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Utils.cs
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using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace KimeraCS
{
using Defines;
using static FrmSkeletonEditor;
using static FF7Skeleton;
using static FF7FieldSkeleton;
using static FF7PModel;
using static FF7BattleSkeleton;
using static OpenGL32;
public class Utils
{
public struct Point2D
{
public float x;
public float y;
public Point2D(float in_x, float in_y)
{
x = in_x;
y = in_y;
}
}
public struct Point3D
{
public float x;
public float y;
public float z;
public Point3D(float in_x, float in_y, float in_z)
{
x = in_x;
y = in_y;
z = in_z;
}
}
public struct OrderPair
{
public float d;
}
public struct STIntVector
{
public int length;
public int[] vector;
}
public struct Quaternion
{
public double x;
public double y;
public double z;
public double w;
}
// This is for PEditor
public struct PairIB
{
public int I;
public float B;
}
public const double PI = 3.14159265358979;
public const double PIOVER180 = PI / 180;
public const double QUAT_NORM_TOLERANCE = 0.00001;
public const double INFINITY_SINGLE = 3.4028234E+38;
public const double EulRepYes = 1;
public const double EulParOdd = 1;
public const double EulFrmR = 1;
public const float FLT_EPSILON = 1.192092896e-07f;
public const float MAX_DELTA_SQUARED = 0.001f * 0.001f;
public const double PI_180 = 3.141593 / 180;
//private int[] Onbits = new int[32];
public static string strGlobalExceptionMessage;
// Helper Functions
public static bool IsNumeric(string val) => Int32.TryParse(val, out int _);
public static void BuildQuaternionFromAxis(ref Point3D vec, double angle, ref Quaternion res_quat)
{
double sinAngle;
angle = angle * PIOVER180 / 2;
sinAngle = Math.Sin(angle);
res_quat.x = vec.x * sinAngle;
res_quat.y = vec.y * sinAngle;
res_quat.z = vec.z * sinAngle;
res_quat.w = Math.Cos(angle);
}
public static void MultiplyQuaternions(Quaternion quat_a, Quaternion quat_b, ref Quaternion res_quat)
{
res_quat.x = quat_a.w * quat_b.x + quat_a.x * quat_b.w + quat_a.y * quat_b.z - quat_a.z * quat_b.y;
res_quat.y = quat_a.w * quat_b.y + quat_a.y * quat_b.w + quat_a.z * quat_b.x - quat_a.x * quat_b.z;
res_quat.z = quat_a.w * quat_b.z + quat_a.z * quat_b.w + quat_a.x * quat_b.y - quat_a.y * quat_b.x;
res_quat.w = quat_a.w * quat_b.w - quat_a.x * quat_b.x - quat_a.y * quat_b.y - quat_a.z * quat_b.z;
}
// Convert Quaternion to Matrix
public static void BuildMatrixFromQuaternion(Quaternion quat, ref double[] mat_res)
{
double x2, y2, z2;
double xy, xz, yz;
double wx, wy, wz;
x2 = quat.x * quat.x;
y2 = quat.y * quat.y;
z2 = quat.z * quat.z;
xy = quat.x * quat.y;
xz = quat.x * quat.z;
yz = quat.y * quat.z;
wx = quat.w * quat.x;
wy = quat.w * quat.y;
wz = quat.w * quat.z;
// This calculation would be a lot more complicated for non-unit length quaternions
// Note: The constructor of Matrix4 expects the Matrix in column-major format like expected by
// OpenGL
mat_res[0] = 1 - 2 * (y2 + z2);
mat_res[4] = 2 * (xy - wz);
mat_res[8] = 2 * (xz + wy);
mat_res[12] = 0;
mat_res[1] = 2 * (xy + wz);
mat_res[5] = 1 - 2 * (x2 + z2);
mat_res[9] = 2 * (yz - wx);
mat_res[13] = 0;
mat_res[2] = 2 * (xz - wy);
mat_res[6] = 2 * (yz + wx);
mat_res[10] = 1 - 2 * (x2 + y2);
mat_res[14] = 0;
mat_res[3] = 0;
mat_res[7] = 0;
mat_res[11] = 0;
mat_res[15] = 1;
}
public static void BuildRotationMatrixWithQuaternions(double alpha, double beta, double gamma, ref double[] mat_res)
{
Quaternion quat_x = new Quaternion();
Quaternion quat_y = new Quaternion();
Quaternion quat_z = new Quaternion();
Quaternion quat_xy = new Quaternion();
Quaternion quat_xyz = new Quaternion();
Point3D px = new Point3D(1, 0, 0);
Point3D py = new Point3D(0, 1, 0);
Point3D pz = new Point3D(0, 0, 1);
BuildQuaternionFromAxis(ref px, alpha, ref quat_x);
BuildQuaternionFromAxis(ref py, beta, ref quat_y);
BuildQuaternionFromAxis(ref pz, gamma, ref quat_z);
MultiplyQuaternions(quat_y, quat_x, ref quat_xy);
MultiplyQuaternions(quat_xy, quat_z, ref quat_xyz);
BuildMatrixFromQuaternion(quat_xyz, ref mat_res);
}
public static void MultiplyPoint3DByOGLMatrix(double[] matA, Point3D p_in, ref Point3D p_out)
{
p_out.x = (float)(p_in.x * matA[0] + p_in.y * matA[4] + p_in.z * matA[8] + matA[12]);
p_out.y = (float)(p_in.x * matA[1] + p_in.y * matA[5] + p_in.z * matA[9] + matA[13]);
p_out.z = (float)(p_in.x * matA[2] + p_in.y * matA[6] + p_in.z * matA[10] + matA[14]);
}
public static void ComputeTransformedBoxBoundingBox(double[] MV_matrix, ref Point3D p_min, ref Point3D p_max,
ref Point3D p_min_trans, ref Point3D p_max_trans)
{
Point3D[] box_pointsV = new Point3D[8];
Point3D p_aux_trans = new Point3D();
int iBoxPoints;
p_max_trans.x = -(float)INFINITY_SINGLE;
p_max_trans.y = -(float)INFINITY_SINGLE;
p_max_trans.z = -(float)INFINITY_SINGLE;
p_min_trans.x = (float)INFINITY_SINGLE;
p_min_trans.y = (float)INFINITY_SINGLE;
p_min_trans.z = (float)INFINITY_SINGLE;
box_pointsV[0] = p_min;
box_pointsV[1].x = p_min.x;
box_pointsV[1].y = p_min.y;
box_pointsV[1].z = p_max.z;
box_pointsV[2].x = p_min.x;
box_pointsV[2].y = p_max.y;
box_pointsV[2].z = p_min.z;
box_pointsV[3].x = p_min.x;
box_pointsV[3].y = p_max.y;
box_pointsV[3].z = p_max.z;
box_pointsV[4] = p_max;
box_pointsV[5].x = p_max.x;
box_pointsV[5].y = p_max.y;
box_pointsV[5].z = p_min.z;
box_pointsV[6].x = p_max.x;
box_pointsV[6].y = p_min.y;
box_pointsV[6].z = p_max.z;
box_pointsV[7].x = p_max.x;
box_pointsV[7].y = p_min.y;
box_pointsV[7].z = p_min.z;
for (iBoxPoints = 0; iBoxPoints < 8; iBoxPoints++)
{
MultiplyPoint3DByOGLMatrix(MV_matrix, box_pointsV[iBoxPoints], ref p_aux_trans);
if (p_max_trans.x < p_aux_trans.x) p_max_trans.x = p_aux_trans.x;
if (p_max_trans.y < p_aux_trans.y) p_max_trans.y = p_aux_trans.y;
if (p_max_trans.z < p_aux_trans.z) p_max_trans.z = p_aux_trans.z;
if (p_min_trans.x > p_aux_trans.x) p_min_trans.x = p_aux_trans.x;
if (p_min_trans.y > p_aux_trans.y) p_min_trans.y = p_aux_trans.y;
if (p_min_trans.z > p_aux_trans.z) p_min_trans.z = p_aux_trans.z;
}
}
public static void BuildRotationMatrixWithQuaternionsXYZ(double alpha, double beta, double gamma, ref double[] mat_res)
{
Quaternion quat_x = new Quaternion();
Quaternion quat_y = new Quaternion();
Quaternion quat_z = new Quaternion();
Quaternion quat_xy = new Quaternion();
Quaternion quat_xyz = new Quaternion();
Point3D px = new Point3D(1, 0, 0);
Point3D py = new Point3D(0, 1, 0);
Point3D pz = new Point3D(0, 0, 1);
BuildQuaternionFromAxis(ref px, alpha, ref quat_x);
BuildQuaternionFromAxis(ref py, beta, ref quat_y);
BuildQuaternionFromAxis(ref pz, gamma, ref quat_z);
MultiplyQuaternions(quat_x, quat_y, ref quat_xy);
MultiplyQuaternions(quat_xy, quat_z, ref quat_xyz);
BuildMatrixFromQuaternion(quat_xyz, ref mat_res);
}
public static Quaternion GetQuaternionFromEulerUniversal(double y, double x, double z, int i, int j, int k, int n, int s, int f)
{
double[] a = new double[3];
double ti, tj, th, ci, cj, ch, si, sj, sh, cc, cs, sc, ss;
double t;
Quaternion quat_GetQuaternionFromEulerUniversalResult = new Quaternion();
if (f == EulFrmR)
{
t = x;
x = z;
z = t;
}
if (n == EulParOdd) y = -y;
ti = x * 0.5;
tj = y * 0.5;
th = z * 0.5;
ci = Math.Cos(ti);
cj = Math.Cos(tj);
ch = Math.Cos(th);
si = Math.Sin(ti);
sj = Math.Sin(tj);
sh = Math.Sin(th);
cc = ci * ch;
cs = ci * sh;
sc = si * ch;
ss = si * sh;
if (s == EulRepYes)
{
a[i] = cj * (cs + sc); // Could speed up with trig identities.
a[j] = sj * (cc + ss);
a[k] = sj * (cs - sc);
quat_GetQuaternionFromEulerUniversalResult.w = cj * (cc - ss);
}
else
{
a[i] = cj * sc - sj * cs; // Could speed up with trig identities.
a[j] = cj * ss + sj * cc;
a[k] = cj * cs - sj * sc;
quat_GetQuaternionFromEulerUniversalResult.w = cj * cc + sj * ss;
}
if (n == EulParOdd) a[j] = -a[j];
quat_GetQuaternionFromEulerUniversalResult.x = a[0];
quat_GetQuaternionFromEulerUniversalResult.y = a[1];
quat_GetQuaternionFromEulerUniversalResult.z = a[2];
return quat_GetQuaternionFromEulerUniversalResult;
}
public static double QuaternionsDot(ref Quaternion q1, ref Quaternion q2)
{
return q1.x * q2.x + q1.y * q2.y + q1.z * q2.z + q1.w * q2.w;
}
public static void NormalizeQuaternion(ref Quaternion quat)
{
// Don't normalize if we don't have to
double mag, mag2;
mag2 = quat.w * quat.w + quat.x * quat.x + quat.y * quat.y + quat.z * quat.z;
mag = Math.Sqrt(mag2);
quat.w /= mag;
quat.x /= mag;
quat.y /= mag;
quat.z /= mag;
// NEW UDPATE vertex2995 fix for Hojo/Heidegger animations (by L@Zar0)
// If Abs(mag2 - 1#) > QUAT_NORM_TOLERANCE Then
// mag = Sqr(mag2)
// .w = .w / mag
// .x = .x / mag
// .y = .y / mag
// .z = .z / mag
// End If
// If .w > 1# Then
// .w = 1
// End If
}
public static Quaternion QuaternionLerp(ref Quaternion q1, ref Quaternion q2, double t)
{
double one_minus_t;
Quaternion quat_QuaternionLerpResult = new Quaternion();
one_minus_t = 1f - t;
quat_QuaternionLerpResult.x = q1.x * one_minus_t + q2.x * t;
quat_QuaternionLerpResult.y = q1.y * one_minus_t + q2.y * t;
quat_QuaternionLerpResult.z = q1.z * one_minus_t + q2.z * t;
quat_QuaternionLerpResult.w = q1.w * one_minus_t + q2.w * t;
NormalizeQuaternion(ref quat_QuaternionLerpResult);
return quat_QuaternionLerpResult;
}
public static Quaternion QuaternionSlerp2(ref Quaternion q1, ref Quaternion q2, double t)
{
Quaternion q3 = new Quaternion();
Quaternion quat_QuaternionSlerp2Result = new Quaternion();
double dot, angle, one_minus_t, sin_angle, sin_angle_by_t, sin_angle_by_one_t;
dot = QuaternionsDot(ref q1, ref q2);
// dot = cos(theta)
// if (dot < 0), q1 and q2 are more than 90 degrees apart,
// so we can invert one to reduce spinning
if (dot < 0)
{
dot = -dot;
q3.x = -q2.x;
q3.y = -q2.y;
q3.z = -q2.z;
q3.w = -q2.w;
}
else
{
q3.x = q2.x;
q3.y = q2.y;
q3.z = q2.z;
q3.w = q2.w;
}
if (dot < 0.95)
{
angle = Math.Acos(dot);
one_minus_t = 1f - t;
sin_angle = Math.Sin(angle);
sin_angle_by_t = Math.Sin(angle * t);
sin_angle_by_one_t = Math.Sin(angle * one_minus_t);
quat_QuaternionSlerp2Result.x = ((q1.x * sin_angle_by_one_t) + q3.x * sin_angle_by_t) / sin_angle;
quat_QuaternionSlerp2Result.y = ((q1.y * sin_angle_by_one_t) + q3.y * sin_angle_by_t) / sin_angle;
quat_QuaternionSlerp2Result.z = ((q1.z * sin_angle_by_one_t) + q3.z * sin_angle_by_t) / sin_angle;
quat_QuaternionSlerp2Result.w = ((q1.w * sin_angle_by_one_t) + q3.w * sin_angle_by_t) / sin_angle;
}
else
{
quat_QuaternionSlerp2Result = QuaternionLerp(ref q1, ref q3, t);
}
return quat_QuaternionSlerp2Result;
}
public static double DegToRad(double x)
{
return x * PI / 180f;
}
public static double RadToDeg(double x)
{
return x * 180f / PI;
}
public static Quaternion GetQuaternionFromEulerXYZr(double x, double y, double z)
{
return GetQuaternionFromEulerUniversal(DegToRad(x), DegToRad(y), DegToRad(z), 2, 1, 0, 1, 0, 1);
}
public static Quaternion GetQuaternionFromEulerYXZr(double x, double y, double z)
{
return GetQuaternionFromEulerUniversal(DegToRad(x), DegToRad(y), DegToRad(z), 2, 0, 1, 0, 0, 1);
}
public static Point3D GetEulerFormMatrixUniversal(double[] mat, int i, int j, int k, int n, int s, int f)
{
double sy, cy, t;
Point3D up3DGetEulerFormMatrixUniversalResult = new Point3D();
if (s == EulRepYes)
{
sy = Math.Sqrt(mat[i + 4 * j] * mat[i + 4 * j] + mat[i + 4 * k] * mat[i + 4 * k]);
if (sy > 16f * FLT_EPSILON)
{
up3DGetEulerFormMatrixUniversalResult.x = (float)Math.Atan2(mat[i + 4 * j], mat[i + 4 * k]);
up3DGetEulerFormMatrixUniversalResult.y = (float)Math.Atan2(sy, mat[i + 4 * i]);
up3DGetEulerFormMatrixUniversalResult.z = (float)Math.Atan2(mat[j + 4 * i], -mat[k + 4 * i]);
}
else
{
up3DGetEulerFormMatrixUniversalResult.x = (float)Math.Atan2(-mat[j + 4 * k], mat[j + 4 * j]);
up3DGetEulerFormMatrixUniversalResult.y = (float)Math.Atan2(sy, mat[i + 4 * i]);
up3DGetEulerFormMatrixUniversalResult.z = 0;
}
}
else
{
cy = Math.Sqrt(mat[i + 4 * i] * mat[i + 4 * i] + mat[j + 4 * i] * mat[j + 4 * i]);
if (cy >16f * FLT_EPSILON)
{
up3DGetEulerFormMatrixUniversalResult.x = (float)Math.Atan2(mat[k + 4 * j], mat[k + 4 * k]);
up3DGetEulerFormMatrixUniversalResult.y = (float)Math.Atan2(-mat[k + 4 * i], cy);
up3DGetEulerFormMatrixUniversalResult.z = (float)Math.Atan2(mat[j + 4 * i], mat[i + 4 * i]);
}
else
{
up3DGetEulerFormMatrixUniversalResult.x = (float)Math.Atan2(-mat[j + 4 * k], mat[j + 4 * j]);
up3DGetEulerFormMatrixUniversalResult.y = (float)Math.Atan2(-mat[k + 4 * i], cy);
up3DGetEulerFormMatrixUniversalResult.z = 0;
}
}
if (n == EulParOdd)
{
up3DGetEulerFormMatrixUniversalResult.x = -up3DGetEulerFormMatrixUniversalResult.x;
up3DGetEulerFormMatrixUniversalResult.y = -up3DGetEulerFormMatrixUniversalResult.y;
up3DGetEulerFormMatrixUniversalResult.z = -up3DGetEulerFormMatrixUniversalResult.z;
}
if (f == EulFrmR)
{
t = up3DGetEulerFormMatrixUniversalResult.x;
up3DGetEulerFormMatrixUniversalResult.x = up3DGetEulerFormMatrixUniversalResult.z;
up3DGetEulerFormMatrixUniversalResult.z = (float)t;
}
up3DGetEulerFormMatrixUniversalResult.x = (float)RadToDeg(up3DGetEulerFormMatrixUniversalResult.x);
up3DGetEulerFormMatrixUniversalResult.y = (float)RadToDeg(up3DGetEulerFormMatrixUniversalResult.y);
up3DGetEulerFormMatrixUniversalResult.z = (float)RadToDeg(up3DGetEulerFormMatrixUniversalResult.z);
return up3DGetEulerFormMatrixUniversalResult;
}
public static Point3D GetEulerXYZrFromMatrix(double[] mat)
{
return GetEulerFormMatrixUniversal(mat, 2, 1, 0, 1, 0, 1);
}
public static Point3D GetEulerYXZrFromMatrix(double[] mat)
{
return GetEulerFormMatrixUniversal(mat, 2, 0, 1, 0, 0, 1);
}
public static Quaternion GetQuaternionConjugate(ref Quaternion quat)
{
Quaternion quat_GetQuaternionConjugateResult = new Quaternion()
{
x = -quat.x,
y = -quat.y,
z = -quat.z,
w = quat.w,
};
return quat_GetQuaternionConjugateResult;
}
// Convert from Euler Angles
public static void BuildQuaternionFromEuler(double alpha, double beta, double gamma, ref Quaternion res_quat)
{
// Basically we create 3 Quaternions, one for pitch, one for yaw, one for roll
// and multiply those together.
Quaternion quat_x = new Quaternion();
Quaternion quat_y = new Quaternion();
Quaternion quat_z = new Quaternion();
Quaternion quat_xy = new Quaternion();
Point3D px = new Point3D(1, 0, 0);
Point3D py = new Point3D(0, 1, 0);
Point3D pz = new Point3D(0, 0, 1);
BuildQuaternionFromAxis(ref px, alpha, ref quat_x);
BuildQuaternionFromAxis(ref py, beta, ref quat_y);
BuildQuaternionFromAxis(ref pz, gamma, ref quat_z);
MultiplyQuaternions(quat_y, quat_x, ref quat_xy);
MultiplyQuaternions(quat_xy, quat_z, ref res_quat);
NormalizeQuaternion(ref res_quat);
}
///////////////////////////////////////////
// Camera things
public static void ConcatenateCameraModelView(float cX, float cY, float cZ,
float alpha, float beta, float gamma,
float rszX, float rszY, float rszZ)
{
double[] rot_mat = new double[16];
glMatrixMode(GLMatrixModeList.GL_MODELVIEW);
//glLoadIdentity();
glTranslatef(cX, cY, cZ);
BuildRotationMatrixWithQuaternionsXYZ(alpha, beta, gamma, ref rot_mat);
glMultMatrixd(rot_mat);
glScalef(rszX, rszY, rszZ);
}
public static void ConcatenateCameraModelViewQuat(float cX, float cY, float cZ,
Quaternion quat,
float rszX, float rszY, float rszZ)
{
double[] rot_mat = new double[16];
glMatrixMode(GLMatrixModeList.GL_MODELVIEW);
glLoadIdentity();
glTranslatef(cX, cY, cZ);
BuildMatrixFromQuaternion(quat, ref rot_mat);
glMultMatrixd(rot_mat);
glScalef(rszX, rszY, rszZ);
}
public static void SetCameraModelView(float cX, float cY, float cZ,
float alpha, float beta, float gamma,
float rszX, float rszY, float rszZ)
{
double[] rot_mat = new double[16];
glMatrixMode(GLMatrixModeList.GL_MODELVIEW);
glLoadIdentity();
glTranslatef(cX, cY, cZ);
BuildRotationMatrixWithQuaternionsXYZ(alpha, beta, gamma, ref rot_mat);
glMultMatrixd(rot_mat);
glScalef(rszX, rszY, rszZ);
}
public static void SetCameraModelViewQuat(float cX, float cY, float cZ,
Quaternion quat,
float rszX, float rszY, float rszZ)
{
double[] rot_mat = new double[16];
glMatrixMode(GLMatrixModeList.GL_MODELVIEW);
glLoadIdentity();
glTranslatef(cX, cY, cZ);
BuildMatrixFromQuaternion(quat, ref rot_mat);
glMultMatrixd(rot_mat);
glScalef(rszX, rszY, rszZ);
}
public static void SetCameraPModel(PModel Model, float cX, float cY, float cZ,
float alpha, float beta, float gamma,
float rszX, float rszY, float rszZ)
{
Point3D p_min = new Point3D();
Point3D p_max = new Point3D();
Point3D center_model, origin;
int width, height;
float model_radius, distance_origin, scene_radius;
int[] vp = new int[4];
ComputePModelBoundingBox(Model, ref p_min, ref p_max);
glGetIntegerv((uint)GLCapability.GL_VIEWPORT, vp);
width = vp[2];
height = vp[3];
glMatrixMode(GLMatrixModeList.GL_PROJECTION);
glLoadIdentity();
center_model = new Point3D((p_min.x + p_max.x) / 2,
(p_min.y + p_max.y) / 2,
(p_min.z + p_max.z) / 2);
origin = new Point3D();
model_radius = CalculateDistance(p_min, p_max) / 2;
distance_origin = CalculateDistance(center_model, origin);
scene_radius = model_radius + distance_origin;
gluPerspective(60, (float)width / height, Math.Max(0.1, -cZ - scene_radius), Math.Max(0.1, -cZ + scene_radius));
SetCameraModelView(cX, cY, cZ, alpha, beta, gamma, rszX, rszY, rszZ);
}
public static void SetCameraAroundModel(ref Point3D p_min, ref Point3D p_max,
float cX, float cY, float cZ,
float alpha, float beta, float gamma,
float rszX, float rszY, float rszZ)
{
float width, height;
float scene_radius;
int[] vp = new int[4];
glGetIntegerv((uint)GLCapability.GL_VIEWPORT, vp);
width = vp[2];
height = vp[3];
glMatrixMode(GLMatrixModeList.GL_PROJECTION);
glLoadIdentity();
scene_radius = ComputeSceneRadius(p_min, p_max);
gluPerspective(60, (float)width / height, Math.Max(0.1, -cZ - scene_radius), Math.Max(0.1, -cZ + scene_radius));
SetCameraModelView(cX, cY, cZ, alpha, beta, gamma, rszX, rszY, rszZ);
}
public static void SetCameraAroundModelQuat(ref Point3D p_min, ref Point3D p_max,
float cX, float cY, float cZ,
Quaternion quat,
float rszX, float rszY, float rszZ)
{
float width, height;
float scene_radius;
int[] vp = new int[4];
glGetIntegerv((uint)GLCapability.GL_VIEWPORT, vp);
width = vp[2];
height = vp[3];
glMatrixMode(GLMatrixModeList.GL_PROJECTION);
glLoadIdentity();
scene_radius = ComputeSceneRadius(p_min, p_max);
gluPerspective(60, (float)width / height, Math.Max(0.1, -cZ - scene_radius), Math.Max(0.1, -cZ + scene_radius));
SetCameraModelViewQuat(cX, cY, cZ, quat, rszX, rszY, rszZ);
}
public static bool IsCameraUnderGround()
{
Point3D origin = new Point3D();
Point3D originTrans = new Point3D();
double[] MV_matrix = new double[16];
glGetDoublev((uint)GLCapability.GL_MODELVIEW_MATRIX, MV_matrix);
InvertMatrix(ref MV_matrix);
MultiplyPoint3DByOGLMatrix(MV_matrix, origin, ref originTrans);
return originTrans.y > -1;
}
public static void ResetCamera(ref double alpha, ref double beta, ref double gamma,
ref float panX, ref float panY, ref float panZ,
ref double DIST)
{
Point3D p_min = new Point3D();
Point3D p_max = new Point3D();
//int animIndex;
if (bLoaded)
{
switch (modelType)
{
case K_HRC_SKELETON:
ComputeFieldBoundingBox(fSkeleton, fAnimation.frames[iCurrentFrameScroll],
ref p_min, ref p_max);
break;
case K_AA_SKELETON:
case K_MAGIC_SKELETON:
//if (!bSkeleton.IsBattleLocation)
//{
ComputeBattleBoundingBox(bSkeleton, bAnimationsPack.SkeletonAnimations[ianimIndex].frames[iCurrentFrameScroll],
ref p_min, ref p_max);
//}
break;
case K_P_FIELD_MODEL:
case K_P_BATTLE_MODEL:
case K_P_MAGIC_MODEL:
case K_3DS_MODEL:
ComputePModelBoundingBox(fPModel, ref p_min, ref p_max);
break;
}
alpha = 200;
beta = 45;
gamma = 0;
panX = 0;
panY = 0;
panZ = 0;
DIST = -2 * ComputeSceneRadius(p_min, p_max);
}
}
///////////////////////////////////////////
// Geometric
public static float CalculateLength3D(Point3D v)
{
return (float)Math.Sqrt(v.x * v.x + v.y * v.y + v.z * v.z);
}
public static Point3D AddPoint3D(Point3D v1, Point3D v2)
{
return new Point3D(v1.x + v2.x, v1.y + v2.y, v1.z + v2.z);
}
public static Point3D SubstractPoint3D(Point3D v1, Point3D v2)
{
return new Point3D(v1.x - v2.x, v1.y - v2.y, v1.z - v2.z);
}
public static float DotProduct3D(Point3D v1, Point3D v2)
{
return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z;
}
public static Point3D CrossProduct3D(Point3D v1, Point3D v2)
{
return new Point3D(v1.y * v2.z - v1.z * v2.y,
v1.z * v2.x - v1.x * v2.z,
v1.x * v2.y - v1.y * v2.x);
}
public static Point3D DividePoint3D(Point3D v, float fScalar)
{
return new Point3D(v.x / fScalar, v.y / fScalar, v.z / fScalar);
}
public static float CalculateAngle2Vectors3D(Point3D v1, Point3D v2)
{
double dAngleRadians;
float fCalculateAngle2Vectors3DResult;
dAngleRadians = Math.Acos(DotProduct3D(v1, v2) / (CalculateLength3D(v1) * CalculateLength3D(v2)));
fCalculateAngle2Vectors3DResult = (float)RadToDeg(dAngleRadians);
if (float.IsNaN(fCalculateAngle2Vectors3DResult) ||
float.IsInfinity(fCalculateAngle2Vectors3DResult))
fCalculateAngle2Vectors3DResult = 0;
return fCalculateAngle2Vectors3DResult;
}
public static float CalculateAreaPoly3D(Point3D v0, Point3D v1, Point3D v2)
{
float a = CalculateDistance(v0, v1);
float b = CalculateDistance(v1, v2);
float c = CalculateDistance(v2, v0);
float s = (a + b + c) / 2;
return (float)Math.Sqrt(s * (s - a) * (s - b) * (s - c));
}
public static Point3D Normalize(Point3D v)
{
float fLength;
fLength = CalculateLength3D(v);
return DividePoint3D(v, fLength);
//fLength = CalculateLength3D(v);
//if (fLength > 0)
//{
// fLength = 1 / fLength;
// return new Point3D(v.x / fLength, v.y / fLength, v.z / fLength);
//}
//else return new Point3D(0.0f, 0.0f, 0.0f);
}
public static float CalculateDistance(Point3D v0, Point3D v1)
{
float fDeltaX = v1.x - v0.x;
float fDeltaY = v1.y - v0.y;
float fDeltaZ = v1.z - v0.z;
return (float)Math.Sqrt(fDeltaX * fDeltaX + fDeltaY * fDeltaY + fDeltaZ * fDeltaZ);
}
public static float ComputeSceneRadius(Point3D p_min, Point3D p_max)
{
float model_radius, distance_origin;
Point3D center_model = new Point3D((p_min.x + p_max.x) / 2.0f,
(p_min.y + p_max.y) / 2.0f,
(p_min.z + p_max.z) / 2.0f);
Point3D origin = new Point3D(0, 0, 0);
model_radius = CalculateDistance(p_min, p_max) / 2;
distance_origin = CalculateDistance(center_model, origin);
return model_radius + distance_origin;
}
public static Point3D CalculateNormal(Point3D p1, Point3D p2, Point3D p3)
{
Point3D v1, v2;
v1 = SubstractPoint3D(p2, p1);
v2 = SubstractPoint3D(p3, p1);
return CrossProduct3D(v1, v2);
}
public static bool ComparePoints3D(Point3D a, Point3D b)
{
return (a.x == b.x) && (a.y == b.y) && (a.z == b.z);
}
public static Point3D CalculateCenteroid(Point3D p1, Point3D p2, Point3D p3)
{
return new Point3D((p1.x + p2.x + p3.x) / 3.0f,
(p1.y + p2.y + p3.y) / 3.0f,
(p1.z + p2.z + p3.z) / 3.0f);
}
///////////////////////////////////////////
// Maths
public static bool CompareLongs(long val1, long val2)
{
if ((val1 ^ val2) < 0) return val1 < 0;
else return val1 > val2;
}
public static void GetSubMatrix(double[] mat, int i, int j, ref double[] mat_out)
{
int i2, j2, order, pos;
order = (int)Math.Sqrt(mat.Length);
mat_out = new double[(int)Math.Pow(order - 1, 2)];
for (i2 = 0; i2 < order; i2++)
{
if (i2 != i)
{
for (j2 = 0; j2 < order; j2++)
{
if (j2 != j)
{
pos = i2 + j2 * (order - 1);
if (i2 > i) pos--;
if (j2 > j) pos = pos - order + 1;
mat_out[pos] = mat[i2 + j2 * order];
}
}
}
}
}
public static double GetMatrixDeterminant(ref double[] mat)
{
double iGetMatrixDeterminantResult = 0;
int i, order;
double det_aux;
double[] mat_aux = null;
order = (int)Math.Sqrt(mat.Length);
if (order > 2)
{
for (i = 0; i < order; i++)
{
if (mat[i] != 0)
{
GetSubMatrix(mat, i, 0, ref mat_aux);
det_aux = GetMatrixDeterminant(ref mat_aux) * Math.Pow(-1, i) * mat[i];
iGetMatrixDeterminantResult += det_aux;
}
}
}
else
{
iGetMatrixDeterminantResult = mat[0] * mat[3] - mat[1] * mat[2];
}
return iGetMatrixDeterminantResult;
}
public static void GetAtachedMatrix(double[] mat, ref double[] mat_out)
{
int i, j, order;
double[] mat_aux = null;
order = (int)Math.Sqrt(mat.Length);
mat_out = new double[(int)Math.Pow(order, 2)];
for (i = 0; i < order; i++)
{
for (j = 0; j < order; j++)
{
GetSubMatrix(mat, i, j, ref mat_aux);
mat_out[i + j * order] = Math.Pow(-1, i + j) * GetMatrixDeterminant(ref mat_aux);
}
}
}
public static void TransposeMatrix(ref double[] mat)
{
int i, j, order;
double temp;
order = (int)Math.Sqrt(mat.Length);
for (i = 0; i < order; i++)
{
for (j = 0; j <= i; j++)
{
temp = mat[i * order + j];
mat[i * order + j] = mat[i + j * order];
mat[i + j * order] = temp;
}
}
}
public static void InvertMatrix(ref double[] mat)