void rebuildMatrices()
{
if (!needsRebuild)
{
return;
}
needsRebuild = false;
warp_Vector forward, up, right;
forward = warp_Vector.sub(lookat, pos);
up = new warp_Vector(0f, 1f, 0f);
right = warp_Vector.getNormal(up, forward);
up = warp_Vector.getNormal(forward, right);
forward.normalize();
up.normalize();
right.normalize();
normalmatrix = new warp_Matrix(right, up, forward);
normalmatrix.rotate(0, 0, rollfactor);
matrix = normalmatrix.getClone();
matrix.shift(pos.x, pos.y, pos.z);
normalmatrix = normalmatrix.inverse();
matrix = matrix.inverse();
}
public void project(warp_Matrix vertexProjection, warp_Matrix normalProjection, warp_Camera camera)
// Projects this vertex into camera space
{
pos2 = pos.transform(vertexProjection);
n2 = n.transform(normalProjection);
float fact;
if (camera.isOrthographic)
{
x = (int)(pos2.x * (camera.screenscale / camera.orthoViewWidth) + (camera.screenwidth >> 1));
y = (int)(-pos2.y * (camera.screenscale / camera.orthoViewHeight) + (camera.screenheight >> 1));
}
else
{
fact = camera.screenscale / camera.fovfact / ((pos2.z > 0.1) ? pos2.z : 0.1f);
x = (int)(pos2.x * fact + (camera.screenwidth >> 1));
y = (int)(-pos2.y * fact + (camera.screenheight >> 1));
}
z = (int)(65536f * pos2.z);
sw = -(pos2.z);
nx = (int)(n2.x * 127 + 127);
ny = (int)(n2.y * 127 + 127);
if (parent.material == null)
{
return;
}
if (parent.material.texture == null)
{
return;
}
tx = (int)((float)parent.material.texture.width * u);
ty = (int)((float)parent.material.texture.height * v);
}
public warp_Matrix inverse()
{
warp_Matrix m = new warp_Matrix();
float q1 = m12; float q6 = m10 * m01; float q7 = m10 * m21; float q8 = m02;
float q13 = m20 * m01; float q14 = m20 * m11; float q21 = m02 * m21; float q22 = m03 * m21;
float q25 = m01 * m12; float q26 = m01 * m13; float q27 = m02 * m11; float q28 = m03 * m11;
float q29 = m10 * m22; float q30 = m10 * m23; float q31 = m20 * m12; float q32 = m20 * m13;
float q35 = m00 * m22; float q36 = m00 * m23; float q37 = m20 * m02; float q38 = m20 * m03;
float q41 = m00 * m12; float q42 = m00 * m13; float q43 = m10 * m02; float q44 = m10 * m03;
float q45 = m00 * m11; float q48 = m00 * m21;
float q49 = q45 * m22 - q48 * q1 - q6 * m22 + q7 * q8;
float q50 = q13 * q1 - q14 * q8;
float q51 = 1 / (q49 + q50);
m.m00 = (m11 * m22 * m33 - m11 * m23 * m32 - m21 * m12 * m33 + m21 * m13 * m32 + m31 * m12 * m23 - m31 * m13 * m22) * q51;
m.m01 = -(m01 * m22 * m33 - m01 * m23 * m32 - q21 * m33 + q22 * m32) * q51;
m.m02 = (q25 * m33 - q26 * m32 - q27 * m33 + q28 * m32) * q51;
m.m03 = -(q25 * m23 - q26 * m22 - q27 * m23 + q28 * m22 + q21 * m13 - q22 * m12) * q51;
m.m10 = -(q29 * m33 - q30 * m32 - q31 * m33 + q32 * m32) * q51;
m.m11 = (q35 * m33 - q36 * m32 - q37 * m33 + q38 * m32) * q51;
m.m12 = -(q41 * m33 - q42 * m32 - q43 * m33 + q44 * m32) * q51;
m.m13 = (q41 * m23 - q42 * m22 - q43 * m23 + q44 * m22 + q37 * m13 - q38 * m12) * q51;
m.m20 = (q7 * m33 - q30 * m31 - q14 * m33 + q32 * m31) * q51;
m.m21 = -(q48 * m33 - q36 * m31 - q13 * m33 + q38 * m31) * q51;
m.m22 = (q45 * m33 - q42 * m31 - q6 * m33 + q44 * m31) * q51;
m.m23 = -(q45 * m23 - q42 * m21 - q6 * m23 + q44 * m21 + q13 * m13 - q38 * m11) * q51;
return(m);
}
public void project(warp_Matrix vertexProjection, warp_Matrix normalProjection, warp_Camera camera)
// Projects this vertex into camera space
{
pos2 = pos.transform(vertexProjection);
n2 = n.transform(normalProjection);
float fact;
if (camera.isOrthographic)
{
x = (int)(pos2.x * (camera.screenscale / camera.orthoViewWidth) + (camera.screenwidth >> 1));
y = (int)(-pos2.y * (camera.screenscale / camera.orthoViewHeight) + (camera.screenheight >> 1));
}
else
{
fact = camera.screenscale / camera.fovfact / ((pos2.z > 0.1) ? pos2.z : 0.1f);
x = (int)(pos2.x * fact + (camera.screenwidth >> 1));
y = (int)(-pos2.y * fact + (camera.screenheight >> 1));
}
z = (int)(65536f * pos2.z);
sw = -(pos2.z);
nx = (int)(n2.x * 127 + 127);
ny = (int)(n2.y * 127 + 127);
if (parent.material == null) return;
if (parent.material.texture == null) return;
tx = (int)((float)parent.material.texture.width * u);
ty = (int)((float)parent.material.texture.height * v);
}
public static warp_Matrix quaternionMatrix(warp_Quaternion quat)
{
warp_Matrix m = new warp_Matrix();
float xx = quat.X * quat.X;
float xy = quat.X * quat.Y;
float xz = quat.X * quat.Z;
float xw = quat.X * quat.W;
float yy = quat.Y * quat.Y;
float yz = quat.Y * quat.Z;
float yw = quat.Y * quat.W;
float zz = quat.Z * quat.Z;
float zw = quat.Z * quat.W;
m.m00 = 1 - 2 * (yy + zz);
m.m01 = 2 * (xy - zw);
m.m02 = 2 * (xz + yw);
m.m10 = 2 * (xy + zw);
m.m11 = 1 - 2 * (xx + zz);
m.m12 = 2 * (yz - xw);
m.m20 = 2 * (xz - yw);
m.m21 = 2 * (yz + xw);
m.m22 = 1 - 2 * (xx + yy);
m.m03 = m.m13 = m.m23 = m.m30 = m.m31 = m.m32 = 0;
m.m33 = 1;
return(m);
}
public static warp_Matrix quaternionMatrix( warp_Quaternion quat )
{
warp_Matrix m = new warp_Matrix();
float xx = quat.X * quat.X;
float xy = quat.X * quat.Y;
float xz = quat.X * quat.Z;
float xw = quat.X * quat.W;
float yy = quat.Y * quat.Y;
float yz = quat.Y * quat.Z;
float yw = quat.Y * quat.W;
float zz = quat.Z * quat.Z;
float zw = quat.Z * quat.W;
m.m00 = 1 - 2 * ( yy + zz );
m.m01 = 2 * ( xy - zw) ;
m.m02 = 2*(xz + yw);
m.m10 = 2*(xy + zw);
m.m11 = 1 - 2* ( xx + zz );
m.m12 = 2*(yz - xw);
m.m20 = 2*(xz - yw);
m.m21 = 2*(yz + xw);
m.m22 = 1 - 2 * ( xx + yy );
m.m03 = m.m13 = m.m23 = m.m30 = m.m31 = m.m32 = 0;
m.m33 = 1;
return m;
}
public static warp_Matrix shiftMatrix(float dx, float dy, float dz)
// matrix for shifting
{
warp_Matrix m=new warp_Matrix();
m.m03=dx;
m.m13=dy;
m.m23=dz;
return m;
}
public warp_Matrix rotateMatrix(warp_Quaternion quat)
{
reset();
warp_Matrix temp = warp_Matrix.quaternionMatrix(quat);
warp_Matrix result = warp_Matrix.multiply(this, temp);
return(result);
}
public warp_Vector transform(warp_Matrix m)
// Modifies the vector by matrix m
{
float newx = x * m.m00 + y * m.m01 + z * m.m02 + m.m03;
float newy = x * m.m10 + y * m.m11 + z * m.m12 + m.m13;
float newz = x * m.m20 + y * m.m21 + z * m.m22 + m.m23;
return(new warp_Vector(newx, newy, newz));
}
public warp_Vector transform(warp_Matrix m)
// Modifies the vector by matrix m
{
float newx = x*m.m00 + y*m.m01 + z*m.m02+ m.m03;
float newy = x*m.m10 + y*m.m11 + z*m.m12+ m.m13;
float newz = x*m.m20 + y*m.m21 + z*m.m22+ m.m23;
return new warp_Vector(newx,newy,newz);
}
public static warp_Matrix scaleMatrix(float dx, float dy, float dz)
{
warp_Matrix m = new warp_Matrix();
m.m00 = dx;
m.m11 = dy;
m.m22 = dz;
return(m);
}
public static warp_Matrix shiftMatrix(float dx, float dy, float dz)
// matrix for shifting
{
warp_Matrix m = new warp_Matrix();
m.m03 = dx;
m.m13 = dy;
m.m23 = dz;
return(m);
}
/*
* public string toString()
* {
* // todo
* }
*/
public warp_Matrix getClone()
{
warp_Matrix m = new warp_Matrix();
m.m00 = m00; m.m01 = m01; m.m02 = m02; m.m03 = m03;
m.m10 = m10; m.m11 = m11; m.m12 = m12; m.m13 = m13;
m.m20 = m20; m.m21 = m21; m.m22 = m22; m.m23 = m23;
m.m30 = m30; m.m31 = m31; m.m32 = m32; m.m33 = m33;
return(m);
}
static public warp_Quaternion matrix(warp_Matrix xfrm)
{
warp_Quaternion quat = new warp_Quaternion();
// Check the sum of the diagonal
float tr = xfrm[0, 0] + xfrm[1, 1] + xfrm[2, 2];
if (tr > 0.0f)
{
// The sum is positive
// 4 muls, 1 div, 6 adds, 1 trig function call
float s = ( float )Math.Sqrt(tr + 1.0f);
quat.W = s * 0.5f;
s = 0.5f / s;
quat.X = (xfrm[1, 2] - xfrm[2, 1]) * s;
quat.Y = (xfrm[2, 0] - xfrm[0, 2]) * s;
quat.Z = (xfrm[0, 1] - xfrm[1, 0]) * s;
}
else
{
// The sum is negative
// 4 muls, 1 div, 8 adds, 1 trig function call
int[] nIndex = { 1, 2, 0 };
int i, j, k;
i = 0;
if (xfrm[1, 1] > xfrm[i, i])
{
i = 1;
}
if (xfrm[2, 2] > xfrm[i, i])
{
i = 2;
}
j = nIndex[i];
k = nIndex[j];
float s = ( float )Math.Sqrt((xfrm[i, i] - (xfrm[j, j] + xfrm[k, k])) + 1.0f);
quat[i] = s * 0.5f;
if (s != 0.0)
{
s = 0.5f / s;
}
quat[j] = (xfrm[i, j] + xfrm[j, i]) * s;
quat[k] = (xfrm[i, k] + xfrm[k, i]) * s;
quat[3] = (xfrm[j, k] - xfrm[k, j]) * s;
}
return(quat);
}
public void preTransform(warp_Matrix n)
{
warp_Matrix m = this.getClone();
m00 = m.m00 * n.m00 + m.m01 * n.m10 + m.m02 * n.m20;
m01 = m.m00 * n.m01 + m.m01 * n.m11 + m.m02 * n.m21;
m02 = m.m00 * n.m02 + m.m01 * n.m12 + m.m02 * n.m22;
m03 = m.m00 * n.m03 + m.m01 * n.m13 + m.m02 * n.m23 + m.m03;
m10 = m.m10 * n.m00 + m.m11 * n.m10 + m.m12 * n.m20;
m11 = m.m10 * n.m01 + m.m11 * n.m11 + m.m12 * n.m21;
m12 = m.m10 * n.m02 + m.m11 * n.m12 + m.m12 * n.m22;
m13 = m.m10 * n.m03 + m.m11 * n.m13 + m.m12 * n.m23 + m.m13;
m20 = m.m20 * n.m00 + m.m21 * n.m10 + m.m22 * n.m20;
m21 = m.m20 * n.m01 + m.m21 * n.m11 + m.m22 * n.m21;
m22 = m.m20 * n.m02 + m.m21 * n.m12 + m.m22 * n.m22;
m23 = m.m20 * n.m03 + m.m21 * n.m13 + m.m22 * n.m23 + m.m23;
}
public void transform(warp_Matrix n)
{
warp_Matrix m = this.getClone();
m00 = n.m00 * m.m00 + n.m01 * m.m10 + n.m02 * m.m20;
m01 = n.m00 * m.m01 + n.m01 * m.m11 + n.m02 * m.m21;
m02 = n.m00 * m.m02 + n.m01 * m.m12 + n.m02 * m.m22;
m03 = n.m00 * m.m03 + n.m01 * m.m13 + n.m02 * m.m23 + n.m03;
m10 = n.m10 * m.m00 + n.m11 * m.m10 + n.m12 * m.m20;
m11 = n.m10 * m.m01 + n.m11 * m.m11 + n.m12 * m.m21;
m12 = n.m10 * m.m02 + n.m11 * m.m12 + n.m12 * m.m22;
m13 = n.m10 * m.m03 + n.m11 * m.m13 + n.m12 * m.m23 + n.m13;
m20 = n.m20 * m.m00 + n.m21 * m.m10 + n.m22 * m.m20;
m21 = n.m20 * m.m01 + n.m21 * m.m11 + n.m22 * m.m21;
m22 = n.m20 * m.m02 + n.m21 * m.m12 + n.m22 * m.m22;
m23 = n.m20 * m.m03 + n.m21 * m.m13 + n.m22 * m.m23 + n.m23;
}
public static warp_Matrix rotateMatrix(float dx, float dy, float dz)
{
warp_Matrix res = new warp_Matrix();
float SIN;
float COS;
if (dx != 0)
{
warp_Matrix m = new warp_Matrix();
SIN = warp_Math.sin(dx);
COS = warp_Math.cos(dx);
m.m11 = COS;
m.m12 = SIN;
m.m21 = -SIN;
m.m22 = COS;
res.transform(m);
}
if (dy != 0)
{
warp_Matrix m = new warp_Matrix();
SIN = warp_Math.sin(dy);
COS = warp_Math.cos(dy);
m.m00 = COS;
m.m02 = SIN;
m.m20 = -SIN;
m.m22 = COS;
res.transform(m);
}
if (dz != 0)
{
warp_Matrix m = new warp_Matrix();
SIN = warp_Math.sin(dz);
COS = warp_Math.cos(dz);
m.m00 = COS;
m.m01 = SIN;
m.m10 = -SIN;
m.m11 = COS;
res.transform(m);
}
return(res);
}
public static warp_Matrix Ode2WarpMatrix( Ode.Matrix3 m )
{
warp_Matrix result = new warp_Matrix();
result.m11 = ( float )m.m11;
result.m12 = ( float )m.m12;
result.m13 = ( float )m.m13;
result.m21 = ( float )m.m21;
result.m22 = ( float )m.m22;
result.m23 = ( float )m.m23;
result.m31 = ( float )m.m31;
result.m32 = ( float )m.m32;
result.m33 = ( float )m.m33;
return result;
}
public static Ode.Matrix3 Warp2OdeMatrix3( warp_Matrix m )
{
Ode.Matrix3 odeM = new Ode.Matrix3();
odeM.m11 = m.m11;
odeM.m12 = m.m12;
odeM.m13 = m.m13;
odeM.m21 = m.m21;
odeM.m22 = m.m22;
odeM.m23 = m.m23;
odeM.m31 = m.m31;
odeM.m32 = m.m32;
odeM.m33 = m.m33;
return odeM;
}
static public warp_Quaternion matrix(warp_Matrix xfrm)
{
warp_Quaternion quat = new warp_Quaternion();
// Check the sum of the diagonal
float tr = xfrm[0, 0] + xfrm[1, 1] + xfrm[2, 2];
if (tr > 0.0f)
{
// The sum is positive
// 4 muls, 1 div, 6 adds, 1 trig function call
float s = (float)Math.Sqrt(tr + 1.0f);
quat.W = s * 0.5f;
s = 0.5f / s;
quat.X = (xfrm[1, 2] - xfrm[2, 1]) * s;
quat.Y = (xfrm[2, 0] - xfrm[0, 2]) * s;
quat.Z = (xfrm[0, 1] - xfrm[1, 0]) * s;
}
else
{
// The sum is negative
// 4 muls, 1 div, 8 adds, 1 trig function call
int[] nIndex = { 1, 2, 0 };
int i, j, k;
i = 0;
if (xfrm[1, 1] > xfrm[i, i])
i = 1;
if (xfrm[2, 2] > xfrm[i, i])
i = 2;
j = nIndex[i];
k = nIndex[j];
float s = (float)Math.Sqrt((xfrm[i, i] - (xfrm[j, j] + xfrm[k, k])) + 1.0f);
quat[i] = s * 0.5f;
if (s != 0.0)
{
s = 0.5f / s;
}
quat[j] = (xfrm[i, j] + xfrm[j, i]) * s;
quat[k] = (xfrm[i, k] + xfrm[k, i]) * s;
quat[3] = (xfrm[j, k] - xfrm[k, j]) * s;
}
return quat;
}
public static warp_Matrix multiply(warp_Matrix m1, warp_Matrix m2)
{
warp_Matrix m = new warp_Matrix();
m.m00 = m1.m00 * m2.m00 + m1.m01 * m2.m10 + m1.m02 * m2.m20;
m.m01 = m1.m00 * m2.m01 + m1.m01 * m2.m11 + m1.m02 * m2.m21;
m.m02 = m1.m00 * m2.m02 + m1.m01 * m2.m12 + m1.m02 * m2.m22;
m.m03 = m1.m00 * m2.m03 + m1.m01 * m2.m13 + m1.m02 * m2.m23 + m1.m03;
m.m10 = m1.m10 * m2.m00 + m1.m11 * m2.m10 + m1.m12 * m2.m20;
m.m11 = m1.m10 * m2.m01 + m1.m11 * m2.m11 + m1.m12 * m2.m21;
m.m12 = m1.m10 * m2.m02 + m1.m11 * m2.m12 + m1.m12 * m2.m22;
m.m13 = m1.m10 * m2.m03 + m1.m11 * m2.m13 + m1.m12 * m2.m23 + m1.m13;
m.m20 = m1.m20 * m2.m00 + m1.m21 * m2.m10 + m1.m22 * m2.m20;
m.m21 = m1.m20 * m2.m01 + m1.m21 * m2.m11 + m1.m22 * m2.m21;
m.m22 = m1.m20 * m2.m02 + m1.m21 * m2.m12 + m1.m22 * m2.m22;
m.m23 = m1.m20 * m2.m03 + m1.m21 * m2.m13 + m1.m22 * m2.m23 + m1.m23;
return(m);
}
void rebuildMatrices()
{
if (!needsRebuild) return;
needsRebuild = false;
warp_Vector forward, up, right;
forward = warp_Vector.sub(lookat, pos);
up = new warp_Vector(0f, 1f, 0f);
right = warp_Vector.getNormal(up, forward);
up = warp_Vector.getNormal(forward, right);
forward.normalize();
up.normalize();
right.normalize();
normalmatrix = new warp_Matrix(right, up, forward);
normalmatrix.rotate(0, 0, rollfactor);
matrix = normalmatrix.getClone();
matrix.shift(pos.x, pos.y, pos.z);
normalmatrix = normalmatrix.inverse();
matrix = matrix.inverse();
}
public void project(warp_Matrix m)
{
matrix2 = m.getClone();
matrix2.transform(m);
v2 = v.transform(matrix2);
}
public void project(warp_Matrix m)
{
matrix2 = m.getClone();
matrix2.transform(m);
v2 = v.transform(matrix2);
}
public void rotate(warp_Matrix m)
{
transform(m);
}
public static warp_Object TUBE(warp_Vector[] path, float r, int steps, bool closed)
{
warp_Vector[] circle = new warp_Vector[steps];
float angle;
for (int i = 0; i < steps; i++)
{
angle = 2 * 3.14159265f * (float)i / (float)steps;
circle[i] = new warp_Vector(r * warp_Math.cos(angle),
r * warp_Math.sin(angle), 0f);
}
warp_Object newObject = new warp_Object();
int segments = path.GetLength(0);
warp_Vector forward, up, right;
warp_Matrix frenetmatrix;
warp_Vertex tempvertex;
float relx, rely;
int a, b, c, d;
for (int i = 0; i < segments; i++)
{
// Calculate frenet frame matrix
if (i != segments - 1)
{
forward = warp_Vector.sub(path[i + 1], path[i]);
}
else
{
if (!closed)
{
forward = warp_Vector.sub(path[i], path[i - 1]);
}
else
{
forward = warp_Vector.sub(path[1], path[0]);
}
}
forward.normalize();
up = new warp_Vector(0f, 0f, 1f);
right = warp_Vector.getNormal(forward, up);
up = warp_Vector.getNormal(forward, right);
frenetmatrix = new warp_Matrix(right, up, forward);
frenetmatrix.shift(path[i].x, path[i].y, path[i].z);
// Add nodes
relx = (float)i / (float)(segments - 1);
for (int k = 0; k < steps; k++)
{
rely = (float)k / (float)steps;
tempvertex = new warp_Vertex(circle[k].transform(frenetmatrix));
tempvertex.u = relx;
tempvertex.v = rely;
newObject.addVertex(tempvertex);
}
}
for (int i = 0; i < segments - 1; i++)
{
for (int k = 0; k < steps - 1; k++)
{
a = i * steps + k;
b = a + 1;
c = a + steps;
d = b + steps;
newObject.addTriangle(a, c, b);
newObject.addTriangle(b, c, d);
}
a = (i + 1) * steps - 1;
b = a + 1 - steps;
c = a + steps;
d = b + steps;
newObject.addTriangle(a, c, b);
newObject.addTriangle(b, c, d);
}
return(newObject);
}
public void rotateSelf( warp_Matrix m )
{
matrix.rotateSelf( m );
normalmatrix.rotateSelf( m );
}
public void preTransform(warp_Matrix n)
{
warp_Matrix m=this.getClone();
m00 = m.m00*n.m00 + m.m01*n.m10 + m.m02*n.m20;
m01 = m.m00*n.m01 + m.m01*n.m11 + m.m02*n.m21;
m02 = m.m00*n.m02 + m.m01*n.m12 + m.m02*n.m22;
m03 = m.m00*n.m03 + m.m01*n.m13 + m.m02*n.m23 + m.m03;
m10 = m.m10*n.m00 + m.m11*n.m10 + m.m12*n.m20;
m11 = m.m10*n.m01 + m.m11*n.m11 + m.m12*n.m21;
m12 = m.m10*n.m02 + m.m11*n.m12 + m.m12*n.m22;
m13 = m.m10*n.m03 + m.m11*n.m13 + m.m12*n.m23 + m.m13;
m20 = m.m20*n.m00 + m.m21*n.m10 + m.m22*n.m20;
m21 = m.m20*n.m01 + m.m21*n.m11 + m.m22*n.m21;
m22 = m.m20*n.m02 + m.m21*n.m12 + m.m22*n.m22;
m23 = m.m20*n.m03 + m.m21*n.m13 + m.m22*n.m23 + m.m23;
}
public void rotateSelf( warp_Matrix m )
{
preTransform( m );
}
public static warp_Matrix rotateMatrix(float dx, float dy, float dz)
{
warp_Matrix res=new warp_Matrix();
float SIN;
float COS;
if (dx!=0)
{
warp_Matrix m =new warp_Matrix();
SIN=warp_Math.sin(dx);
COS=warp_Math.cos(dx);
m.m11=COS;
m.m12=SIN;
m.m21=-SIN;
m.m22=COS;
res.transform(m);
}
if (dy!=0)
{
warp_Matrix m =new warp_Matrix();
SIN=warp_Math.sin(dy);
COS=warp_Math.cos(dy);
m.m00=COS;
m.m02=SIN;
m.m20=-SIN;
m.m22=COS;
res.transform(m);
}
if (dz!=0)
{
warp_Matrix m =new warp_Matrix();
SIN=warp_Math.sin(dz);
COS=warp_Math.cos(dz);
m.m00=COS;
m.m01=SIN;
m.m10=-SIN;
m.m11=COS;
res.transform(m);
}
return res;
}
/*
public string toString()
{
// todo
}
*/
public warp_Matrix getClone()
{
warp_Matrix m=new warp_Matrix();
m.m00=m00; m.m01=m01; m.m02=m02; m.m03=m03;
m.m10=m10; m.m11=m11; m.m12=m12; m.m13=m13;
m.m20=m20; m.m21=m21; m.m22=m22; m.m23=m23;
m.m30=m30; m.m31=m31; m.m32=m32; m.m33=m33;
return m;
}
public bool RotateSelf( string name, warp_Matrix m )
{
if ( _scene == null )
{
return false;
}
warp_Object o = _scene.sceneobject( name );
if ( o == null )
{
return false;
}
o.rotateSelf( m );
return true;
}
public bool RotateScene( warp_Matrix m )
{
if ( _scene == null )
{
return false;
}
_scene.rotate( m );
return true;
}
public void normalize()
{
objectsNeedRebuild = true;
rebuild();
warp_Vector min, max, tempmax, tempmin;
if (objects == 0)
{
return;
}
matrix = new warp_Matrix();
normalmatrix = new warp_Matrix();
max = wobject[0].maximum();
min = wobject[0].maximum();
for (int i = 0; i < objects; i++)
{
tempmax = wobject[i].maximum();
tempmin = wobject[i].maximum();
if (tempmax.x > max.x)
{
max.x = tempmax.x;
}
if (tempmax.y > max.y)
{
max.y = tempmax.y;
}
if (tempmax.z > max.z)
{
max.z = tempmax.z;
}
if (tempmin.x < min.x)
{
min.x = tempmin.x;
}
if (tempmin.y < min.y)
{
min.y = tempmin.y;
}
if (tempmin.z < min.z)
{
min.z = tempmin.z;
}
}
float xdist = max.x - min.x;
float ydist = max.y - min.y;
float zdist = max.z - min.z;
float xmed = (max.x + min.x) / 2;
float ymed = (max.y + min.y) / 2;
float zmed = (max.z + min.z) / 2;
float diameter = (xdist > ydist) ? xdist : ydist;
diameter = (zdist > diameter) ? zdist : diameter;
normalizedOffset = new warp_Vector(xmed, ymed, zmed);
normalizedScale = 2 / diameter;
shift(normalizedOffset.reverse());
scale(normalizedScale);
}
public static warp_Matrix multiply(warp_Matrix m1, warp_Matrix m2)
{
warp_Matrix m=new warp_Matrix();
m.m00 = m1.m00*m2.m00 + m1.m01*m2.m10 + m1.m02*m2.m20;
m.m01 = m1.m00*m2.m01 + m1.m01*m2.m11 + m1.m02*m2.m21;
m.m02 = m1.m00*m2.m02 + m1.m01*m2.m12 + m1.m02*m2.m22;
m.m03 = m1.m00*m2.m03 + m1.m01*m2.m13 + m1.m02*m2.m23 + m1.m03;
m.m10 = m1.m10*m2.m00 + m1.m11*m2.m10 + m1.m12*m2.m20;
m.m11 = m1.m10*m2.m01 + m1.m11*m2.m11 + m1.m12*m2.m21;
m.m12 = m1.m10*m2.m02 + m1.m11*m2.m12 + m1.m12*m2.m22;
m.m13 = m1.m10*m2.m03 + m1.m11*m2.m13 + m1.m12*m2.m23 + m1.m13;
m.m20 = m1.m20*m2.m00 + m1.m21*m2.m10 + m1.m22*m2.m20;
m.m21 = m1.m20*m2.m01 + m1.m21*m2.m11 + m1.m22*m2.m21;
m.m22 = m1.m20*m2.m02 + m1.m21*m2.m12 + m1.m22*m2.m22;
m.m23 = m1.m20*m2.m03 + m1.m21*m2.m13 + m1.m22*m2.m23 + m1.m23;
return m;
}
public void normalize()
{
objectsNeedRebuild = true;
rebuild();
warp_Vector min, max, tempmax, tempmin;
if (objects == 0)
{
return;
}
matrix = new warp_Matrix();
normalmatrix = new warp_Matrix();
max = wobject[0].maximum();
min = wobject[0].maximum();
for (int i = 0; i < objects; i++)
{
tempmax = wobject[i].maximum();
tempmin = wobject[i].maximum();
if (tempmax.x > max.x)
{
max.x = tempmax.x;
}
if (tempmax.y > max.y)
{
max.y = tempmax.y;
}
if (tempmax.z > max.z)
{
max.z = tempmax.z;
}
if (tempmin.x < min.x)
{
min.x = tempmin.x;
}
if (tempmin.y < min.y)
{
min.y = tempmin.y;
}
if (tempmin.z < min.z)
{
min.z = tempmin.z;
}
}
float xdist = max.x - min.x;
float ydist = max.y - min.y;
float zdist = max.z - min.z;
float xmed = (max.x + min.x) / 2;
float ymed = (max.y + min.y) / 2;
float zmed = (max.z + min.z) / 2;
float diameter = (xdist > ydist) ? xdist : ydist;
diameter = (zdist > diameter) ? zdist : diameter;
normalizedOffset = new warp_Vector(xmed, ymed, zmed);
normalizedScale = 2 / diameter;
shift(normalizedOffset.reverse());
scale(normalizedScale);
}
public static warp_Matrix scaleMatrix(float dx, float dy, float dz)
{
warp_Matrix m=new warp_Matrix();
m.m00=dx;
m.m11=dy;
m.m22=dz;
return m;
}
public void rotateSelf(warp_Matrix m)
{
preTransform(m);
}
public warp_Matrix inverse()
{
warp_Matrix m=new warp_Matrix();
float q1 = m12; float q6 = m10*m01; float q7 = m10*m21; float q8 = m02;
float q13 = m20*m01; float q14 = m20*m11; float q21 = m02*m21; float q22 = m03*m21;
float q25 = m01*m12; float q26 = m01*m13; float q27 = m02*m11; float q28 = m03*m11;
float q29 = m10*m22; float q30 = m10*m23; float q31 = m20*m12; float q32 = m20*m13;
float q35 = m00*m22; float q36 = m00*m23; float q37 = m20*m02; float q38 = m20*m03;
float q41 = m00*m12; float q42 = m00*m13; float q43 = m10*m02; float q44 = m10*m03;
float q45 = m00*m11; float q48 = m00*m21;
float q49 = q45*m22-q48*q1-q6*m22+q7*q8;
float q50 = q13*q1-q14*q8;
float q51 = 1/(q49+q50);
m.m00 = (m11*m22*m33-m11*m23*m32-m21*m12*m33+m21*m13*m32+m31*m12*m23-m31*m13*m22)*q51;
m.m01 = -(m01*m22*m33-m01*m23*m32-q21*m33+q22*m32)*q51;
m.m02 = (q25*m33-q26*m32-q27*m33+q28*m32)*q51;
m.m03 = -(q25*m23-q26*m22-q27*m23+q28*m22+q21*m13-q22*m12)*q51;
m.m10 = -(q29*m33-q30*m32-q31*m33+q32*m32)*q51;
m.m11 = (q35*m33-q36*m32-q37*m33+q38*m32)*q51;
m.m12 = -(q41*m33-q42*m32-q43*m33+q44*m32)*q51;
m.m13 = (q41*m23-q42*m22-q43*m23+q44*m22+q37*m13-q38*m12)*q51;
m.m20 = (q7*m33-q30*m31-q14*m33+q32*m31)*q51;
m.m21 = -(q48*m33-q36*m31-q13*m33+q38*m31)*q51;
m.m22 = (q45*m33-q42*m31-q6*m33+q44*m31)*q51;
m.m23 = -(q45*m23-q42*m21-q6*m23+q44*m21+q13*m13-q38*m11)*q51;
return m;
}
public void project(warp_Matrix normalProjection)
{
n2 = n.transform(normalProjection);
dist = getDist();
}
public void rotate( warp_Matrix m )
{
transform( m );
}
public void transform(warp_Matrix m)
{
matrix.transform(m);
normalmatrix.transform(m);
}
public void transform(warp_Matrix n)
{
warp_Matrix m=this.getClone();
m00 = n.m00*m.m00 + n.m01*m.m10 + n.m02*m.m20;
m01 = n.m00*m.m01 + n.m01*m.m11 + n.m02*m.m21;
m02 = n.m00*m.m02 + n.m01*m.m12 + n.m02*m.m22;
m03 = n.m00*m.m03 + n.m01*m.m13 + n.m02*m.m23 + n.m03;
m10 = n.m10*m.m00 + n.m11*m.m10 + n.m12*m.m20;
m11 = n.m10*m.m01 + n.m11*m.m11 + n.m12*m.m21;
m12 = n.m10*m.m02 + n.m11*m.m12 + n.m12*m.m22;
m13 = n.m10*m.m03 + n.m11*m.m13 + n.m12*m.m23 + n.m13;
m20 = n.m20*m.m00 + n.m21*m.m10 + n.m22*m.m20;
m21 = n.m20*m.m01 + n.m21*m.m11 + n.m22*m.m21;
m22 = n.m20*m.m02 + n.m21*m.m12 + n.m22*m.m22;
m23 = n.m20*m.m03 + n.m21*m.m13 + n.m22*m.m23 + n.m23;
}
public void render(warp_Camera cam)
{
rasterizer.rebuildReferences(this);
warp_Math.clearBuffer(zBuffer, zFar);
//System.Array.Copy(screen.zBuffer,0,zBuffer,0,zBuffer.Length);
if (useId)
{
warp_Math.clearBuffer(idBuffer, -1);
}
if (scene.environment.background != null)
{
screen.drawBackground(scene.environment.background, 0, 0, screen.width, screen.height);
}
else
{
screen.clear(scene.environment.bgcolor);
}
cam.setScreensize(screen.width, screen.height);
scene.prepareForRendering();
emptyQueues();
// Project
warp_Matrix m = warp_Matrix.multiply(cam.getMatrix(), scene.matrix);
warp_Matrix nm = warp_Matrix.multiply(cam.getNormalMatrix(), scene.normalmatrix);
warp_Matrix vertexProjection, normalProjection;
warp_Object obj;
warp_Triangle t;
warp_Vertex v;
int w = screen.width;
int h = screen.height;
for (int id = scene.objects - 1; id >= 0; id--)
{
obj = scene.wobject[id];
if (obj.visible)
{
vertexProjection = obj.matrix.getClone();
normalProjection = obj.normalmatrix.getClone();
vertexProjection.transform(m);
normalProjection.transform(nm);
for (int i = obj.vertices - 1; i >= 0; i--)
{
v = obj.fastvertex[i];
v.project(vertexProjection, normalProjection, cam);
v.clipFrustrum(w, h);
}
for (int i = obj.triangles - 1; i >= 0; i--)
{
t = obj.fasttriangle[i];
t.project(normalProjection);
t.clipFrustrum(w, h);
enqueueTriangle(t);
}
}
}
//screen.lockImage();
warp_Triangle[] tri;
tri = getOpaqueQueue();
if (tri != null)
{
for (int i = tri.GetLength(0) - 1; i >= 0; i--)
{
rasterizer.loadMaterial(tri[i].parent.material);
rasterizer.render(tri[i]);
}
}
tri = getTransparentQueue();
if (tri != null)
{
for (int i = 0; i < tri.GetLength(0); i++)
{
rasterizer.loadMaterial(tri[i].parent.material);
rasterizer.render(tri[i]);
}
}
//screen.unlockImage();
}
public void project(warp_Matrix normalProjection)
{
n2=n.transform(normalProjection);
dist=getDist();
}
public void rotateSelf(warp_Matrix m)
{
matrix.rotateSelf(m);
normalmatrix.rotateSelf(m);
}
public static warp_Object TUBE(warp_Vector[] path, float r, int steps, bool closed)
{
warp_Vector[] circle = new warp_Vector[steps];
float angle;
for (int i = 0; i < steps; i++)
{
angle = 2 * 3.14159265f * (float) i / (float) steps;
circle[i] = new warp_Vector(r * warp_Math.cos(angle),
r * warp_Math.sin(angle), 0f);
}
warp_Object newObject = new warp_Object();
int segments = path.GetLength(0);
warp_Vector forward, up, right;
warp_Matrix frenetmatrix;
warp_Vertex tempvertex;
float relx, rely;
int a, b, c, d;
for (int i = 0; i < segments; i++)
{
// Calculate frenet frame matrix
if (i != segments - 1)
{
forward = warp_Vector.sub(path[i + 1], path[i]);
}
else
{
if (!closed)
{
forward = warp_Vector.sub(path[i], path[i - 1]);
}
else
{
forward = warp_Vector.sub(path[1], path[0]);
}
}
forward.normalize();
up = new warp_Vector(0f, 0f, 1f);
right = warp_Vector.getNormal(forward, up);
up = warp_Vector.getNormal(forward, right);
frenetmatrix = new warp_Matrix(right, up, forward);
frenetmatrix.shift(path[i].x, path[i].y, path[i].z);
// Add nodes
relx = (float) i / (float) (segments - 1);
for (int k = 0; k < steps; k++)
{
rely = (float) k / (float) steps;
tempvertex = new warp_Vertex(circle[k].transform(frenetmatrix));
tempvertex.u = relx;
tempvertex.v = rely;
newObject.addVertex(tempvertex);
}
}
for (int i = 0; i < segments - 1; i++)
{
for (int k = 0; k < steps - 1; k++)
{
a = i * steps + k;
b = a + 1;
c = a + steps;
d = b + steps;
newObject.addTriangle(a, c, b);
newObject.addTriangle(b, c, d);
}
a = (i + 1) * steps - 1;
b = a + 1 - steps;
c = a + steps;
d = b + steps;
newObject.addTriangle(a, c, b);
newObject.addTriangle(b, c, d);
}
return newObject;
}
public void transform(warp_Matrix m)
{
matrix.transform(m);
normalmatrix.transform(m);
}
