public static Matrix ToXNA(Body body, Transform transform)
{
Vector3 rot = transform.GetRotation();
Matrix mat = body.Orientation * Matrix.CreateRotationY(rot.Y);
mat.Translation = body.Position;
return mat;
}
public void GetLandmarkTransform(MapLandmark marker, Transform transform, BoundingBox meshBounds)
{
Vector4 param = landmarks[(int)marker];
Vector3 pos = new Vector3(param.X, param.Y, param.Z);
transform.SetPosition(pos);
Vector3 rotation = transform.GetRotation();
rotation.Y = param.W;
transform.SetRotation(rotation);
List<TriangleGraph> triangles;
BoundingBox region = meshBounds;
Vector3 sides = (meshBounds.Max - meshBounds.Min)*0.5f;
region.Min = pos - sides;
region.Max = pos + sides;
region.Min.Y = this.Transformation.GetBounds().Min.Y;
region.Max.Y = this.Transformation.GetBounds().Max.Y;
if (GetTrianglesInRegion(RandomHelper.RandomGen, out triangles, region, true))
{
TriangleGraph bestTri = triangles[0];
float bestDist = Vector3.DistanceSquared(bestTri.Centroid, pos);
for (int i = 1; i < triangles.Count; i++)
{
float dist = Vector3.DistanceSquared(triangles[i].Centroid, pos);
if (dist < bestDist)
{
bestTri = triangles[i];
bestDist = dist;
}
}
transform.SetPosition(bestTri.GeneratePointInTriangle(RandomHelper.RandomGen));
BoundingBox newRegion = transform.TransformBounds(meshBounds);
Vector3 offsetVector = Vector3.One * 5.0f;
newRegion.Min = newRegion.Min - offsetVector;
newRegion.Max = newRegion.Max + offsetVector;
triangles = null;
if (GetTrianglesInRegion(RandomHelper.RandomGen, out triangles, newRegion, true))
{
for (int i = 0; i < triangles.Count; i++)
{
if(!usedLandmarkTriangles.ContainsKey(triangles[i].ID))
usedLandmarkTriangles.Add(triangles[i].ID, (char)1);
}
}
}
}