标签：
IDE:Visual Studio 2015
了解并学习：SharpDx官方GitHub
推荐Demo：SharpDX_D3D12HelloWorld
世界坐标系是一个特殊的坐标系，它建立了描述其他坐标系所需要的参考框架。
世界坐标系
从另一方面说，不能用更大的、外部的坐标系来描述世界坐标系
关于世界坐标系的典型问题都是关于初始位置和环境的：
左、右手坐标系
所有的2D坐标系是等价的，但3D坐标系有“手性”之分
左、右手坐标系可以互相转换，最简单的方法是只翻转一个轴的符号
传统的计算机图形学使用左手坐标系，而线性代数则倾向于使用右手坐标系
SharpDx采用左手坐标系，即X轴由右向左，Y轴由下至上，Z轴由里至外
SharpDx的世界有多大
首先，这个世界是有限且离散的
描述三维坐标需要使用SharpDx或System.Numerics命名空间下的Vector3类型
Vector3表示一个三维向量，它的x,y,z分量都是float类型（单精度浮点数），我们知道float范围是-3.40E+38 ~ +3.40E+38
而原子的直径是0.1nm级别，若以它作为基本单位，那么这个世界大约是一个边长6.80E+25公里的方盒（约71877亿光年）
这个世界足够大了吗
目前认为银河系直径是10~12万光年，宇宙可视直径是920亿光年
单精度浮点数可精确到小数点后6位，即当前世界最小分辨率是10-6倍原子大小
那么离散的float类型足以描述现实世界了吗？向您介绍计算机图形学第一准则，留给您思考：
Imports SharpDX ‘‘‘ <summary> ‘‘‘ 表示一个三维世界 ‘‘‘ </summary> Public Interface IWorld ‘‘‘ <summary> ‘‘‘ 模型顶点变换矩阵的数组 ‘‘‘ </summary> ‘‘‘ <returns></returns> Property ModelMatrix As Matrix() ‘‘‘ <summary> ‘‘‘ 更新模型顶点变换矩阵 ‘‘‘ </summary> Sub Update() End Interface
using System; using System.Collections; using System.Collections.Generic; using System.Data; using System.Diagnostics; using SharpDX; /// <summary> /// 表示一个三维世界 /// </summary> public interface IWorld { /// <summary> /// 模型顶点变换矩阵的数组 /// </summary> /// <returns></returns> Matrix[] ModelMatrix { get; set; } /// <summary> /// 更新模型顶点变换矩阵 /// </summary> void Update(); }
在编程中，具有宏观形状、体积或质量的抽象对象。
位置Location
一个三维向量，它表示当前物体在世界坐标系中的绝对位置
比例Scale
一个三维向量，表示当前物体x,y,z轴缩放比例
旋转Rotation
通常物体角位移有欧拉角和四元数两种表示方式
欧拉角：
四元数：
Imports SharpDX ‘‘‘ <summary> ‘‘‘ 表示一个可包含若干子对象的刚体 ‘‘‘ </summary> Public Interface IRigidBody ‘‘‘ <summary> ‘‘‘ 子物体 ‘‘‘ </summary> ‘‘‘ <returns></returns> Property Children As List(Of IRigidBody) ‘‘‘ <summary> ‘‘‘ 父物体 ‘‘‘ </summary> ‘‘‘ <returns></returns> Property Parent As IRigidBody ‘‘‘ <summary> ‘‘‘ 位置 ‘‘‘ </summary> ‘‘‘ <returns></returns> Property Location As Vector3 ‘‘‘ <summary> ‘‘‘ 缩放 ‘‘‘ </summary> ‘‘‘ <returns></returns> Property Scale As Vector3 ‘‘‘ <summary> ‘‘‘ 旋转 ‘‘‘ </summary> ‘‘‘ <returns></returns> Property Qua As Quaternion ‘‘‘ <summary> ‘‘‘ 可见性 ‘‘‘ </summary> ‘‘‘ <returns></returns> Property Visible As Boolean Sub Update() End Interface
using System; using System.Collections; using System.Collections.Generic; using System.Data; using System.Diagnostics; using SharpDX; /// <summary> /// 表示一个可包含若干子对象的刚体 /// </summary> public interface IRigidBody { /// <summary> /// 子物体 /// </summary> /// <returns></returns> List<IRigidBody> Children { get; set; } /// <summary> /// 父物体 /// </summary> /// <returns></returns> IRigidBody Parent { get; set; } /// <summary> /// 位置 /// </summary> /// <returns></returns> Vector3 Location { get; set; } /// <summary> /// 缩放 /// </summary> /// <returns></returns> Vector3 Scale { get; set; } /// <summary> /// 旋转 /// </summary> /// <returns></returns> Quaternion Qua { get; set; } /// <summary> /// 可见性 /// </summary> /// <returns></returns> bool Visible { get; set; } void Update(); }
线性变换总是把线性子空间变为线性子空间，但是维数可能降低。矩阵的本质就是描述线性变换。
模型与世界空间
物体最开始由物体空间来描述。其中常见的信息包括顶点位置和表面法向量
可将坐标从物体空间转换到世界空间中，此过程称作模型变换
通常，光照计算使用世界空间，其实光照计算只需确保几何体和光线在同一空间
摄像机空间
通过视变换，顶点从世界空间变换到摄像机空间，此空间也称作眼睛空间
裁剪与屏幕空间
裁剪空间又名标准视体空间，它是为透视投影做准备
一旦用视锥完成了几何体裁剪，即可向屏幕空间投影
ModelMatrix=World*View*Projection
World=ScaleMatrix*RotationMatrix*TranslateMatrix:
View=Matrix.LookAtLH(eye,target,up)：
Projection=Matrix.PerspectiveFovLH(fov, aspect, znear, zfar)：
Imports SharpDX ‘‘‘ <summary> ‘‘‘ 表示用于视变换的摄像机 ‘‘‘ </summary> Public Interface ICamera ‘‘‘ <summary> ‘‘‘ 获取或设置摄像机位置 ‘‘‘ </summary> ‘‘‘ <returns></returns> Property Eye As Vector3 ‘‘‘ <summary> ‘‘‘ 获取或设置目标视点位置 ‘‘‘ </summary> ‘‘‘ <returns></returns> Property Target As Vector3 ‘‘‘ <summary> ‘‘‘ 获取或设置摄像机向上方向 ‘‘‘ </summary> ‘‘‘ <returns></returns> Property Up As Vector3 ‘‘‘ <summary> ‘‘‘ 获取当前视变换矩阵 ‘‘‘ </summary> ‘‘‘ <returns></returns> ReadOnly Property View As Matrix End Interface
using System; using System.Collections; using System.Collections.Generic; using System.Data; using System.Diagnostics; using SharpDX; /// <summary> /// 表示用于视变换的摄像机 /// </summary> public interface ICamera { /// <summary> /// 获取或设置摄像机位置 /// </summary> /// <returns></returns> Vector3 Eye { get; set; } /// <summary> /// 获取或设置目标视点位置 /// </summary> /// <returns></returns> Vector3 Target { get; set; } /// <summary> /// 获取或设置摄像机向上方向 /// </summary> /// <returns></returns> Vector3 Up { get; set; } /// <summary> /// 获取当前视变换矩阵 /// </summary> /// <returns></returns> Matrix View { get; } }
多边形网格用来模拟复杂物体的表面，任意多边形网格都能转成三角网格。
表示网格
多边形和三角网格在图形学和建模中广泛使用，最直接表示方法是用三角形数组
三角网格需要存储三类信息：
索引三角网格
在索引三角网格中，我们维护两个列表：顶点表和三角形表
每个顶点包含一个3D位置，也可能有如纹理映射坐标、表面法向量、光照值等复杂数据
每个三角形由顶点列表的三个索引组成
顶点列出的顺序非常重要，它决定面是“正面”还是“反面”
另外，表面法向量、纹理映射保存在三角形一级
索引三角形列表中的邻接信息是隐含的，边信息不会被直接存储
我们可以通过搜索三角形表找出公共边
创建一个立方体
一个立方体有6个矩形面，每个面有4个顶点
一个矩形面由两个三角形组成
可见我们共需要24个顶点，12个三角形
假若不分开描述各面，8个顶点就足够描述一个六面体，但仍需要12个三角形
‘‘‘ <summary> ‘‘‘ 表示一个顶点 ‘‘‘ </summary> Public Structure Vertex Public Position As Vector3 Public Color As Vector4 Public Sub New(position As Vector3, color As Vector4) Me.Position = position Me.Color = color End Sub End Structure
‘‘‘ <summary> ‘‘‘ 返回一个指定长宽高的正六面体的顶点数组 ‘‘‘ </summary> Public Shared Function CreateCube(w As Single, h As Single, d As Single) As Vertex() w = w / 2 h = h / 2 d = d / 2 Dim vertices As Vertex() = New Vertex() { New Vertex(New Vector3(-w, h, d), New Vector4(0, 1, 0, 1)), New Vertex(New Vector3(w, h, d), New Vector4(0, 1, 0, 1)), New Vertex(New Vector3(w, h, -d), New Vector4(0, 1, 0, 1)), New Vertex(New Vector3(-w, h, -d), New Vector4(0, 1, 0, 1)), New Vertex(New Vector3(-w, -h, d), New Vector4(1, 0, 1, 1)), New Vertex(New Vector3(w, -h, d), New Vector4(1, 0, 1, 1)), New Vertex(New Vector3(w, -h, -d), New Vector4(1, 0, 1, 1)), New Vertex(New Vector3(-w, -h, -d), New Vector4(1, 0, 1, 1)), New Vertex(New Vector3(-w, -h, d), New Vector4(1, 0, 0, 1)), New Vertex(New Vector3(-w, h, d), New Vector4(1, 0, 0, 1)), New Vertex(New Vector3(-w, h, -d), New Vector4(1, 0, 0, 1)), New Vertex(New Vector3(-w, -h, -d), New Vector4(1, 0, 0, 1)), New Vertex(New Vector3(w, -h, d), New Vector4(1, 1, 0, 1)), New Vertex(New Vector3(w, h, d), New Vector4(1, 1, 0, 1)), New Vertex(New Vector3(w, h, -d), New Vector4(1, 1, 0, 1)), New Vertex(New Vector3(w, -h, -d), New Vector4(1, 1, 0, 1)), New Vertex(New Vector3(-w, h, d), New Vector4(0, 1, 1, 1)), New Vertex(New Vector3(w, h, d), New Vector4(0, 1, 1, 1)), New Vertex(New Vector3(w, -h, d), New Vector4(0, 1, 1, 1)), New Vertex(New Vector3(-w, -h, d), New Vector4(0, 1, 1, 1)), New Vertex(New Vector3(-w, h, -d), New Vector4(0, 0, 1, 1)), New Vertex(New Vector3(w, h, -d), New Vector4(0, 0, 1, 1)), New Vertex(New Vector3(w, -h, -d), New Vector4(0, 0, 1, 1)), New Vertex(New Vector3(-w, -h, -d), New Vector4(0, 0, 1, 1))} Return vertices End Function
using SharpDx; /// <summary> /// 表示一个存储3D位置与颜色信息的顶点 /// </summary> public struct Vertex { public Vector3 Position; public Vector4 Color; public Vertex(Vector3 position, Vector4 color) { this.Position = position; this.Color = color; } }
/// <summary> /// 返回一个指定长宽高的正六面体的顶点数组 /// </summary> public static Vertex[] CreateCube(float w, float h, float d) { w = w / 2; h = h / 2; d = d / 2; Vertex[] vertices = new Vertex[] { new Vertex(new Vector3(-w, h, d), new Vector4(0, 1, 0, 1)), new Vertex(new Vector3(w, h, d), new Vector4(0, 1, 0, 1)), new Vertex(new Vector3(w, h, -d), new Vector4(0, 1, 0, 1)), new Vertex(new Vector3(-w, h, -d), new Vector4(0, 1, 0, 1)), new Vertex(new Vector3(-w, -h, d), new Vector4(1, 0, 1, 1)), new Vertex(new Vector3(w, -h, d), new Vector4(1, 0, 1, 1)), new Vertex(new Vector3(w, -h, -d), new Vector4(1, 0, 1, 1)), new Vertex(new Vector3(-w, -h, -d), new Vector4(1, 0, 1, 1)), new Vertex(new Vector3(-w, -h, d), new Vector4(1, 0, 0, 1)), new Vertex(new Vector3(-w, h, d), new Vector4(1, 0, 0, 1)), new Vertex(new Vector3(-w, h, -d), new Vector4(1, 0, 0, 1)), new Vertex(new Vector3(-w, -h, -d), new Vector4(1, 0, 0, 1)), new Vertex(new Vector3(w, -h, d), new Vector4(1, 1, 0, 1)), new Vertex(new Vector3(w, h, d), new Vector4(1, 1, 0, 1)), new Vertex(new Vector3(w, h, -d), new Vector4(1, 1, 0, 1)), new Vertex(new Vector3(w, -h, -d), new Vector4(1, 1, 0, 1)), new Vertex(new Vector3(-w, h, d), new Vector4(0, 1, 1, 1)), new Vertex(new Vector3(w, h, d), new Vector4(0, 1, 1, 1)), new Vertex(new Vector3(w, -h, d), new Vector4(0, 1, 1, 1)), new Vertex(new Vector3(-w, -h, d), new Vector4(0, 1, 1, 1)), new Vertex(new Vector3(-w, h, -d), new Vector4(0, 0, 1, 1)), new Vertex(new Vector3(w, h, -d), new Vector4(0, 0, 1, 1)), new Vertex(new Vector3(w, -h, -d), new Vector4(0, 0, 1, 1)), new Vertex(new Vector3(-w, -h, -d), new Vector4(0, 0, 1, 1)) }; return vertices; }
可直接用一个骨骼模型描述生物外形，至少MineCraft是这样的。
骨骼关系
一个骨骼节点可以若干子骨骼，但只能有一个父骨骼
易见，我们可以用一个树形结构来描述骨骼系统
父子骨骼间存在一种“联动”关系，比如我们移动右手手臂，右手也会跟随移动
为体现这种“联动”，在编程中需要将作用于某个骨骼的的变换也同等作用于它的子骨骼
人体骨骼方块
上部（10块）：头部、颈部、左右肩、左右上臂，左右下臂，左右手
中部（2 块）：胸部、腰部
下部（8 块）：左右骻、左右大腿，左右小腿和左右脚
通常，腰部是根节点的较好选择
Imports SharpDX ‘‘‘ <summary> ‘‘‘ 表示骨骼结点 ‘‘‘ </summary> Public Class Bone Inherits RigidBodyBase Public Overrides Property Qua As Quaternion Set(value As Quaternion) If IsNewQua Then IsNewQua = False sQua = value sQua.Invert() sQua.Normalize() End If mQua = value End Set Get Return Quaternion.Normalize(sQua * mQua) End Get End Property ‘‘‘ <summary> ‘‘‘ 绝对坐标 ‘‘‘ </summary> Public AbsoluteLoc As Vector3 ‘‘‘ <summary> ‘‘‘ 相对坐标 ‘‘‘ </summary> Public RelativeLoc As Vector3 ‘‘‘ <summary> ‘‘‘ 父骨骼 ‘‘‘ </summary> Public ParentBone As Bone ‘‘‘ <summary> ‘‘‘ 骨骼相对旋转 ‘‘‘ </summary> Public BoneQua As New Quaternion(0, 0, 0, 1) ‘‘‘ <summary> ‘‘‘ 子骨骼 ‘‘‘ </summary> Public ChildrenBone As New List(Of Bone) ‘‘‘ <summary> ‘‘‘ 索引 ‘‘‘ </summary> Public Index As Integer Private mQua As New Quaternion(0, 0, 0, 1) Private sQua As New Quaternion(0, 0, 0, 1) Private IsNewQua As Boolean = True Public Sub New(loc As Vector3, scale As Vector3) Me.RelativeLoc = loc * 10 Me.Scale = scale End Sub End Class
Imports SharpDX ‘‘‘ <summary> ‘‘‘ 表示一个用于描述骨骼信息的对象 ‘‘‘ </summary> Public Class BoneInf Public Loc As Vector3 Public Scale As Vector3 Public ParentIndex As Integer Public ChildIndexArr() As Integer Public Sub New(l As Vector3, s As Vector3, p As Integer, c As Integer()) Loc = New Vector3(l.Z, l.Y, l.X) Scale = New Vector3(s.Z, s.Y, s.X) ParentIndex = p ChildIndexArr = c End Sub End Class
Imports SharpDX ‘‘‘ <summary> ‘‘‘ 表示一个人类模型 ‘‘‘ </summary> Public Class Human Inherits RigidBodyBase Public RootBone As Bone Dim BoneInfArr() As BoneInf = { New BoneInf(New Vector3(0, 0, 0), New Vector3(1, 1, 1), 0, New Integer() {1, 12, 16}),‘腰部0 New BoneInf(New Vector3(0, 5, 0), New Vector3(2.5, 5, 1), 0, New Integer() {2, 4, 8}),‘胸部1 New BoneInf(New Vector3(0, 1, 0), New Vector3(0.7, 1, 1), 1, New Integer() {3}),‘颈部2 New BoneInf(New Vector3(0, 1.5, 0), New Vector3(1.3, 1.5, 1), 2, New Integer() {}),‘头部3 New BoneInf(New Vector3(-2, 0, 0), New Vector3(2, 1, 1), 1, New Integer() {5}),‘左肩4 New BoneInf(New Vector3(0, -2.5, 0), New Vector3(1, 2.5, 1), 4, New Integer() {6}),‘左上臂5 New BoneInf(New Vector3(0, -2.5, 0), New Vector3(1, 2.5, 1), 5, New Integer() {7}),‘左小臂6 New BoneInf(New Vector3(0, -1, 0), New Vector3(1, 1, 1), 6, New Integer() {}),‘左手7 New BoneInf(New Vector3(2, 0, 0), New Vector3(2, 1, 1), 1, New Integer() {9}),‘右肩8 New BoneInf(New Vector3(0, -2.5, 0), New Vector3(1, 2.5, 1), 8, New Integer() {10}),‘右上臂9 New BoneInf(New Vector3(0, -2.5, 0), New Vector3(1, 2.5, 1), 9, New Integer() {11}),‘右小臂10 New BoneInf(New Vector3(0, -1, 0), New Vector3(1, 1, 1), 10, New Integer() {}),‘右手11 New BoneInf(New Vector3(-0.8, 0, 0), New Vector3(0.8, 1, 1), 0, New Integer() {13}),‘左骻12 New BoneInf(New Vector3(0, -4, 0), New Vector3(1, 4, 1), 12, New Integer() {14}),‘左大腿13 New BoneInf(New Vector3(0, -4, 0), New Vector3(1, 4, 1), 13, New Integer() {15}),‘左小腿14 New BoneInf(New Vector3(0, -1, 0), New Vector3(1, 1, 1), 14, New Integer() {}),‘左脚15 New BoneInf(New Vector3(0.8, 0, 0), New Vector3(0.8, 1, 1), 0, New Integer() {17}),‘右骻16 New BoneInf(New Vector3(0, -4, 0), New Vector3(1, 4, 1), 16, New Integer() {18}),‘右大腿17 New BoneInf(New Vector3(0, -4, 0), New Vector3(1, 4, 1), 17, New Integer() {19}),‘右小腿18 New BoneInf(New Vector3(0, -1, 0), New Vector3(1, 1, 1), 18, New Integer() {})‘右脚19 } Public Sub New() CreateBody() CalcBone(RootBone) End Sub ‘‘‘ <summary> ‘‘‘ 更新指定索引的骨骼 ‘‘‘ </summary> ‘‘‘ <param name="qua">旋转</param> ‘‘‘ <param name="index">骨骼索引</param> Public Sub UpdateBone(qua As Quaternion, index As Integer) qua.Normalize() DirectCast(Children(index), Bone).Qua = qua CalcBone(DirectCast(Children(index), Bone).ParentBone) End Sub ‘‘‘ <summary> ‘‘‘ 更新所有子骨骼 ‘‘‘ </summary> ‘‘‘ <param name="parent"></param> Private Sub CalcBone(parent As Bone) For Each SubBone As Bone In parent.ChildrenBone SubBone.BoneQua = Quaternion.Normalize(Me.Qua * SubBone.Qua) Dim tempLoc = (Matrix.Translation(SubBone.RelativeLoc) * Matrix.RotationQuaternion(SubBone.BoneQua)).TranslationVector SubBone.AbsoluteLoc = parent.AbsoluteLoc + tempLoc SubBone.Location = parent.AbsoluteLoc + tempLoc / 2 CalcBone(SubBone) Next End Sub ‘‘‘ <summary> ‘‘‘ 创建人物身体的所有骨骼 ‘‘‘ </summary> Private Sub CreateBody() For i = 0 To BoneInfArr.Count - 1 Children.Add(New Bone(BoneInfArr(i).Loc, BoneInfArr(i).Scale)) DirectCast(Children(i), Bone).Index = i Next For i = 0 To BoneInfArr.Count - 1 DirectCast(Children(i), Bone).ParentBone = Children(BoneInfArr(i).ParentIndex) For Each SubIndex In BoneInfArr(i).ChildIndexArr DirectCast(Children(i), Bone).ChildrenBone.Add(Children(SubIndex)) Next Next RootBone = DirectCast(Children(0), Bone) RootBone.Parent = RootBone End Sub End Class
using System; using System.Collections; using System.Collections.Generic; using System.Data; using System.Diagnostics; using SharpDX; /// <summary> /// 表示骨骼结点 /// </summary> public class Bone : RigidBodyBase { public override Quaternion Qua { get { return Quaternion.Normalize(sQua * mQua); } set { if (IsNewQua) { IsNewQua = false; sQua = value; sQua.Invert(); sQua.Normalize(); } mQua = value; } } /// <summary> /// 绝对坐标 /// </summary> public Vector3 AbsoluteLoc; /// <summary> /// 相对坐标 /// </summary> public Vector3 RelativeLoc; /// <summary> /// 父骨骼 /// </summary> public Bone ParentBone; /// <summary> /// 骨骼相对旋转 /// </summary> public Quaternion BoneQua = new Quaternion(0, 0, 0, 1); /// <summary> /// 子骨骼 /// </summary> public List<Bone> ChildrenBone = new List<Bone>(); /// <summary> /// 索引 /// </summary> public int Index; private Quaternion mQua = new Quaternion(0, 0, 0, 1); private Quaternion sQua = new Quaternion(0, 0, 0, 1); private bool IsNewQua = true; public Bone(Vector3 loc, Vector3 scale) { this.RelativeLoc = loc * 10; this.Scale = scale; } }
using System; using System.Collections; using System.Collections.Generic; using System.Data; using System.Diagnostics; using SharpDX; /// <summary> /// 表示一个用于描述骨骼信息的对象 /// </summary> public class BoneInf { public Vector3 Loc; public Vector3 Scale; public int ParentIndex; public int[] ChildIndexArr; public BoneInf(Vector3 l, Vector3 s, int p, int[] c) { Loc = new Vector3(l.Z, l.Y, l.X); Scale = new Vector3(s.Z, s.Y, s.X); ParentIndex = p; ChildIndexArr = c; } }
using System; using System.Collections; using System.Collections.Generic; using System.Data; using System.Diagnostics; using SharpDX; /// <summary> /// 表示一个人类模型 /// </summary> public class Human : RigidBodyBase { public Bone RootBone; BoneInf[] BoneInfArr = { new BoneInf(new Vector3(0, 0, 0), new Vector3(1, 1, 1), 0, new int[] { 1, 12, 16 }), //腰部0 new BoneInf(new Vector3(0, 5, 0), new Vector3(2.5, 5, 1), 0, new int[] { 2, 4, 8 }), //胸部1 new BoneInf(new Vector3(0, 1, 0), new Vector3(0.7, 1, 1), 1, new int[] { 3 }), //颈部2 new BoneInf(new Vector3(0, 1.5, 0), new Vector3(1.3, 1.5, 1), 2, new int[]), //头部3 new BoneInf(new Vector3(-2, 0, 0), new Vector3(2, 1, 1), 1, new int[] { 5 }), //左肩4 new BoneInf(new Vector3(0, -2.5, 0), new Vector3(1, 2.5, 1), 4, new int[] { 6 }), //左上臂5 new BoneInf(new Vector3(0, -2.5, 0), new Vector3(1, 2.5, 1), 5, new int[] { 7 }), //左小臂6 new BoneInf(new Vector3(0, -1, 0), new Vector3(1, 1, 1), 6, new int[]), //左手7 new BoneInf(new Vector3(2, 0, 0), new Vector3(2, 1, 1), 1, new int[] { 9 }), //右肩8 new BoneInf(new Vector3(0, -2.5, 0), new Vector3(1, 2.5, 1), 8, new int[] { 10 }), //右上臂9 new BoneInf(new Vector3(0, -2.5, 0), new Vector3(1, 2.5, 1), 9, new int[] { 11 }), //右小臂10 new BoneInf(new Vector3(0, -1, 0), new Vector3(1, 1, 1), 10, new int[]), //右手11 new BoneInf(new Vector3(-0.8, 0, 0), new Vector3(0.8, 1, 1), 0, new int[] { 13 }), //左骻12 new BoneInf(new Vector3(0, -4, 0), new Vector3(1, 4, 1), 12, new int[] { 14 }), //左大腿13 new BoneInf(new Vector3(0, -4, 0), new Vector3(1, 4, 1), 13, new int[] { 15 }), //左小腿14 new BoneInf(new Vector3(0, -1, 0), new Vector3(1, 1, 1), 14, new int[]), //左脚15 new BoneInf(new Vector3(0.8, 0, 0), new Vector3(0.8, 1, 1), 0, new int[] { 17 }), //右骻16 new BoneInf(new Vector3(0, -4, 0), new Vector3(1, 4, 1), 16, new int[] { 18 }), //右大腿17 new BoneInf(new Vector3(0, -4, 0), new Vector3(1, 4, 1), 17, new int[] { 19 }), //右小腿18 new BoneInf(new Vector3(0, -1, 0), new Vector3(1, 1, 1), 18, new int[]) //右脚19 }; public Human() { CreateBody(); CalcBone(RootBone); } /// <summary> /// 更新指定索引的骨骼 /// </summary> /// <param name="qua">旋转</param> /// <param name="index">骨骼索引</param> public void UpdateBone(Quaternion qua, int index) { qua.Normalize(); ((Bone)Children(index)).Qua = qua; CalcBone(((Bone)Children(index)).ParentBone); } /// <summary> /// 更新所有子骨骼 /// </summary> /// <param name="parent"></param> private void CalcBone(Bone parent) { foreach (Bone SubBone in parent.ChildrenBone) { SubBone.BoneQua = Quaternion.Normalize(this.Qua * SubBone.Qua); dynamic tempLoc = (Matrix.Translation(SubBone.RelativeLoc) * Matrix.RotationQuaternion(SubBone.BoneQua)).TranslationVector; SubBone.AbsoluteLoc = parent.AbsoluteLoc + tempLoc; SubBone.Location = parent.AbsoluteLoc + tempLoc / 2; CalcBone(SubBone); } } /// <summary> /// 创建人物身体的所有骨骼 /// </summary> private void CreateBody() { for (i = 0; i <= BoneInfArr.Count - 1; i++) { Children.Add(new Bone(BoneInfArr[i].Loc, BoneInfArr[i].Scale)); ((Bone)Children(i)).Index = i; } for (i = 0; i <= BoneInfArr.Count - 1; i++) { ((Bone)Children(i)).ParentBone = Children(BoneInfArr[i].ParentIndex); foreach (object SubIndex_loopVariable in BoneInfArr[i].ChildIndexArr) { SubIndex = SubIndex_loopVariable; ((Bone)Children(i)).ChildrenBone.Add(Children(SubIndex)); } } RootBone = (Bone)Children(0); RootBone.Parent = RootBone; } }
这是开始你的3D编程的第一步
需要注意哪些问题？
3D编程中，形式转换经常是错误的根源，尤其要注意坐标系的手性
在限制欧拉角中，俯仰角Pitch的范围是±90º，偏航角Yaw的范围是±180º
（额外说明一点，UWP的CompositeTransform3D使用的就是限制欧拉角）
为什么选择SharpDx?
SharpDx库与UWP兼容,其他如SharpGL不兼容
如果你是C#开发者，Unity3D会是更好的选择
Direct3D是底层的3D图形库，通过接触它你可以学习到很多底层图形编程知识
了解底层知识会使你在接触并使用Unity3D等引擎时更加得心应手
其它
参考书籍：《3D数学基础：图形与游戏开发》[美]Fletcher Dunnlan Parberry著 清华大学出版社（史银雪、陈洪和王荣静译）
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原文地址：http://www.cnblogs.com/experdot/p/5644612.html
