public void InvertTest()
{
var m1 = new Matrix44d();
m1.Translate(100, 20, -899);
m1.Scale(20, 0.5, 0.5);
m1.Rotate(30, 0.0, 0.0, 1.0);
m1.Translate(40, -50, 30);
var m2 = new Matrix44d();
m2.Translate(-40, 50, -30);
m2.Rotate(-30, 0.0, 0.0, 1.0);
m2.Scale(1.0 / 20, 1.0 / 0.5, 1.0 / 0.5);
m2.Translate(-100, -20, 899);
Assert.True(m1.HasInverse);
Assert.True(m2.HasInverse);
Assert.AreEqual(m2, m1.Invert());
var m = Matrix44d.FromRowMajorArray(new double[]
{
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0,
});
Assert.False(m.HasInverse);
Assert.Catch<MatrixException>(() => m.Invert());
}
/// <summary>
/// 描画オブジェクトを追加します。
/// </summary>
public void AddRender(BlendType blend, RectangleF bounds,
Matrix44d transform, Color color, double zorder)
{
var transform2 = ToMatrix(bounds, transform);
AddRender(blend, color, transform2, zorder);
}
public void InvertTest()
{
var m1 = new Matrix44d();
m1.Translate(100, 20, -899);
m1.Scale(20, 0.5, 0.5);
m1.Rotate(30, 0.0, 0.0, 1.0);
m1.Translate(40, -50, 30);
var m2 = new Matrix44d();
m2.Translate(-40, 50, -30);
m2.Rotate(-30, 0.0, 0.0, 1.0);
m2.Scale(1.0 / 20, 1.0 / 0.5, 1.0 / 0.5);
m2.Translate(-100, -20, 899);
Assert.True(m1.HasInverse);
Assert.True(m2.HasInverse);
Assert.AreEqual(m2, m1.Invert());
var m = Matrix44d.FromRowMajorArray(new double[]
{
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0,
});
Assert.False(m.HasInverse);
Assert.Catch <MatrixException>(() => m.Invert());
}
private Tuple <Mesh, Matrix44d> CreateArrowData(int priority,
Pointd fromPoint, Pointd toPoint)
{
var diff = toPoint - fromPoint;
var length = diff.Distance;
var lengthMax = SquareSize.Width * 9.0;
// 距離が近いものほど小さくなる
var lengthRate = Math.Min(length, lengthMax) / lengthMax;
// 優先順位の低い矢印ほど、小さくなる値
var priorityRate = 1.0 / priority;
// 先にメッシュを作成
var mesh = MeshUtil.CreateArrow(
MathEx.InterpLiner(0.4, 0.2, lengthRate),
0.2, 0.05);
var rad = Math.Atan2(diff.Y, diff.X);
var transform = new Matrix44d();
transform.Translate(fromPoint.X, fromPoint.Y, 1.0);
transform.Rotate(rad - Math.PI / 2, 0, 0, 1);
transform.Scale(
SquareSize.Width *
MathEx.InterpLiner(1.2, 1.5, lengthRate) *
priorityRate,
length, 1.0);
return(Tuple.Create(mesh, transform));
}
public void SubtractTest()
{
var result1 = Matrix44d.FromRowMajorArray(new double[]
{
2, 0, 6, 0,
0, 12, 0, 16,
0, 20, 0, 24,
0, 28, 0, 32,
});
var result2 = Matrix44d.FromRowMajorArray(new double[]
{
-2, 0, -6, 0,
0, -12, 0, -16,
0, -20, 0, -24,
0, -28, 0, -32,
});
var m = m1.Clone(); m.Subtract(m2);
Assert.AreEqual(result1, m);
m = m2.Clone(); m.Subtract(m1);
Assert.AreEqual(result2, m);
Assert.AreEqual(result1, m1 - m2);
Assert.AreEqual(result2, m2 - m1);
}
/// <summary>
/// コンストラクタ
/// </summary>
public EffectObject()
{
Children = new EffectCollection(this);
Scenario = new Scenario();
LocalTransform = new Matrix44d();
BaseScale = new Point3d(1.0, 1.0, 1.0);
Scale = new Point3d(1.0, 1.0, 1.0);
Opacity = 1.0;
//Transform = new Matrix44d();
InheritedOpacity = 1.0;
// 値をForeverにすると、子要素があってもなくてもオブジェクトが
// 終了しなくなります。
// また０にすると最初のフレームでオブジェクトが破棄されてしまうため、
// 初期化の仕方によってはDurationの設定に失敗することがあります。
// そのため、ここでは非常に小さいけれど０より大きい値を設定しています。
Duration = TimeSpan.FromSeconds(0.001);
this.AddPropertyChangedHandler("Parent", (_, __) =>
{
OnDataContextChanged(true);
UpdateInheritedOpacity();
});
this.AddPropertyChangedHandler("BasePath", (_, __) =>
OnBasePathChanged(BasePath));
this.AddPropertyChangedHandler("DataContext", (_, __) =>
OnDataContextChanged(false));
this.AddPropertyChangedHandler("Opacity", (_, __) =>
UpdateInheritedOpacity());
lock (instanceList)
{
instanceList.Add(new WeakReference(this));
}
}
static void Main(string[] args)
{
ClientContext.PreloadNativeLibraries();
Pose3 pose = new Pose3
{
rotation = new Quaternion {
x = 0f, y = 0f, z = 1f, w = 0f
},
translation = new Vec3 {
x = 2.0f, y = 3.0f, z = 4.0f
},
};
#if !NET20
Matrix44d matrixRH = pose.ToMatrixd(MatrixConventionsFlags.RHInput);
Matrix44d matrixLH = pose.ToMatrixd(MatrixConventionsFlags.LHInput);
Matrix44f matrixRM = pose.ToMatrixf(MatrixConventionsFlags.RowMajor);
#else
Matrix44d matrixRH = MatrixConventions.ToMatrixd(pose, MatrixConventionsFlags.RHInput);
Matrix44d matrixLH = MatrixConventions.ToMatrixd(pose, MatrixConventionsFlags.LHInput);
Matrix44f matrixRM = MatrixConventions.ToMatrixf(pose, MatrixConventionsFlags.RowMajor);
#endif
Console.WriteLine("pose as double matrix using right-handed coordinates: {0}", matrixRH.ToString());
Console.WriteLine("pose as double matrix using left-handed coordinates: {0}", matrixLH.ToString());
Console.WriteLine("pose as float matrix as row-major: {0}", matrixRM);
}
/// <summary>
/// 描画オブジェクトを追加します。
/// </summary>
public void AddRender(BlendType blend, Color color,
RectangleF bounds, Matrix44d transform,
double zorder, double opacity = 1.0)
{
var alphaByte = (byte)Math.Min(color.A * opacity, 255);
var color2 = Color.FromArgb(alphaByte, color);
var transform2 = ToMatrix(bounds, transform);
AddRender(blend, color2, transform2, zorder);
}
/// <summary>
/// RectangleF型を同じ変換を行う行列に直します。
/// </summary>
/// <param name="transform">
/// 事前に積算する基準となる行列です。
/// </param>
private static Matrix44d ToMatrix(RectangleF bounds, Matrix44d transform)
{
var m = (transform != null ? transform.Clone() : new Matrix44d());
m.Translate(
bounds.Left + bounds.Width / 2,
bounds.Top + bounds.Height / 2,
0.0);
m.Scale(bounds.Width, bounds.Height, 1.0);
return(m);
}
/// <summary>
/// 描画オブジェクトを追加します。
/// </summary>
public void AddRender(BlendType blend, Color color,
Matrix44d transform, double zorder)
{
AddRenderInternal(new RenderData
{
Mesh = DefaultMesh,
Blend = blend,
Color = color,
Transform = transform,
ZOrder = zorder,
});
}
public static void MatrixVectorCalcExample()
{
//Create some 4x4 matrix
Matrix44d H = new Matrix44d(1, 2, 3, 4,
5, 6, 7, 8,
9, 10, 11, 12,
0, 0, 0, 1);
//H = [ [R3] T3]
// [ 0 0 0 1 ]
//get 3x3 sub matrix (rotation matrix in homogeneous 4x4)
var R = H.R3;
//get 3x1 sub matrix (translation vector in homogeneous 4x4)
var t = H.T3;
//
Matrix44d K = new Matrix44d();
//matrix operation
//inversion
var Hi = H.Inv();
//transpose
var Ht = H.Transpose();
//calc norm
var norm = H.Norm();
//set identity
H.SetIdentity();
//Hr, Hc, X
// Hr*X*Hc.Inv()
//Linear algebra
H = (3 * H + K / 3) * 3.25;
//Create 3d vector
var v1 = new Vector3d(1, 2, 3);
//rotate vector using [R,t]
var v2 = R * v1 + t;
//or using directly H
// v1 is 3x1 vector
var v3 = H * MU.ToHomogeneous(v1);
//convert back to 3x1
var v4 = MU.FromHomogeneous(v3);
//Vector arithmetic
var v5 = (4 * v2 + 2 * v1) / 0.5;
}
/// <summary>
/// 描画オブジェクトを追加します。
/// </summary>
public void AddRender(Texture texture, BlendType blend,
RectangleF bounds, Matrix44d transform,
double zorder, double opacity = 1.0)
{
if (texture == null || texture.TextureName == 0)
{
return;
}
var alphaByte = (byte)Math.Min(256 * opacity, 255);
var color = Color.FromArgb(alphaByte, Color.White);
var transform2 = ToMatrix(bounds, transform);
AddRender(texture, blend, color, transform2, zorder);
}
/// <summary>
/// 描画オブジェクトを追加します。
/// </summary>
public void AddRender(BlendType blend, Color color, Mesh mesh,
Matrix44d transform, double zorder)
{
if (mesh == null)
{
throw new ArgumentNullException("mesh");
}
AddRenderInternal(new RenderData
{
Blend = blend,
Color = color,
Mesh = mesh,
Transform = transform,
ZOrder = zorder,
});
}
private void AddRenderArrow(RenderBuffer renderBuffer,
Pointd fromPoint, Pointd toPoint,
double priorityRate, Color color)
{
var diff = toPoint - fromPoint;
var length = diff.Distance;
var lengthMax = SquareSize.Width * 5.0;
// 距離が近いものほど小さくなる
var lengthRate = Math.Min(length, lengthMax) / lengthMax;
var rad = Math.Atan2(diff.Y, diff.X);
var transform = new Matrix44d();
transform.Translate(fromPoint.X, fromPoint.Y, 1.0);
transform.Rotate(rad - Math.PI / 2, 0, 0, 1);
transform.Scale(
SquareSize.Width *
MathEx.InterpLiner(0.8, 0.8, lengthRate) *
MathEx.InterpLiner(0.8, 0.2, priorityRate),
length, 1.0);
// 矢印の不透明度を更新
var newColor = Color.FromArgb(ArrowAlpha(priorityRate), color);
// 矢印の中身を描画
renderBuffer.AddRender(
BlendType.Diffuse, newColor,
CreateArrowMesh(length, priorityRate, false),
transform, ShogiZOrder.PreEffectZ - priorityRate);
// 矢印のアウトラインを描画
renderBuffer.AddRenderAction(
() =>
{
GL.Color4(newColor.R, newColor.G, newColor.B, (byte)(newColor.A + 50));
GL.LineWidth(0.5f);
GL.LoadMatrix(transform.AsColumnMajorArray);
var mesh2 = CreateArrowMesh(length, priorityRate, true);
GL.Begin(PrimitiveType.LineLoop);
mesh2.VertexArray.ForEach(_ => GL.Vertex3(_.X, _.Y, _.Z));
GL.End();
},
ShogiZOrder.PreEffectZ - priorityRate);
}
public void AddTest()
{
var result = Matrix44d.FromRowMajorArray(new double[]
{
0, 4, 0, 8,
10, 0, 14, 0,
18, 0, 22, 0,
26, 0, 30, 0,
});
var m = m1.Clone(); m.Add(m2);
Assert.AreEqual(result, m);
m = m2.Clone(); m.Add(m1);
Assert.AreEqual(result, m);
Assert.AreEqual(result, m1 + m2);
Assert.AreEqual(result, m2 + m1);
}
private void UpdateTransform()
{
// 行列変換は以下の操作が逆順で行われます。
// 親の変換行列を基準に変換を行います。
// （ワールド座標系から親座標系への変換行列）
var m = (Parent != null ? Parent.Transform : new Matrix44d());
// 親座標系からローカル座標系への変換
m.Multiply(LocalTransform);
// ローカル座標系での各種変換
m.Translate(Coord.X, Coord.Y, Coord.Z);
m.Rotate(RotateZ, 0.0, 0.0, 1.0);
m.Scale(Scale.X, Scale.Y, Scale.Z);
m.Scale(BaseScale.X, BaseScale.Y, BaseScale.Z);
m.Translate(CenterPoint.X, CenterPoint.Y, CenterPoint.Z);
Transform = m;
Util.SafeCall(() => OnTransformUpdated());
}
public Form1()
{
InitializeComponent();
logView1.ShowDateTime = true;
Logger.Add(new LogViewLogger(logView1));
Library.Initialize();
Global.Init();
Library.NumberFormat = "0.000";
Matrix44d A = new Matrix44d(1.23456389, 2, 3, 4,
5, 6, 7, 8,
9, 10, 11, 12,
13, 14, 15, 16);
//call some function
//int err_code = DoSomething(43);
//if(err_code != 0) {
// Logger.Error($"Some error message with code [{err_code}]");
//}
Logger.Debug("A=\n" + A);
Logger.Debug("A*3-A=\n" + (A * 3 - A));
Logger.Debug("I=\n" + Matrix44d.Eye());
Vector4d v = new Vector4d(1, 23, 4, 5);
Logger.Debug("v=\n" + v);
Logger.Debug("A*v=\n" + (A * v));
Logger.Debug("A*A=\n" + (A * A));
Matrix44d B = new Matrix44d(1.23456389, 2, 3, 4,
5, 6, 7, 8,
9, 10, 11, 12,
13, 14, 15, 16.2342345);
Logger.Debug("Bi=\n" + (B.Inv()));
Logger.Debug("Bi*B=\n" + (B.Inv() * B));
//Error level
// Normal, Debug, Trace, Warn, Info, Fatal
//REGISTRY
//Set value
//bval.Value = true;
////read value
//var ok = bval;
//Logger.Debug("bval=" + ok);
//
//(new FormObjectProperty(Global.Setting,"MySettingDialog")).ShowDialog();
#if false
Database db = null;
//SQLite database init
db = new SqliteDatabase("D:/dbfile.db");
//SQLite database init
//db = new SqlExpressDatabase(
// "localhost\\SQLEXPRESS", //host name
// "DbName", //db name
// "" //(optional) extra string ...
// );
db.Connect();
//read table
var dt = db.ExecuteQuery("select * from MyTable");
dataGridView1.DataSource = dt;
//usage
//Define a table with given name
Table tbl = new Table("MyTable");
Table tbl1 = new Table("MyTable1");
tbl1.AddColumns(new Column[] {
new IntColumn("ID"),
new BoolColumn("BVal"),
new TextColumn("Path"),
});
//add to database
db.AddTable(tbl1);
//Define columns names
const string COL_ID = "ID";
const string COL_DATE = "DATE";
const string COL_X = "X";
const string COL_Y = "Y";
const string COL_Z = "Z";
const string COL_OK = "OK";
const string COL_PATH = "PATH";
//add columns to table
tbl.AddColumns(new Column[] {
new IntColumn(COL_ID),
new DatetimeColumn(COL_DATE),
new FloatColumn(COL_X),
new FloatColumn(COL_Y),
new FloatColumn(COL_Z),
new BoolColumn(COL_OK),
new TextColumn(COL_PATH),
});
//add table to database;
db.AddTable(tbl);
//Create a new row
dynamic row = tbl.NewRow();
//row.ID = 0;
//row.DATE= DateTime.Now;
row[COL_ID] = 0;
row[COL_DATE] = DateTime.Now;
row[COL_X] = (float)0.324345;
row[COL_Y] = 0.456f;
row[COL_Z] = 0.789f;
row[COL_OK] = true;
row[COL_PATH] = "somewhere i belong";
//and insert to the database
tbl.InsertRow(row);
//
#endif
}
