lots of 3d math stuff

Kav

@@ -1 +1 @@
-Subproject commit 2419a89d3245dc7d52f6b4301902f840ea10beaf
+Subproject commit 4c4150620456c6625cf660d7a81571e4b1f7f9d5

KavTest.Core.sln

@@ -5,7 +5,7 @@ VisualStudioVersion = 15.0.26124.0
 MinimumVisualStudioVersion = 15.0.26124.0
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "KavTest.Core", "KavTest\KavTest.Core.csproj", "{4589302C-174A-4173-9654-CAA6CA1B5220}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "kav", "Kav\kav.csproj", "{08398000-DF30-465A-AE07-E11D108B8A74}"
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Kav", "Kav\Kav.csproj", "{08398000-DF30-465A-AE07-E11D108B8A74}"
 EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution

KavTest.Framework.sln

@@ -5,7 +5,7 @@ VisualStudioVersion = 15.0.26124.0
 MinimumVisualStudioVersion = 15.0.26124.0
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "FNATemplate.Framework", "KavTest\KavTest.Framework.csproj", "{9ED076FA-32C3-4F1E-BB90-549B3A2FA46F}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "kav", "Kav\kav.csproj", "{9B2EC2DE-7E2C-4768-B812-43AB4C7E31C5}"
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Kav", "Kav\Kav.csproj", "{9B2EC2DE-7E2C-4768-B812-43AB4C7E31C5}"
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Smuggler", "Smuggler\Smuggler.csproj", "{06664804-2B01-46F5-B8EC-07E5E2C1EADC}"
 EndProject

KavTest/Components/AngularVelocityComponent.cs

@@ -5,7 +5,7 @@ namespace KavTest.Components
 {
     public struct AngularVelocityComponent : IComponent
     {
-        public Vector3 AngularVelocity { get; }
+        public Vector3 AngularVelocity { get; } // should this be a quaternion?
 
         public AngularVelocityComponent(Vector3 angularVelocity)
         {

KavTest/Components/CameraComponent.cs

@@ -1,15 +1,15 @@
 using Encompass;
-using Kav;
+using Microsoft.Xna.Framework;
 
 namespace KavTest.Components
 {
     public struct CameraComponent : IComponent
     {
-        public Camera Camera { get; }
+        public Matrix Projection { get; }
 
-        public CameraComponent(Camera camera)
+        public CameraComponent(Matrix projection)
         {
-            Camera = camera;
+            Projection = projection;
         }
     }
 }

KavTest/Engines/AngularVelocityEngine.cs

@@ -0,0 +1,23 @@
+using Encompass;
+using KavTest.Components;
+using KavTest.Messages;
+using Microsoft.Xna.Framework;
+
+namespace KavTest.Engines
+{
+    [Reads(typeof(AngularVelocityComponent))]
+    [Sends(typeof(LocalRotationMessage))]
+    public class AngularVelocityEngine : Engine
+    {
+        public override void Update(double dt)
+        {
+            foreach (var entity in ReadEntities<AngularVelocityComponent>())
+            {
+                ref readonly var angularVelocityComponent = ref GetComponent<AngularVelocityComponent>(entity);
+                var angularVelocity = angularVelocityComponent.AngularVelocity * (float)dt;
+
+                SendMessage(new LocalRotationMessage(entity, Quaternion.CreateFromYawPitchRoll(angularVelocity.X, angularVelocity.Y, angularVelocity.Z)));
+            }
+        }
+    }
+}

KavTest/Engines/CameraEngine.cs

@@ -0,0 +1,25 @@
+using Encompass;
+using KavTest.Components;
+using KavTest.Messages;
+
+namespace KavTest.Engines
+{
+    [Reads(typeof(CameraComponent))]
+    [Receives(typeof(MoveCameraMessage))]
+    [Sends(typeof(LocalTranslationMessage))]
+    public class CameraEngine : Engine
+    {
+        public override void Update(double dt)
+        {
+            if (SomeComponent<CameraComponent>())
+            {
+                var cameraEntity = ReadEntity<CameraComponent>();
+
+                foreach (var moveMessage in ReadMessages<MoveCameraMessage>())
+                {
+                    SendMessage(new LocalTranslationMessage(cameraEntity, moveMessage.Translation * (float)dt));
+                }
+            }
+        }
+    }
+}

KavTest/Engines/InputEngine.cs

@@ -0,0 +1,36 @@
+using Encompass;
+using KavTest.Messages;
+using Microsoft.Xna.Framework;
+using Microsoft.Xna.Framework.Input;
+
+namespace KavTest.Engines
+{
+    [Sends(typeof(MoveCameraMessage))]
+    public class InputEngine : Engine
+    {
+        public override void Update(double dt)
+        {
+            var keyboardState = Keyboard.GetState();
+
+            if (keyboardState.IsKeyDown(Keys.W))
+            {
+                SendMessage(new MoveCameraMessage(new Vector3(0, 0, -5)));
+            }
+
+            if (keyboardState.IsKeyDown(Keys.A))
+            {
+                SendMessage(new MoveCameraMessage(new Vector3(-5, 0, 0)));
+            }
+
+            if (keyboardState.IsKeyDown(Keys.S))
+            {
+                SendMessage(new MoveCameraMessage(new Vector3(0, 0, 5)));
+            }
+
+            if (keyboardState.IsKeyDown(Keys.D))
+            {
+                SendMessage(new MoveCameraMessage(new Vector3(5, 0, 0)));
+            }
+        }
+    }
+}

KavTest/Engines/MotionEngine.cs

@@ -0,0 +1,55 @@
+using Encompass;
+using KavTest.Components;
+using KavTest.Messages;
+using Microsoft.Xna.Framework;
+
+namespace KavTest.Engines
+{
+    [Reads(typeof(Transform3DComponent))]
+    [Receives(
+        typeof(TranslationMessage),
+        typeof(LocalTranslationMessage),
+        typeof(LocalRotationMessage)
+    )]
+    [Writes(typeof(Transform3DComponent))]
+    public class MotionEngine : Engine
+    {
+        public override void Update(double dt)
+        {
+            foreach (var entity in ReadEntities<Transform3DComponent>())
+            {
+                ref readonly var transformComponent = ref GetComponent<Transform3DComponent>(entity);
+
+                Vector3 translation = Vector3.Zero;
+                Vector3 localTranslation = Vector3.Zero;
+
+                Quaternion rotation = Quaternion.Identity;
+                Quaternion localRotation = Quaternion.Identity;
+
+                foreach (var message in ReadMessagesWithEntity<TranslationMessage>(entity))
+                {
+                    translation += message.Translation;
+                }
+
+                foreach (var message in ReadMessagesWithEntity<LocalTranslationMessage>(entity))
+                {
+                    localTranslation += message.Translation;
+                }
+
+                foreach (var message in ReadMessagesWithEntity<LocalRotationMessage>(entity))
+                {
+                    localRotation *= message.Rotation;
+                }
+
+                var newTransform =
+                    transformComponent.Transform.
+                    TranslateLocal(localTranslation).
+                    RotateLocal(localRotation).
+                    Translate(translation);
+
+
+                SetComponent(entity, new Transform3DComponent(newTransform));
+            }
+        }
+    }
+}

KavTest/Engines/RotationEngine.cs

@@ -1,27 +0,0 @@
-using Encompass;
-using KavTest.Components;
-using Microsoft.Xna.Framework;
-
-namespace KavTest.Engines
-{
-    [Reads(typeof(Transform3DComponent), typeof(AngularVelocityComponent))]
-    [Writes(typeof(Transform3DComponent))]
-    public class RotationEngine : Engine
-    {
-        public override void Update(double dt)
-        {
-            foreach (var entity in ReadEntities<AngularVelocityComponent>())
-            {
-                if (HasComponent<Transform3DComponent>(entity))
-                {
-                    ref readonly var angularVelocityComponent = ref GetComponent<AngularVelocityComponent>(entity);
-                    ref readonly var transformComponent = ref GetComponent<Transform3DComponent>(entity);
-
-                    var angularVelocity = angularVelocityComponent.AngularVelocity * (float)dt;
-
-                    SetComponent(entity, new Transform3DComponent(transformComponent.Transform.Rotate(angularVelocity)));
-                }
-            }
-        }
-    }
-}

KavTest/KavTest.Framework.csproj

@@ -30,7 +30,6 @@
     <ProjectReference Include="..\encompass-cs\encompass-cs\encompass-cs.csproj" />
     <ProjectReference Include="..\Kav\Kav.csproj" />
     <ProjectReference Include="..\Smuggler\Smuggler.csproj" />
-    <ProjectReference Include="..\NoAlloq\NoAlloq\NoAlloq.csproj" />
   </ItemGroup>
   <Import Project="..\build\CopyFNALibs.targets"/>
   <Import Sdk="Microsoft.NET.Sdk" Project="Sdk.targets" />

KavTest/KavTestGame.cs

@@ -33,10 +33,13 @@ namespace KavTest
         {
             var rustyBallModel = ModelLoader.Load(
                 GraphicsDevice,
-                Smuggler.Importer.ImportGLB(GraphicsDevice, File.OpenRead("Content/cube.glb"))
+                Smuggler.Importer.ImportGLB(GraphicsDevice, File.OpenRead("Content/rustysphere.glb"))
             );
 
-            WorldBuilder.AddEngine(new RotationEngine());
+            WorldBuilder.AddEngine(new InputEngine());
+            WorldBuilder.AddEngine(new AngularVelocityEngine());
+            WorldBuilder.AddEngine(new MotionEngine());
+            WorldBuilder.AddEngine(new CameraEngine());
             WorldBuilder.AddEngine(new RustyBallSpawner(rustyBallModel));
             WorldBuilder.AddEngine(new LightBulbSpawner());
             WorldBuilder.AddGeneralRenderer(new SceneRenderer(GraphicsDevice), 0);
@@ -47,12 +50,12 @@ namespace KavTest
             ));
 
             WorldBuilder.SendMessage(new RustyBallSpawnMessage(
-                new Transform3D(new Vector3(-5, 0, 0)),
+                new Transform3D(new Vector3(-3, 0, 0)),
                 new Vector3(-1, 1, -1)
             ));
 
             WorldBuilder.SendMessage(new RustyBallSpawnMessage(
-                new Transform3D(new Vector3(5, 0, 0)),
+                new Transform3D(new Vector3(3, 0, 0)),
                 new Vector3(-1, 1, 1)
             ));
 
@@ -62,11 +65,22 @@ namespace KavTest
                 300f
             ));
 
-            var cameraMatrix = Matrix.CreateLookAt(new Vector3(10, 0, 0), Vector3.Zero, Vector3.Up);
+            var cameraTransform = new Transform3D(
+                new Vector3(0, 0, -10),
+                Quaternion.CreateFromAxisAngle(Vector3.Up, MathHelper.Pi),
+                Vector3.One
+            );
+
             var cameraEntity = WorldBuilder.CreateEntity();
+            WorldBuilder.SetComponent(cameraEntity, new Transform3DComponent(
+                cameraTransform
+            ));
             WorldBuilder.SetComponent(cameraEntity, new CameraComponent(
-                new Kav.Camera(
+                Matrix.CreatePerspectiveFieldOfView(
-                    cameraMatrix
+                    MathHelper.PiOver4,
+                    16f / 9f,
+                    0.1f,
+                    200f
                 )
             ));
 

KavTest/Messages/LocalRotationMessage.cs

@@ -0,0 +1,17 @@
+using Encompass;
+using Microsoft.Xna.Framework;
+
+namespace KavTest.Messages
+{
+    public struct LocalRotationMessage : IMessage, IHasEntity
+    {
+        public Entity Entity { get; }
+        public Quaternion Rotation { get; }
+
+        public LocalRotationMessage(Entity entity, Quaternion rotation)
+        {
+            Entity = entity;
+            Rotation = rotation;
+        }
+    }
+}

KavTest/Messages/LocalTranslationMessage.cs

@@ -0,0 +1,17 @@
+using Encompass;
+using Microsoft.Xna.Framework;
+
+namespace KavTest.Messages
+{
+    public struct LocalTranslationMessage : IMessage, IHasEntity
+    {
+        public Entity Entity { get; }
+        public Vector3 Translation { get; }
+
+        public LocalTranslationMessage(Entity entity, Vector3 translation)
+        {
+            Entity = entity;
+            Translation = translation;
+        }
+    }
+}

KavTest/Messages/MoveCameraMessage.cs

@@ -0,0 +1,15 @@
+using Encompass;
+using Microsoft.Xna.Framework;
+
+namespace KavTest.Messages
+{
+    public struct MoveCameraMessage : IMessage
+    {
+        public Vector3 Translation { get; }
+
+        public MoveCameraMessage(Vector3 translation)
+        {
+            Translation = translation;
+        }
+    }
+}

KavTest/Messages/TranslationMessage.cs

@@ -0,0 +1,17 @@
+using Encompass;
+using Microsoft.Xna.Framework;
+
+namespace KavTest.Messages
+{
+    public struct TranslationMessage : IMessage, IHasEntity
+    {
+        public Entity Entity { get; }
+        public Vector3 Translation { get; }
+
+        public TranslationMessage(Entity entity, Vector3 translation)
+        {
+            Entity = entity;
+            Translation = translation;
+        }
+    }
+}

KavTest/Renderers/SceneRenderer.cs

@@ -53,11 +53,18 @@ namespace KavTest.Renderers
         {
             if (SomeComponent<CameraComponent>())
             {
-                var cameraComponent = ReadComponent<CameraComponent>();
+                var cameraEntity = ReadEntity<CameraComponent>();
+                var transformComponent = GetComponent<Transform3DComponent>(cameraEntity);
+                var cameraComponent = GetComponent<CameraComponent>(cameraEntity);
+
+                var camera = new Kav.Camera(
+                    transformComponent.Transform.TransformMatrix,
+                    cameraComponent.Projection
+                );
 
                 Kav.Renderer.Render(
                     GraphicsDevice,
-                    cameraComponent.Camera,
+                    camera,
                     Models,
                     PointLights
                 );

KavTest/Utility/Transform3D.cs

@@ -4,57 +4,73 @@ namespace KavTest
 {
     public struct Transform3D : System.IEquatable<Transform3D>
     {
-        public Matrix TransformMatrix { get; private set; }
+        public static Transform3D Identity = new Transform3D(Vector3.Zero, Quaternion.Identity, Vector3.One);
 
-        public Vector3 Position { get; private set; }
+        public Matrix TransformMatrix { get; }
+        public Vector3 Position { get; }
+        public Quaternion Orientation { get; }
+        public Vector3 Scale { get; }
 
         public Vector3 Forward { get { return TransformMatrix.Forward; } }
+        public Vector3 Right { get { return TransformMatrix.Right; } }
+        public Vector3 Up { get { return TransformMatrix.Up; } }
 
         public Transform3D(Vector3 position, Quaternion orientation, Vector3 scale)
         {
             Position = position;
-            TransformMatrix = CreateTransformMatrix(position, orientation, scale);
+            Orientation = orientation;
+            Scale = scale;
+            TransformMatrix = CreateTransformMatrix(Position, Orientation, Scale);
+        }
+
+        public Transform3D(Vector3 position, Quaternion orientation)
+        {
+            Position = position;
+            Orientation = orientation;
+            Scale = Vector3.One;
+            TransformMatrix = CreateTransformMatrix(Position, Orientation, Scale);
         }
 
         public Transform3D(Vector3 position)
         {
             Position = position;
-            TransformMatrix = CreateTransformMatrix(position, Quaternion.Identity, Vector3.One);
+            Orientation = Quaternion.Identity;
-        }
+            Scale = Vector3.One;
-
+            TransformMatrix = CreateTransformMatrix(Position, Orientation, Scale);
-        public Transform3D(Matrix matrix)
-        {
-            Position = matrix.Translation;
-            TransformMatrix = matrix;
         }
 
         public Transform3D WithPosition(Vector3 position)
         {
-            return Translate(position - TransformMatrix.Translation);
+            return Translate(position - Position);
         }
 
         public Transform3D Translate(Vector3 translation)
         {
-            return new Transform3D(Matrix.CreateTranslation(translation) * TransformMatrix);
+            return new Transform3D(Position + translation, Orientation, Scale);
         }
 
-        public Transform3D Rotate(Quaternion other)
+        public Transform3D TranslateLocal(Vector3 translation)
         {
-            return new Transform3D(Matrix.CreateFromQuaternion(other) * TransformMatrix);
+            return Translate(Vector3.Transform(translation, Orientation));
         }
 
-        public Transform3D Rotate(float yaw, float pitch, float roll)
+        public Transform3D RotateLocal(Quaternion other)
         {
-            return Rotate(Quaternion.CreateFromYawPitchRoll(
+            return new Transform3D(Position, Orientation * other, Scale);
+        }
+
+        public Transform3D RotateLocal(float yaw, float pitch, float roll)
+        {
+            return RotateLocal(Quaternion.CreateFromYawPitchRoll(
                 yaw,
                 pitch,
                 roll
             ));
         }
 
-        public Transform3D Rotate(Vector3 eulerAngles)
+        public Transform3D RotateLocal(Vector3 eulerAngles)
         {
-            return Rotate(Quaternion.CreateFromYawPitchRoll(
+            return RotateLocal(Quaternion.CreateFromYawPitchRoll(
                 eulerAngles.X,
                 eulerAngles.Y,
                 eulerAngles.Z
@@ -63,9 +79,7 @@ namespace KavTest
 
         public Transform3D Compose(Transform3D other)
         {
-            return new Transform3D(
+            return new Transform3D(Position + other.Position, Orientation * other.Orientation, Scale * other.Scale);
-                other.TransformMatrix * TransformMatrix
-            );
         }
 
         private static Matrix CreateTransformMatrix(Vector3 position, Quaternion orientation, Vector3 scale)