, j];
}
}
return result;
}
public static Matrix4 operator *(Matrix4 matrixA, float scale) {
Matrix4 result = new Matrix4();
for (int i = 0; i < 4; i++) {
for (int j = 0; j < 4; j++) {
result[i, j] = matrixA[i, j] * scale;
}
}
return result;
}
public void Push() {
//new matrix
Matrix4 top = new Matrix4();
//copy values of top matrix
for (int i = 0; i < stack[stack.Count - 1].Matrix.Length; i++) {
top.Matrix[i] = stack[stack.Count-1].Matrix[i];
}
//add new copy to top
stack.Add(top);
}
// Has a default implementation, making the need to override in child
// classes purley optional
public virtual void Resize(int width, int height)
{
GL.Viewport(0, 0, width, height);
GL.MatrixMode(MatrixMode.Projection);
float aspect = (float)width / (float)height;
Math_Implementation.Matrix4 perspective =
Math_Implementation.Matrix4.Perspective(60, aspect, 0.01f, 1000.0f);
GL.LoadMatrix(Math_Implementation.Matrix4.Transpose(perspective).Matrix);
GL.MatrixMode(MatrixMode.Modelview);
GL.LoadIdentity();
}
public virtual void Render()
{
// Again, Vector3 and Matrix4 must be fully scoped, because
// the OpenTK namespace contains both classes already
Math_Implementation.Vector3 eyePos = new Math_Implementation.Vector3();
eyePos.X = _baseCameraAngle.Z * -(float)System.Math.Sin(_baseCameraAngle.X * _baseRads * (float)System.Math.Cos(_baseCameraAngle.Y * _baseRads));
eyePos.Y = _baseCameraAngle.Z * -(float)System.Math.Sin(_baseCameraAngle.Y * _baseRads);
eyePos.Z = -_baseCameraAngle.Z * (float)System.Math.Cos(_baseCameraAngle.X * _baseRads * (float)System.Math.Cos(_baseCameraAngle.Y * _baseRads));
Math_Implementation.Matrix4 lookAt =
Math_Implementation.Matrix4.LookAt(eyePos,
new Math_Implementation.Vector3(0.0f, 0.0f, 0.0f),
new Math_Implementation.Vector3(0.0f, 1.0f, 0.0f));
GL.LoadMatrix(Math_Implementation.Matrix4.Transpose(lookAt).Matrix);
}
public static Matrix4 LookAt(Vector3 position, Vector3 target, Vector3 worldUp) {
Vector3 cameraForward = Vector3.Normalize(target - position);
Vector3 cameraRight = Vector3.Normalize(Vector3.Cross(cameraForward, worldUp));
Vector3 cameraUp = Vector3.Cross(cameraRight, cameraForward);
Matrix4 rot = new Matrix4(cameraRight.X, cameraUp.X, -cameraForward.X, 0.0f,
cameraRight.Y, cameraUp.Y, -cameraForward.Y, 0.0f,
cameraRight.Z, cameraUp.Z, -cameraForward.Z, 0.0f,
0.0f, 0.0f, 0.0f, 1.0f);
Matrix4 trans = Translate(position * -1.0f);
return Transpose(rot) * trans;
}
public static Matrix4 ToMatrix(Quaternion q) {
Matrix4 result = new Matrix4();
float xSq = q.X * q.X;
float ySq = q.Y * q.Y;
float zSq = q.Z * q.Z;
float wSq = q.W * q.W;
float twoX = 2.0f * q.X;
float twoY = 2.0f * q.Y;
float twoW = 2.0f * q.W;
float xy = twoX * q.Y;
float xz = twoX * q.Z;
float yz = twoY * q.Z;
float wx = twoW * q.X;
float wy = twoW * q.Y;
float wz = twoW * q.Z;
result[0, 0] = wSq + xSq - ySq - zSq;
result[0, 1] = xy - wz;
result[0, 2] = xz + wy;
result[0, 3] = 0.0f;
result[1, 0] = xy + wz;
result[1, 1] = wSq - xSq + ySq - zSq;
result[1, 2] = yz - wx;
result[1, 3] = 0.0f;
result[2, 0] = xz - wy;
result[2, 1] = yz + wx;
result[2, 2] = wSq - xSq - ySq + zSq;
result[2, 3] = 0.0f;
result[3, 0] = 0.0f;
result[3, 1] = 0.0f;
result[3, 2] = 0.0f;
result[3, 3] = 1.0f;
return result;
}
public static Matrix4 Ortho(float left, float right, float bottom, float top, float near, float far) {
Matrix4 result = new Matrix4();
result[0, 0] = 2.0f / (right - left);
result[0, 3] = -((right + left) / (right - left));
result[1, 1] = 2.0f / (top - bottom);
result[1, 3] = -((top + bottom) / (top - bottom));
result[2, 2] = -2.0f / (far - near);
result[2, 3] = -((far + near) / (far - near));
result[3, 3] = 1.0f;
return result;
}
public static Matrix4 Frustum(float left, float right, float bottom, float top, float near, float far) {
Matrix4 result = new Matrix4();
result[0, 0] = (2.0f * near) / (right - left);
result[0, 2] = (right + left) / (right - left);
result[1, 1] = (2.0f * near) / (top - bottom);
result[1, 2] = (top + bottom) / (top - bottom);
result[2, 2] = -((far + near) / (far - near));
result[2, 3] = -((2.0f * far * near) / (far - near));
result[3, 2] = -1.0f;
result[3, 3] = 0.0f;
return result;
}
public static Matrix4 Scale(Vector3 vectorA) {
Matrix4 result = new Matrix4();
result[0, 0] = vectorA[0];
result[1, 1] = vectorA[1];
result[2, 2] = vectorA[2];
result[3, 3] = 1.0f;
return result;
}
public static Vector3 MultiplyPoint(Matrix4 matrixA, Vector3 vectorA) {
Vector3 result = new Vector3();
result[0] = (matrixA[0, 0] * vectorA[0]) + (matrixA[0, 1] * vectorA[1]) + (matrixA[0, 2] * vectorA[2]) + (matrixA[0, 3] * 1.0f);
result[1] = (matrixA[1, 0] * vectorA[0]) + (matrixA[1, 1] * vectorA[1]) + (matrixA[1, 2] * vectorA[2]) + (matrixA[1, 3] * 1.0f);
result[2] = (matrixA[2, 0] * vectorA[0]) + (matrixA[2, 1] * vectorA[1]) + (matrixA[2, 2] * vectorA[2]) + (matrixA[2, 3] * 1.0f);
return result;
}
//matrix matrix multiplication
public static Matrix4 operator *(Matrix4 matrixA, Matrix4 matrixB) {
Matrix4 result = new Matrix4();
result[0, 0] = matrixA[0, 0] * matrixB[0, 0] + matrixA[0, 1] * matrixB[1, 0] + matrixA[0, 2] * matrixB[2, 0] + matrixA[0, 3] * matrixB[3, 0];
result[0, 1] = matrixA[0, 0] * matrixB[0, 1] + matrixA[0, 1] * matrixB[1, 1] + matrixA[0, 2] * matrixB[2, 1] + matrixA[0, 3] * matrixB[3, 1];
result[0, 2] = matrixA[0, 0] * matrixB[0, 2] + matrixA[0, 1] * matrixB[1, 2] + matrixA[0, 2] * matrixB[2, 2] + matrixA[0, 3] * matrixB[3, 2];
result[0, 3] = matrixA[0, 0] * matrixB[0, 3] + matrixA[0, 1] * matrixB[1, 3] + matrixA[0, 2] * matrixB[2, 3] + matrixA[0, 3] * matrixB[3, 3];
//
result[1, 0] = matrixA[1, 0] * matrixB[0, 0] + matrixA[1, 1] * matrixB[1, 0] + matrixA[1, 2] * matrixB[2, 0] + matrixA[1, 3] * matrixB[3, 0];
result[1, 1] = matrixA[1, 0] * matrixB[0, 1] + matrixA[1, 1] * matrixB[1, 1] + matrixA[1, 2] * matrixB[2, 1] + matrixA[1, 3] * matrixB[3, 1];
result[1, 2] = matrixA[1, 0] * matrixB[0, 2] + matrixA[1, 1] * matrixB[1, 2] + matrixA[1, 2] * matrixB[2, 2] + matrixA[1, 3] * matrixB[3, 2];
result[1, 3] = matrixA[1, 0] * matrixB[0, 3] + matrixA[1, 1] * matrixB[1, 3] + matrixA[1, 2] * matrixB[2, 3] + matrixA[1, 3] * matrixB[3, 3];
//
result[2, 0] = matrixA[2, 0] * matrixB[0, 0] + matrixA[2, 1] * matrixB[1, 0] + matrixA[2, 2] * matrixB[2, 0] + matrixA[2, 3] * matrixB[3, 0];
result[2, 1] = matrixA[2, 0] * matrixB[0, 1] + matrixA[2, 1] * matrixB[1, 1] + matrixA[2, 2] * matrixB[2, 1] + matrixA[2, 3] * matrixB[3, 1];
result[2, 2] = matrixA[2, 0] * matrixB[0, 2] + matrixA[2, 1] * matrixB[1, 2] + matrixA[2, 2] * matrixB[2, 2] + matrixA[2, 3] * matrixB[3, 2];
result[2, 3] = matrixA[2, 0] * matrixB[0, 3] + matrixA[2, 1] * matrixB[1, 3] + matrixA[2, 2] * matrixB[2, 3] + matrixA[2, 3] * matrixB[3, 3];
//
result[3, 0] = matrixA[3, 0] * matrixB[0, 0] + matrixA[3, 1] * matrixB[1, 0] + matrixA[3, 2] * matrixB[2, 0] + matrixA[3, 3] * matrixB[3, 0];
result[3, 1] = matrixA[3, 0] * matrixB[0, 1] + matrixA[3, 1] * matrixB[1, 1] + matrixA[3, 2] * matrixB[2, 1] + matrixA[3, 3] * matrixB[3, 1];
result[3, 2] = matrixA[3, 0] * matrixB[0, 2] + matrixA[3, 1] * matrixB[1, 2] + matrixA[3, 2] * matrixB[2, 2] + matrixA[3, 3] * matrixB[3, 2];
result[3, 3] = matrixA[3, 0] * matrixB[0, 3] + matrixA[3, 1] * matrixB[1, 3] + matrixA[3, 2] * matrixB[2, 3] + matrixA[3, 3] * matrixB[3, 3];
return result;
}
public static Matrix4 CoFactor(Matrix4 matrixA) {
Matrix4 result = Minor(matrixA);
result[0, 0] = result[0, 0] * 1;
result[0, 1] = result[0, 1] * -1;
result[0, 2] = result[0, 2] * 1;
result[0, 3] = result[0, 3] * -1;
result[1, 0] = result[1, 0] * -1;
result[1, 1] = result[1, 1] * 1;
result[1, 2] = result[1, 2] * -1;
result[1, 3] = result[1, 3] * 1;
result[2, 0] = result[2, 0] * 1;
result[2, 1] = result[2, 1] * -1;
result[2, 2] = result[2, 2] * 1;
result[2, 3] = result[2, 3] * -1;
result[3, 0] = result[3, 0] * -1;
result[3, 1] = result[3, 1] * 1;
result[3, 2] = result[3, 2] * -1;
result[3, 3] = result[3, 3] * 1;
return result;
}
public void Load(Matrix4 matrix) {
for (int i = 0; i <matrix.Matrix.Length; i++) {
stack[stack.Count-1].Matrix[i] = matrix.Matrix[i];
}
}
//transpose
public static Matrix4 Transpose(Matrix4 matrixA) {
Matrix4 result = new Matrix4();
for (int i = 0; i < 4; i++) {
for (int j = 0; j < 4; j++) {
result[i, j] = matrixA[j, i];
}
}
return result;
}
public static Matrix4 Inverse(Matrix4 matrixA) {
Matrix4 result = Adjugate(matrixA);
float determinant = Determinant(matrixA);
result *= 1.0f / determinant;
return result;
}
public static float Determinant(Matrix4 matrix) {
Matrix4 cofactor = CoFactor(matrix);
return (matrix[0, 0] * cofactor[0, 0]) + (matrix[0, 1] * cofactor[0, 1]) + (matrix[0, 2] * cofactor[0, 2]) + (matrix[0, 3] * cofactor[0, 3]);
}
public static Matrix4 Adjugate(Matrix4 matrixA) {
return Transpose(CoFactor(matrixA));
}
public Matrix4 ToMatrix() {
Matrix4 result = new Matrix4();
float xSq = X * X;
float ySq = Y * Y;
float zSq = Z * Z;
float wSq = W * W;
float twoX = 2.0f *X;
float twoY = 2.0f *Y;
float twoW = 2.0f *W;
float xy = twoX * Y;
float xz = twoX * Z;
float yz = twoY * Z;
float wx = twoW * X;
float wy = twoW * Y;
float wz = twoW * Z;
result[0, 0] = wSq + xSq - ySq - zSq;
result[0, 1] = xy - wz;
result[0, 2] = xz + wy;
result[0, 3] = 0.0f;
result[1, 0] = xy + wz;
result[1, 1] = wSq - xSq + ySq - zSq;
result[1, 2] = yz - wx;
result[1, 3] = 0.0f;
result[2, 0] = xz - wy;
result[2, 1] = yz + wx;
result[2, 2] = wSq - xSq - ySq + zSq;
result[2, 3] = 0.0f;
result[3, 0] = 0.0f;
result[3, 1] = 0.0f;
result[3, 2] = 0.0f;
result[3, 3] = 1.0f;
return result;
}
public static Matrix4 Translate(Vector3 vectorA) {
Matrix4 result = new Matrix4();
result[0, 3] = vectorA[0];
result[1, 3] = vectorA[1];
result[2, 3] = vectorA[2];
result[3, 3] = 1.0f;
return result;
}
public static Matrix4 XRotation(float theta) {
theta = theta * (float)(Math.PI / 180); //convert to rads
Matrix4 result = new Matrix4(1, 0, 0, 0,
0, (float)Math.Cos(theta), -(float)Math.Sin(theta), 0,
0, (float)Math.Sin(theta), (float)Math.Cos(theta), 0,
0,0,0,1);
return result;
}
public static Matrix4 Minor(Matrix4 matrixA) {
Matrix4 result = new Matrix4();
result[0, 0] = Matrix3.Determinant(new Matrix3(matrixA[1, 1], matrixA[1, 2], matrixA[1, 3], matrixA[2, 1], matrixA[2, 2], matrixA[2, 3], matrixA[3, 1], matrixA[3, 2], matrixA[3, 3]));
result[0, 1] = Matrix3.Determinant(new Matrix3(matrixA[1, 0], matrixA[1, 2], matrixA[1, 3], matrixA[2, 0], matrixA[2, 2], matrixA[2, 3], matrixA[3, 0], matrixA[3, 2], matrixA[3, 3]));
result[0, 2] = Matrix3.Determinant(new Matrix3(matrixA[1, 0], matrixA[1, 1], matrixA[1, 3], matrixA[2, 0], matrixA[2, 1], matrixA[2, 3], matrixA[3, 0], matrixA[3, 1], matrixA[3, 3]));
result[0, 3] = Matrix3.Determinant(new Matrix3(matrixA[1, 0], matrixA[1, 1], matrixA[1, 2], matrixA[2, 0], matrixA[2, 1], matrixA[2, 2], matrixA[3, 0], matrixA[3, 1], matrixA[3, 2]));
result[1, 0] = Matrix3.Determinant(new Matrix3(matrixA[0, 1], matrixA[0, 2], matrixA[0, 3], matrixA[2, 1], matrixA[2, 2], matrixA[2, 3], matrixA[3, 1], matrixA[3, 2], matrixA[3, 3]));
result[1, 1] = Matrix3.Determinant(new Matrix3(matrixA[0, 0], matrixA[0, 2], matrixA[0, 3], matrixA[2, 0], matrixA[2, 2], matrixA[2, 3], matrixA[3, 0], matrixA[3, 2], matrixA[3, 3]));
result[1, 2] = Matrix3.Determinant(new Matrix3(matrixA[0, 0], matrixA[0, 1], matrixA[0, 3], matrixA[2, 0], matrixA[2, 1], matrixA[2, 3], matrixA[3, 0], matrixA[3, 1], matrixA[3, 3]));
result[1, 3] = Matrix3.Determinant(new Matrix3(matrixA[0, 0], matrixA[0, 1], matrixA[0, 2], matrixA[2, 0], matrixA[2, 1], matrixA[2, 2], matrixA[3, 0], matrixA[3, 1], matrixA[3, 2]));
result[2, 0] = Matrix3.Determinant(new Matrix3(matrixA[0, 1], matrixA[0, 2], matrixA[0, 3], matrixA[1, 1], matrixA[1, 2], matrixA[1, 3], matrixA[3, 1], matrixA[3, 2], matrixA[3, 3]));
result[2, 1] = Matrix3.Determinant(new Matrix3(matrixA[0, 0], matrixA[0, 2], matrixA[0, 3], matrixA[1, 0], matrixA[1, 2], matrixA[1, 3], matrixA[3, 0], matrixA[3, 2], matrixA[3, 3]));
result[2, 2] = Matrix3.Determinant(new Matrix3(matrixA[0, 0], matrixA[0, 1], matrixA[0, 3], matrixA[1, 0], matrixA[1, 1], matrixA[1, 3], matrixA[3, 0], matrixA[3, 1], matrixA[3, 3]));
result[2, 3] = Matrix3.Determinant(new Matrix3(matrixA[0, 0], matrixA[0, 1], matrixA[0, 2], matrixA[1, 0], matrixA[1, 1], matrixA[1, 2], matrixA[3, 0], matrixA[3, 1], matrixA[3, 2]));
result[3, 0] = Matrix3.Determinant(new Matrix3(matrixA[0, 1], matrixA[0, 2], matrixA[0, 3], matrixA[1, 1], matrixA[1, 2], matrixA[1, 3], matrixA[2, 1], matrixA[2, 2], matrixA[2, 3]));
result[3, 1] = Matrix3.Determinant(new Matrix3(matrixA[0, 0], matrixA[0, 2], matrixA[0, 3], matrixA[1, 0], matrixA[1, 2], matrixA[1, 3], matrixA[2, 0], matrixA[2, 2], matrixA[2, 3]));
result[3, 2] = Matrix3.Determinant(new Matrix3(matrixA[0, 0], matrixA[0, 1], matrixA[0, 3], matrixA[1, 0], matrixA[1, 1], matrixA[1, 3], matrixA[2, 0], matrixA[2, 1], matrixA[2, 3]));
result[3, 3] = Matrix3.Determinant(new Matrix3(matrixA[0, 0], matrixA[0, 1], matrixA[0, 2], matrixA[1, 0], matrixA[1, 1], matrixA[1, 2], matrixA[2, 0], matrixA[2, 1], matrixA[2, 2]));
return result;
}
public void Mul(Matrix4 matrix) {
stack[stack.Count - 1] = stack[stack.Count - 1] * matrix;
}
public static Matrix4 ZRotation(float theta) {
theta = theta * (float)(Math.PI / 180);
Matrix4 result = new Matrix4((float)Math.Cos(theta), -(float)Math.Sin(theta), 0, 0,
(float)Math.Sin(theta), (float)Math.Cos(theta), 0, 0,
0, 0, 1, 0,
0,0,0,1);
return result;
}
public override void Update(float dTime) {
viewMatrix = Move3DCamera(dTime);
}
public static Matrix4 AngleAxis(float angle, float u, float v, float w) {
Matrix4 result = new Matrix4();
float L = (u * u + v * v + w * w);
float l = (float)Math.Sqrt(L);
angle = angle * (float)(Math.PI / 180.0); //converting to radian value
float u2 = u * u;
float v2 = v * v;
float w2 = w * w;
result[0, 0] = (u2 + (v2 + w2) * (float)Math.Cos(angle)) / L;
result[0, 1] = (u * v * (1 - (float)Math.Cos(angle)) - w * l * (float)Math.Sin(angle)) / L;
result[0, 2] = (u * w * (1 - (float)Math.Cos(angle)) + v * l * (float)Math.Sin(angle)) / L;
result[0, 3] = 0.0f;
result[1, 0] = (u * v * (1 - (float)Math.Cos(angle)) + w * l * (float)Math.Sin(angle)) / L;
result[1, 1] = (v2 + (u2 + w2) * (float)Math.Cos(angle)) / L;
result[1, 2] = (v * w * (1 - (float)Math.Cos(angle)) - u * l * (float)Math.Sin(angle)) / L;
result[1, 3] = 0.0f;
result[2, 0] = (u * w * (1 - (float)Math.Cos(angle)) - v * l * (float)Math.Sin(angle)) / L;
result[2, 1] = (v * w * (1 - (float)Math.Cos(angle)) + u * l * (float)Math.Sin(angle)) / L;
result[2, 2] = (w2 + (u2 + v2) * (float)Math.Cos(angle)) / L;
result[2, 3] = 0.0f;
result[3, 0] = 0.0f;
result[3, 1] = 0.0f;
result[3, 2] = 0.0f;
result[3, 3] = 1.0f;
return result;
}
