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Added sensor drawing in the Virtual World Scene
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@Selinux24
Selinux24 committed Aug 8, 2024
1 parent 8243d58 commit 9860566
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Showing 3 changed files with 230 additions and 82 deletions.
101 changes: 74 additions & 27 deletions Engine/Common/GeometryUtil.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -2150,17 +2150,20 @@ public static GeometryDescriptor CreateCylinder(Topology topology, float radius,
/// Creates a cylinder
/// </summary>
/// <param name="topology">Topology</param>
/// <param name="center">Center position</param>
/// <param name="center">Geometric center position</param>
/// <param name="radius">Radius</param>
/// <param name="height">Height</param>
/// <param name="sliceCount">Slice count</param>
/// <returns>Returns a geometry descriptor</returns>
public static GeometryDescriptor CreateCylinder(Topology topology, Vector3 center, float radius, float height, int sliceCount)
{
var bsePosition = new Vector3(center.X, center.Y - (height * 0.5f), center.Z);
var capPosition = new Vector3(center.X, center.Y + (height * 0.5f), center.Z);

return topology switch
{
Topology.TriangleList => CreateCylinderTriangleList(center, radius, height, sliceCount),
Topology.LineList => CreateCylinderLineList(center, radius, height, sliceCount),
Topology.TriangleList => CreateCylinderTriangleList(bsePosition, capPosition, radius, sliceCount),
Topology.LineList => CreateCylinderLineList(bsePosition, capPosition, radius, sliceCount),
_ => throw new NotImplementedException()
};
}
Expand All @@ -2176,45 +2179,60 @@ public static GeometryDescriptor CreateCylinder(Topology topology, BoundingCylin
return CreateCylinder(topology, cylinder.Center, cylinder.Radius, cylinder.Height, sliceCount);
}
/// <summary>
/// Creates a cylinder
/// </summary>
/// <param name="topology">Topology</param>
/// <param name="baseCenter">Base center</param>
/// <param name="topCenter">Top cencer</param>
/// <param name="radius">Radius</param>
/// <param name="sliceCount">Slice count</param>
/// <returns>Returns a geometry descriptor</returns>
public static GeometryDescriptor CreateCylinder(Topology topology, Vector3 baseCenter, Vector3 topCenter, float radius, int sliceCount)
{
return topology switch
{
Topology.TriangleList => CreateCylinderTriangleList(baseCenter, topCenter, radius, sliceCount),
Topology.LineList => CreateCylinderLineList(baseCenter, topCenter, radius, sliceCount),
_ => throw new NotImplementedException()
};
}
/// <summary>
/// Creates the cylinder vertices
/// </summary>
/// <param name="center">Center position</param>
/// <param name="baseCenter">Base center</param>
/// <param name="topCenter">Top center</param>
/// <param name="radius">Radius</param>
/// <param name="height">Height</param>
/// <param name="sliceCount">Slice count</param>
/// <returns></returns>
private static Vector3[] CreateCylinderVertices(Vector3 center, float radius, float height, int sliceCount)
private static Vector3[] CreateCylinderVertices(Vector3 baseCenter, Vector3 topCenter, float radius, int sliceCount)
{
List<Vector3> verts = [];

var bsePosition = new Vector3(center.X, center.Y - (height * 0.5f), center.Z);
var capPosition = new Vector3(center.X, center.Y + (height * 0.5f), center.Z);
float height = Vector3.Distance(baseCenter, topCenter);
var trn = GetInversetAxisTransform(baseCenter, topCenter);

List<Vector3> verts = [];
for (int i = 0; i < 2; i++)
{
for (int j = 0; j < sliceCount; j++)
{
float theta = j / (float)sliceCount * 2 * MathUtil.Pi;
float st = MathF.Sin(theta), ct = MathF.Cos(theta);

verts.Add(bsePosition + new Vector3(radius * st, height * i, radius * ct));
var v = new Vector3(radius * st, height * i, radius * ct);
verts.Add(Vector3.TransformCoordinate(v, trn));
}
}
verts.AddRange([bsePosition, capPosition]);
verts.AddRange([baseCenter, topCenter]);

return [.. verts];
}
/// <summary>
/// Creates the cylinder vertices with lighting
/// </summary>
/// <param name="center">Center position</param>
/// <param name="baseCenter">Base center</param>
/// <param name="topCenter">Top cencer</param>
/// <param name="radius">Radius</param>
/// <param name="height">Height</param>
/// <param name="sliceCount">Slice count</param>
/// <returns></returns>
private static (Vector3[] Vertices, Vector3[] Normals) CreateCylinderVerticesExt(Vector3 center, float radius, float height, int sliceCount)
private static (Vector3[] Vertices, Vector3[] Normals) CreateCylinderVerticesExt(Vector3 baseCenter, Vector3 topCenter, float radius, int sliceCount)
{
var verts = CreateCylinderVertices(center, radius, height, sliceCount);
var verts = CreateCylinderVertices(baseCenter, topCenter, radius, sliceCount);

List<Vector3> norms = [];

Expand All @@ -2230,14 +2248,14 @@ private static (Vector3[] Vertices, Vector3[] Normals) CreateCylinderVerticesExt
/// <summary>
/// Creates a triangle list cylinder
/// </summary>
/// <param name="center">Center position</param>
/// <param name="baseCenter">Base center</param>
/// <param name="topCenter">Top cencer</param>
/// <param name="radius">Radius</param>
/// <param name="height">Height</param>
/// <param name="sliceCount">Slice count</param>
/// <returns>Returns a geometry descriptor</returns>
private static GeometryDescriptor CreateCylinderTriangleList(Vector3 center, float radius, float height, int sliceCount)
private static GeometryDescriptor CreateCylinderTriangleList(Vector3 baseCenter, Vector3 topCenter, float radius, int sliceCount)
{
var (vertices, normals) = CreateCylinderVerticesExt(center, radius, height, sliceCount);
var (vertices, normals) = CreateCylinderVerticesExt(baseCenter, topCenter, radius, sliceCount);

int cBase = vertices.Length - 2;
int cCap = vertices.Length - 1;
Expand Down Expand Up @@ -2280,14 +2298,14 @@ private static GeometryDescriptor CreateCylinderTriangleList(Vector3 center, flo
/// <summary>
/// Creates a line list cylinder
/// </summary>
/// <param name="center">Center position</param>
/// <param name="baseCenter">Base center</param>
/// <param name="topCenter">Top cencer</param>
/// <param name="radius">Radius</param>
/// <param name="height">Height</param>
/// <param name="sliceCount">Slice count</param>
/// <returns>Returns a geometry descriptor</returns>
private static GeometryDescriptor CreateCylinderLineList(Vector3 center, float radius, float height, int sliceCount)
private static GeometryDescriptor CreateCylinderLineList(Vector3 baseCenter, Vector3 topCenter, float radius, int sliceCount)
{
var vertices = CreateCylinderVertices(center, radius, height, sliceCount);
var vertices = CreateCylinderVertices(baseCenter, topCenter, radius, sliceCount);

List<int> indexList = [];

Expand Down Expand Up @@ -3261,5 +3279,34 @@ public static void ConstraintIndices(BoundingBox constraint, IEnumerable<VertexD
},
TaskCreationOptions.LongRunning);
}

/// <summary>
/// Gets the inverse axis transform of the specified base and top points, to put the base at the origin and the top on the Y axis
/// </summary>
/// <param name="vBase">Axis base</param>
/// <param name="vTop">Axis top</param>
private static Matrix GetInversetAxisTransform(Vector3 vBase, Vector3 vTop)
{
//Rotate vTop from vBase, to put vTop on vBase's Y axis

//Find direction vector between vBase and vTop
var dir = Vector3.Normalize(vTop - vBase);

//Find angle between dir and up vector
float angle = MathF.Acos(Vector3.Dot(dir, Vector3.Up));

Matrix matrix = Matrix.Translation(-vBase);
if (!MathUtil.IsZero(angle))
{
//Find rotation axis
var axis = Vector3.Cross(dir, Vector3.Up);
axis = Vector3.Normalize(axis);

//Create rotation matrix
matrix *= Matrix.RotationAxis(axis, angle);
}

return Matrix.Invert(matrix);
}
}
}
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