public CameraTransform(Point3D position, Quaternion rotation)
{
DefaultPosition = new Point3D(position);
DefaultRotation = new Quaternion(rotation);
Position = new Point3D(position);
Rotation = new Quaternion(rotation);
}
public Point2D Get2DPoint(Point3D point)
{
Point3D new_point = Transform.GetCameraCoordinates(point);
double x2pz2 = new_point.X * new_point.X + new_point.Z * new_point.Z;
double r_scale = Math3D.InvSqrt(x2pz2) * Math.Acos(new_point.Y * Math3D.InvSqrt(x2pz2 + new_point.Y * new_point.Y)) * parameter;
return new Point2D(new_point.X * r_scale, new_point.Z * r_scale);
}
private void Move(Point3D axis, double length)
{
Position.X += length * axis.X;
Position.Y += length * axis.Y;
Position.Z += length * axis.Z;
}
public Point3D GetCameraCoordinates(Point3D point)
{
// Reverse rotate the world.
return Rotate(Rotation.GetConjugate(), new Point3D(point.X - Position.X, point.Y - Position.Y, point.Z - Position.Z));
}
public void Reset()
{
Position = new Point3D(DefaultPosition);
Rotation = new Quaternion(DefaultRotation);
}
private static Point3D Rotate(Quaternion rotation, Point3D point)
{
Quaternion result = rotation * (new Quaternion(0.0, point.X, point.Y, point.Z)) * rotation.GetConjugate();
return new Point3D(result.I, result.J, result.K);
}
private static Quaternion GetRotateQuaternion(Point3D axis, double angle)
{
double t = angle * 0.5;
double s = Math.Sin(t);
return new Quaternion(Math.Cos(t), s * axis.X, s * axis.Y, s * axis.Z);
}
private PointF GetViewCoordinates(Point3D point)
{
Point2D p = Camera.Get2DPoint(point);
return new PointF((float)(x_center + p.X), (float)(y_center - p.Y));
}
private List<PointF> SliceLine(double min_length, Point3D line_start, Point3D line_end, PointF line_start_map, PointF line_end_map)
{
var point_list = new List<PointF>();
Action<Point3D, Point3D, PointF, PointF, int> slice = null;
slice = (point_1, point_2, point_map_1, point_map_2, depth) =>
{
if (depth > max_recursion_depth)
{
return;
}
Point3D p3d_center = new Point3D((point_1.X + point_2.X) * 0.5, (point_1.Y + point_2.Y) * 0.5, (point_1.Z + point_2.Z) * 0.5);
PointF p_center = GetViewCoordinates(p3d_center);
if (Utilities.GetDistance(point_map_1, p_center) > min_length)
{
slice(point_1, p3d_center, point_map_1, p_center, depth + 1);
}
point_list.Add(p_center);
if (Utilities.GetDistance(p_center, point_map_2) > min_length)
{
slice(p3d_center, point_2, p_center, point_map_2, depth + 1);
}
};
point_list.Add(line_start_map);
slice(line_start, line_end, line_start_map, line_end_map, 0);
point_list.Add(line_end_map);
return point_list;
}
protected override void DoDraw(Graphics graphics)
{
graphics.CompositingQuality = CompositingQuality.HighQuality;
graphics.PixelOffsetMode = PixelOffsetMode.HighQuality;
graphics.SmoothingMode = SmoothingMode.HighQuality;
Action<Point3D, Point3D, Pen, string, Brush> draw_axis = (p1, p2, pen, label, brush) =>
{
var axis = GetLines(min_line_length, p1, p2);
graphics.DrawLines(pen, axis);
graphics.DrawString(label, main_font, brush, axis.Last());
};
draw_axis(new Point3D(x_axis_from, 0.0, 0.0), new Point3D(x_axis_to, 0.0, 0.0), x_axis_pen, "X", x_axis_brush);
draw_axis(new Point3D(0.0, y_axis_from, 0.0), new Point3D(0.0, y_axis_to, 0.0), y_axis_pen, "Y", y_axis_brush);
draw_axis(new Point3D(0.0, 0.0, z_axis_from), new Point3D(0.0, 0.0, z_axis_to), z_axis_pen, "Z", z_axis_brush);
Point3D yaw_axis = this.Camera.Transform.GetYawAxis();
Point3D pitch_axis = this.Camera.Transform.GetPitchAxis();
Point3D roll_axis = this.Camera.Transform.GetRollAxis();
draw_axis(new Point3D(), yaw_axis, yaw_axis_pen, "Yaw", yaw_axis_brush);
draw_axis(new Point3D(), pitch_axis, pitch_axis_pen, "Pitch", pitch_axis_brush);
draw_axis(new Point3D(), roll_axis, roll_axis_pen, "Roll", roll_axis_brush);
Point3D ypr = new Point3D(yaw_axis.X + pitch_axis.X + roll_axis.X, yaw_axis.Y + pitch_axis.Y + roll_axis.Y, yaw_axis.Z + pitch_axis.Z + roll_axis.Z);
var ypr_box = new Point3D[]
{
new Point3D(-yaw_axis.X - pitch_axis.X + roll_axis.X, -yaw_axis.Y - pitch_axis.Y + roll_axis.Y, -yaw_axis.Z - pitch_axis.Z + roll_axis.Z),
new Point3D(-yaw_axis.X + pitch_axis.X + roll_axis.X, -yaw_axis.Y + pitch_axis.Y + roll_axis.Y, -yaw_axis.Z + pitch_axis.Z + roll_axis.Z),
new Point3D(yaw_axis.X + pitch_axis.X + roll_axis.X, yaw_axis.Y + pitch_axis.Y + roll_axis.Y, yaw_axis.Z + pitch_axis.Z + roll_axis.Z),
new Point3D(yaw_axis.X - pitch_axis.X + roll_axis.X, yaw_axis.Y - pitch_axis.Y + roll_axis.Y, yaw_axis.Z - pitch_axis.Z + roll_axis.Z),
new Point3D(-yaw_axis.X - pitch_axis.X - roll_axis.X, -yaw_axis.Y - pitch_axis.Y - roll_axis.Y, -yaw_axis.Z - pitch_axis.Z - roll_axis.Z),
new Point3D(-yaw_axis.X + pitch_axis.X - roll_axis.X, -yaw_axis.Y + pitch_axis.Y - roll_axis.Y, -yaw_axis.Z + pitch_axis.Z - roll_axis.Z),
new Point3D(yaw_axis.X + pitch_axis.X - roll_axis.X, yaw_axis.Y + pitch_axis.Y - roll_axis.Y, yaw_axis.Z + pitch_axis.Z - roll_axis.Z),
new Point3D(yaw_axis.X - pitch_axis.X - roll_axis.X, yaw_axis.Y - pitch_axis.Y - roll_axis.Y, yaw_axis.Z - pitch_axis.Z - roll_axis.Z)
};
this.DrawPolygon(graphics, box_pen, min_line_length, ypr_box[0], ypr_box[1], ypr_box[2], ypr_box[3]);
this.DrawPolygon(graphics, box_pen, min_line_length, ypr_box[4], ypr_box[5], ypr_box[6], ypr_box[7]);
this.DrawLines(graphics, box_pen, min_line_length, ypr_box[0], ypr_box[4]);
this.DrawLines(graphics, box_pen, min_line_length, ypr_box[1], ypr_box[5]);
this.DrawLines(graphics, box_pen, min_line_length, ypr_box[2], ypr_box[6]);
this.DrawLines(graphics, box_pen, min_line_length, ypr_box[3], ypr_box[7]);
var box_vertexes = new Point3D[]
{
new Point3D(-box_length, -box_length, -box_length),
new Point3D(-box_length, box_length, -box_length),
new Point3D(box_length, box_length, -box_length),
new Point3D(box_length, -box_length, -box_length),
new Point3D(-box_length, -box_length, 0.0),
new Point3D(-box_length, box_length, 0.0),
new Point3D(box_length, box_length, 0.0),
new Point3D(box_length, -box_length, 0.0),
new Point3D(-box_length, -box_length, box_length),
new Point3D(-box_length, box_length, box_length),
new Point3D(box_length, box_length, box_length),
new Point3D(box_length, -box_length, box_length),
new Point3D(-box_length, 0.0, -box_length),
new Point3D(-box_length, 0.0, box_length),
new Point3D(box_length, 0.0, box_length),
new Point3D(box_length, 0.0, -box_length),
new Point3D(0.0, -box_length, -box_length),
new Point3D(0.0, -box_length, box_length),
new Point3D(0.0, box_length, box_length),
new Point3D(0.0, box_length, -box_length)
};
this.DrawPolygon(graphics, box_pen, min_line_length, box_vertexes[0], box_vertexes[1], box_vertexes[2], box_vertexes[3]);
this.DrawPolygon(graphics, box_pen, min_line_length, box_vertexes[4], box_vertexes[5], box_vertexes[6], box_vertexes[7]);
this.DrawPolygon(graphics, box_pen, min_line_length, box_vertexes[8], box_vertexes[9], box_vertexes[10], box_vertexes[11]);
this.DrawPolygon(graphics, box_pen, min_line_length, box_vertexes[12], box_vertexes[13], box_vertexes[14], box_vertexes[15]);
this.DrawPolygon(graphics, box_pen, min_line_length, box_vertexes[16], box_vertexes[17], box_vertexes[18], box_vertexes[19]);
this.DrawLines(graphics, box_pen, min_line_length, box_vertexes[0], box_vertexes[8]);
this.DrawLines(graphics, box_pen, min_line_length, box_vertexes[1], box_vertexes[9]);
this.DrawLines(graphics, box_pen, min_line_length, box_vertexes[2], box_vertexes[10]);
this.DrawLines(graphics, box_pen, min_line_length, box_vertexes[3], box_vertexes[11]);
graphics.DrawLine(guide_line_pen, 0.0f, Size.Height * 0.5f, Size.Width, Size.Height * 0.5f);
graphics.DrawLine(guide_line_pen, Size.Width * 0.5f, 0.0f, Size.Width * 0.5f, Size.Height);
graphics.DrawString(string.Format("Scene Size: {0} × {1}\r\n" +
"Camera Angle Of View: {2}°\r\n" +
"Camera Full View Size: {3}\r\n" +
"Yaw Axis: ({4}, {5}, {6})\r\n" +
"Pitch Axis: ({7}, {8}, {9})\r\n" +
"Roll Axis: ({10}, {11}, {12})\r\n" +
"Camera Position: ({13}, {14}, {15})\r\n" +
"Camera Rotation: [{16}, {17}, {18}, {19}]",
this.Size.Width, this.Size.Height,
this.Camera.AngleOfView / Math.PI * 180,
this.Camera.FullViewSize,
yaw_axis.X, yaw_axis.Y, yaw_axis.Z,
pitch_axis.X, pitch_axis.Y, pitch_axis.Z,
roll_axis.X, roll_axis.Y, roll_axis.Z,
this.Camera.Transform.Position.X,
this.Camera.Transform.Position.Y,
this.Camera.Transform.Position.Z,
this.Camera.Transform.Rotation.W,
this.Camera.Transform.Rotation.I,
this.Camera.Transform.Rotation.J,
this.Camera.Transform.Rotation.K), main_font, SystemBrushes.WindowText, 10, 10);
}
