mirror of
https://github.com/TechplexEngineer/plexview.git
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Initial commit
I wish I could figure out how to have PlexVie be out of the LibOMV tree but its just not working die to a DLL not found exception about libopenjpeg. (Yes the dll is in the bin folder) This will do for now
This commit is contained in:
Blake Bourque
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/*
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* Copyright (c) 2006-2014, openmetaverse.org
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* All rights reserved.
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*
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* - Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* - Redistributions of source code must retain the above copyright notice, this
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* list of conditions and the following disclaimer.
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* - Neither the name of the openmetaverse.org nor the names
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* of its contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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using System;
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namespace OpenMetaverse
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{
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public class CoordinateFrame
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{
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public static readonly Vector3 X_AXIS = new Vector3(1f, 0f, 0f);
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public static readonly Vector3 Y_AXIS = new Vector3(0f, 1f, 0f);
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public static readonly Vector3 Z_AXIS = new Vector3(0f, 0f, 1f);
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/// <summary>Origin position of this coordinate frame</summary>
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public Vector3 Origin
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{
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get { return origin; }
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set
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{
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if (!value.IsFinite())
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throw new ArgumentException("Non-finite in CoordinateFrame.Origin assignment");
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origin = value;
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}
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}
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/// <summary>X axis of this coordinate frame, or Forward/At in grid terms</summary>
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public Vector3 XAxis
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{
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get { return xAxis; }
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set
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{
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if (!value.IsFinite())
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throw new ArgumentException("Non-finite in CoordinateFrame.XAxis assignment");
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xAxis = value;
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}
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}
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/// <summary>Y axis of this coordinate frame, or Left in grid terms</summary>
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public Vector3 YAxis
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{
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get { return yAxis; }
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set
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{
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if (!value.IsFinite())
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throw new ArgumentException("Non-finite in CoordinateFrame.YAxis assignment");
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yAxis = value;
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}
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}
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/// <summary>Z axis of this coordinate frame, or Up in grid terms</summary>
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public Vector3 ZAxis
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{
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get { return zAxis; }
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set
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{
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if (!value.IsFinite())
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throw new ArgumentException("Non-finite in CoordinateFrame.ZAxis assignment");
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zAxis = value;
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}
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}
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protected Vector3 origin;
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protected Vector3 xAxis;
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protected Vector3 yAxis;
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protected Vector3 zAxis;
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#region Constructors
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public CoordinateFrame(Vector3 origin)
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{
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this.origin = origin;
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xAxis = X_AXIS;
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yAxis = Y_AXIS;
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zAxis = Z_AXIS;
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if (!this.origin.IsFinite())
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throw new ArgumentException("Non-finite in CoordinateFrame constructor");
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}
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public CoordinateFrame(Vector3 origin, Vector3 direction)
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{
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this.origin = origin;
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LookDirection(direction);
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if (!IsFinite())
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throw new ArgumentException("Non-finite in CoordinateFrame constructor");
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}
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public CoordinateFrame(Vector3 origin, Vector3 xAxis, Vector3 yAxis, Vector3 zAxis)
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{
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this.origin = origin;
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this.xAxis = xAxis;
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this.yAxis = yAxis;
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this.zAxis = zAxis;
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if (!IsFinite())
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throw new ArgumentException("Non-finite in CoordinateFrame constructor");
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}
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public CoordinateFrame(Vector3 origin, Matrix4 rotation)
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{
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this.origin = origin;
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xAxis = rotation.AtAxis;
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yAxis = rotation.LeftAxis;
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zAxis = rotation.UpAxis;
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if (!IsFinite())
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throw new ArgumentException("Non-finite in CoordinateFrame constructor");
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}
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public CoordinateFrame(Vector3 origin, Quaternion rotation)
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{
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Matrix4 m = Matrix4.CreateFromQuaternion(rotation);
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this.origin = origin;
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xAxis = m.AtAxis;
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yAxis = m.LeftAxis;
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zAxis = m.UpAxis;
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if (!IsFinite())
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throw new ArgumentException("Non-finite in CoordinateFrame constructor");
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}
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#endregion Constructors
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#region Public Methods
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public void ResetAxes()
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{
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xAxis = X_AXIS;
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yAxis = Y_AXIS;
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zAxis = Z_AXIS;
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}
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public void Rotate(float angle, Vector3 rotationAxis)
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{
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Quaternion q = Quaternion.CreateFromAxisAngle(rotationAxis, angle);
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Rotate(q);
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}
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public void Rotate(Quaternion q)
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{
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Matrix4 m = Matrix4.CreateFromQuaternion(q);
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Rotate(m);
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}
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public void Rotate(Matrix4 m)
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{
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xAxis = Vector3.Transform(xAxis, m);
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yAxis = Vector3.Transform(yAxis, m);
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Orthonormalize();
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if (!IsFinite())
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throw new Exception("Non-finite in CoordinateFrame.Rotate()");
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}
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public void Roll(float angle)
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{
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Quaternion q = Quaternion.CreateFromAxisAngle(xAxis, angle);
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Matrix4 m = Matrix4.CreateFromQuaternion(q);
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Rotate(m);
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if (!yAxis.IsFinite() || !zAxis.IsFinite())
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throw new Exception("Non-finite in CoordinateFrame.Roll()");
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}
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public void Pitch(float angle)
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{
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Quaternion q = Quaternion.CreateFromAxisAngle(yAxis, angle);
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Matrix4 m = Matrix4.CreateFromQuaternion(q);
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Rotate(m);
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if (!xAxis.IsFinite() || !zAxis.IsFinite())
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throw new Exception("Non-finite in CoordinateFrame.Pitch()");
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}
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public void Yaw(float angle)
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{
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Quaternion q = Quaternion.CreateFromAxisAngle(zAxis, angle);
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Matrix4 m = Matrix4.CreateFromQuaternion(q);
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Rotate(m);
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if (!xAxis.IsFinite() || !yAxis.IsFinite())
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throw new Exception("Non-finite in CoordinateFrame.Yaw()");
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}
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public void LookDirection(Vector3 at)
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{
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LookDirection(at, Z_AXIS);
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}
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/// <summary>
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///
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/// </summary>
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/// <param name="at">Looking direction, must be a normalized vector</param>
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/// <param name="upDirection">Up direction, must be a normalized vector</param>
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public void LookDirection(Vector3 at, Vector3 upDirection)
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{
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// The two parameters cannot be parallel
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Vector3 left = Vector3.Cross(upDirection, at);
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if (left == Vector3.Zero)
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{
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// Prevent left from being zero
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at.X += 0.01f;
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at.Normalize();
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left = Vector3.Cross(upDirection, at);
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}
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left.Normalize();
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xAxis = at;
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yAxis = left;
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zAxis = Vector3.Cross(at, left);
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}
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/// <summary>
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/// Align the coordinate frame X and Y axis with a given rotation
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/// around the Z axis in radians
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/// </summary>
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/// <param name="heading">Absolute rotation around the Z axis in
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/// radians</param>
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public void LookDirection(double heading)
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{
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yAxis.X = (float)Math.Cos(heading);
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yAxis.Y = (float)Math.Sin(heading);
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xAxis.X = (float)-Math.Sin(heading);
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xAxis.Y = (float)Math.Cos(heading);
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}
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public void LookAt(Vector3 origin, Vector3 target)
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{
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LookAt(origin, target, new Vector3(0f, 0f, 1f));
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}
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public void LookAt(Vector3 origin, Vector3 target, Vector3 upDirection)
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{
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this.origin = origin;
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Vector3 at = new Vector3(target - origin);
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at.Normalize();
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LookDirection(at, upDirection);
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}
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#endregion Public Methods
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protected bool IsFinite()
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{
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if (xAxis.IsFinite() && yAxis.IsFinite() && zAxis.IsFinite())
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return true;
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else
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return false;
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}
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protected void Orthonormalize()
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{
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// Make sure the axis are orthagonal and normalized
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xAxis.Normalize();
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yAxis -= xAxis * (xAxis * yAxis);
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yAxis.Normalize();
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zAxis = Vector3.Cross(xAxis, yAxis);
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}
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}
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}
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