private void Render()
		{

            if (isRendering)
                return;
            isRendering = true;

            if (device == null)
                return;
			//Clear the backbuffer to a green color 
			device.Clear(ClearFlags.Target | ClearFlags.ZBuffer, System.Drawing.Color.DarkGreen, 1.0f, 0);
			//Begin the scene
			device.BeginScene();
			// load vertices and indices

            device.VertexFormat = CustomVertex.PositionColored.Format;
            device.SetStreamSource(0, vbmine, 0);
            device.Indices = ibmine;
            device.DrawIndexedPrimitives(PrimitiveType.TriangleList, 0, 0, WIDTH * HEIGHT, 0, indices.Length / 3);
            //this is the line that wont work :(
            
            // Setup the world, view, and projection matrices
            SetupMatrices();

    
            if (showHelp)
                RenderText();

            //End the scene
			device.EndScene();

			// Update the screen
			device.Present();
            isRendering = false;

    		}

private void VertexDeclaration(Device dev)        {            vbmine = new VertexBuffer(typeof(CustomVertex.PositionColored), WIDTH * HEIGHT, device, Usage.Dynamic | Usage.WriteOnly, CustomVertex.PositionColored.Format, Pool.Default);            vertices = new CustomVertex.PositionColored[WIDTH * HEIGHT];            for (int x = 0; x < WIDTH; x++)            {                for (int y = 0; y < HEIGHT; y++)                {                    vertices[x + y * WIDTH].Position = new Vector3(x, y, heightData[x, y]);                    vertices[x + y * WIDTH].Color = Color.FromArgb(heightData[x, y], heightData[x, y], heightData[x, y]).ToArgb();                }            }            vbmine.SetData(vertices, 0, LockFlags.None);        }        private void IndicesDeclaration()        {            ibmine = new IndexBuffer(typeof(int), (WIDTH - 1) * (HEIGHT - 1) * 6, device, Usage.WriteOnly, Pool.Default);            indices = new int[(WIDTH - 1) * (HEIGHT - 1) * 6];            for (int x = 0; x < WIDTH - 1; x++)            {                for (int y = 0; y < HEIGHT - 1; y++)                {                    indices[(x + y * (WIDTH - 1)) * 6] = (x + 1) + (y + 1) * WIDTH;                    indices[(x + y * (WIDTH - 1)) * 6 + 1] = (x + 1) + y * WIDTH;                    indices[(x + y * (WIDTH - 1)) * 6 + 2] = x + y * WIDTH;                    indices[(x + y * (WIDTH - 1)) * 6 + 3] = (x + 1) + (y + 1) * WIDTH;                    indices[(x + y * (WIDTH - 1)) * 6 + 4] = x + y * WIDTH;                    indices[(x + y * (WIDTH - 1)) * 6 + 5] = x + (y + 1) * WIDTH;                }            }            ibmine.SetData(indices, 0, LockFlags.None);        }

uusing System;using System.Drawing;using System.Collections;using System.ComponentModel;using System.Windows.Forms;using System.Data;using System.Threading;using System.IO;using Microsoft.DirectX;using Microsoft.DirectX.Direct3D;using Direct3D=Microsoft.DirectX.Direct3D;using Microsoft.Samples.DirectX.UtilityToolkit;using WiimoteLib;namespace AFMHeadtracking{    class Point2D    {        public float x = 0.0f;        public float y = 0.0f;        public void set(float x, float y)        {            this.x = x;            this.y = y;        }    }	public class AFMHeadtracking : Form	{        // Our global variables for this project        int WIDTH, HEIGHT;        int[,] heightData;        int MaximumHeight = 0;        int MinimumHeight = 255;        IndexBuffer ibmine;        VertexBuffer vbmine;        int[] indices;        CustomVertex.PositionColored[] vertices;        private Microsoft.DirectX.Direct3D.Device device;        int numGridlines = 10;        float boxdepth = 8;        float dotDistanceInMM = 8.5f * 25.4f;//width of the wii sensor bar        float screenHeightinMM = 20 * 25.4f;        float radiansPerPixel = (float)(Math.PI / 4) / 1024.0f; //45 degree field of view with a 1024x768 camera        float movementScaling = 1.0f;        int gridColor = 0xCCCCCC;        VertexBuffer gridBuffer = null;        Random random = new Random();        bool showTargets = true;        bool showLines = true;        bool isRendering = false;        Point2D[] wiimotePointsNormalized = new Point2D[4];        int[] wiimotePointIDMap = new int[4];		PresentParameters presentParams = new PresentParameters();        private Sprite textSprite = null; // Sprite for batching text calls        private Microsoft.DirectX.Direct3D.Font statsFont = null; // Font for drawing text        bool isReady = false;        int m_dwWidth = 1024;        int m_dwHeight = 768;        float screenAspect =0;        float cameraVerticaleAngle = 0; //begins assuming the camera is point straight forward        float relativeVerticalAngle = 0; //current head position view angle        bool cameraIsAboveScreen = false;//has no affect until zeroing and then is set automatically.               int lastFrameTick = 0;        int frameCount;        float frameRate = 0;        Matrix worldTransform = Matrix.Identity;        bool showGrid = true;        bool showHelp = true;        int lastKey = 0;        //wiimote stuff        bool doWiimote = true;        bool doWiimote2 = false;        Wiimote remote;        CrosshairCursor wiiCursor1;        CrosshairCursor wiiCursor2;        CrosshairCursor wiiCursor3;        CrosshairCursor wiiCursor4;        bool doWiiCursors = true;        //headposition        float headX = 0;        float headY = 0;        float headDist = 2;		public AFMHeadtracking()		{			// Set the initial size of our form			this.ClientSize = new System.Drawing.Size(m_dwWidth,m_dwHeight);            loadConfigurationData();            if(screenAspect==0)//only override if it's emtpy                screenAspect = m_dwWidth / (float)m_dwHeight;			this.Text = "AFM Headtracking";            //add event handlers            this.KeyDown += new System.Windows.Forms.KeyEventHandler(this.OnKeyPress);            this.FormClosing += new FormClosingEventHandler(this.OnFormClosing);            for (int i = 0; i < 4; i++)            {                wiimotePointsNormalized = new Point2D();                wiimotePointIDMap = i;            }        }        public void loadConfigurationData()        {            // create reader & open file            try            {                TextReader tr = new StreamReader("config.dat");                char[] seps = { ':' };                String line;                String[] values;                line = tr.ReadLine();                values = line.Split(seps);                screenHeightinMM = float.Parse(values[1]);                line = tr.ReadLine();                values = line.Split(seps);                dotDistanceInMM = float.Parse(values[1]);                line = tr.ReadLine();                values = line.Split(seps);                screenAspect = float.Parse(values[1]);                line = tr.ReadLine();                values = line.Split(seps);                cameraIsAboveScreen = bool.Parse(values[1]);                line = tr.ReadLine();                values = line.Split(seps);                doWiimote2 = bool.Parse(values[1]);                // close the stream                tr.Close();            }            catch (System.NullReferenceException)            {            }            catch (System.FormatException)            {                //bad config, ignore                throw new Exception("Config file is mal-formatted.");            }            catch (System.IO.FileNotFoundException)            {                //no prexsting config, create one with the deafult values                TextWriter tw = new StreamWriter("config.dat");                // write a line of text to the file                tw.WriteLine("screenHieght(mm):" + screenHeightinMM);                tw.WriteLine("sensorBarWidth(mm):" + dotDistanceInMM);                tw.WriteLine("screenAspect(width/height):" + screenAspect);                tw.WriteLine("cameraIsAboveScreen(true/false):" + cameraIsAboveScreen);                tw.WriteLine("cnnectToSecondWiimote(true/false):" + doWiimote2);                // close the stream                tw.Close();                return;            }        }        private void LoadHeightData()        {            int offset;            byte dummy;            try            {                FileStream fs = new FileStream("heightmap.bmp", FileMode.Open, FileAccess.Read);                BinaryReader r = new BinaryReader(fs);                for (int i = 0; i < 10; i++)                {                    dummy = r.ReadByte();                }                offset = r.ReadByte();                offset += r.ReadByte() * 256;                offset += r.ReadByte() * 256 * 256;                offset += r.ReadByte() * 256 * 256 * 256;                for (int i = 0; i < 4; i++)                {                    dummy = r.ReadByte();                }                WIDTH = r.ReadByte();                WIDTH += r.ReadByte() * 256;                WIDTH += r.ReadByte() * 256 * 256;                WIDTH += r.ReadByte() * 256 * 256 * 256;                HEIGHT = r.ReadByte();                HEIGHT += r.ReadByte() * 256;                HEIGHT += r.ReadByte() * 256 * 256;                HEIGHT += r.ReadByte() * 256 * 256 * 256;                heightData = new int[WIDTH, HEIGHT];                for (int i = 0; i < (offset - 26); i++)                {                    dummy = r.ReadByte();                }                for (int i = 0; i < HEIGHT; i++)                {                    for (int y = 0; y < WIDTH; y++)                    {                        int height = (int)(r.ReadByte());                        height += (int)(r.ReadByte());                        height += (int)(r.ReadByte());                        height /= 8;                        heightData[WIDTH - 1 - y, HEIGHT - 1 - i] = height;                        if (height < MinimumHeight)                        {                            MinimumHeight = height;                        }                        if (height > MaximumHeight)                        {                            MaximumHeight = height;                        }                    }                }            }            catch (System.NullReferenceException)            {            }            catch (System.FormatException)            {                throw new Exception("Loaded picture is not .bmp.");            }            catch (System.IO.FileNotFoundException)            {                MessageBox.Show("No .bmp picture in root directory. The program will shutdown.");                isReady = false;                this.Dispose();            }        }         private void IndicesDeclaration()        {            ibmine = new IndexBuffer(typeof(int), (WIDTH - 1) * (HEIGHT - 1) * 6, device, Usage.WriteOnly, Pool.Default);            indices = new int[(WIDTH - 1) * (HEIGHT - 1) * 6];            for (int x = 0; x < WIDTH - 1; x++)            {                for (int y = 0; y < HEIGHT - 1; y++)                {                    indices[(x + y * (WIDTH - 1)) * 6] = (x + 1) + (y + 1) * WIDTH;                    indices[(x + y * (WIDTH - 1)) * 6 + 1] = (x + 1) + y * WIDTH;                    indices[(x + y * (WIDTH - 1)) * 6 + 2] = x + y * WIDTH;                    indices[(x + y * (WIDTH - 1)) * 6 + 3] = (x + 1) + (y + 1) * WIDTH;                    indices[(x + y * (WIDTH - 1)) * 6 + 4] = x + y * WIDTH;                    indices[(x + y * (WIDTH - 1)) * 6 + 5] = x + (y + 1) * WIDTH;                }            }            ibmine.SetData(indices, 0, LockFlags.None);        }        void OnFormClosing(object sender, FormClosingEventArgs e)        {            isReady = false;//set the flag to stop the rendering call driven by incoming wiimote reports            Cursor.Show();        }        private void OnKeyPress(object sender, System.Windows.Forms.KeyEventArgs e)        {            lastKey = (int)e.KeyCode;            if ((int)(byte)e.KeyCode == (int)Keys.Escape)            {                isReady = false;                Cursor.Show();//set the flag to stop the rendering call driven by incoming wiimote reports                this.Dispose(); // Esc was pressed                return;            }            if ((int)(byte)e.KeyCode == (int)Keys.Space)            {                //zeros the head position and computes the camera tilt                double angle = Math.Acos(.5 / headDist)-Math.PI / 2;//angle of head to screen                if (!cameraIsAboveScreen)                    angle  = -angle;                cameraVerticaleAngle = (float)((angle-relativeVerticalAngle));//absolute camera angle             }            if ((int)(byte)e.KeyCode == 'C')            {                cameraIsAboveScreen = !cameraIsAboveScreen;            }            if ((int)(byte)e.KeyCode == 'G')                showGrid = !showGrid;            if ((int)(byte)e.KeyCode == 'H')                showHelp = !showHelp;            if ((int)(byte)e.KeyCode == 'T')                showTargets = !showTargets;            if ((int)(byte)e.KeyCode == 'L')                showLines = !showLines;            if ((int)(byte)e.KeyCode == (int)Keys.Up)            {            }            if ((int)(byte)e.KeyCode == (int)Keys.Down)            {            }            if ((int)(byte)e.KeyCode == (int)Keys.Left)            {            }            if ((int)(byte)e.KeyCode == (int)Keys.Right)            {            }        }        private void RenderText()        {            TextHelper txtHelper = new TextHelper(statsFont, textSprite, 15);            txtHelper.Begin();            txtHelper.SetInsertionPoint(5, 5);            // Output statistics            txtHelper.SetForegroundColor(System.Drawing.Color.Yellow);            txtHelper.DrawTextLine("Stats---------------");                       frameCount++;            if (frameCount == 100)            {                frameRate = 100 * 1000.0f / (Environment.TickCount - lastFrameTick);                lastFrameTick = Environment.TickCount;                frameCount = 0;            }            txtHelper.DrawTextLine("Avg Framerate: " + frameRate);            if (remote != null)            {                                txtHelper.DrawTextLine("Wii IR dots:" + remote.WiimoteState.IRState.IRSensors[0].Found + " "                                                        + remote.WiimoteState.IRState.IRSensors[1].Found + " "                                                      + remote.WiimoteState.IRState.IRSensors[2].Found + " "                                                       + remote.WiimoteState.IRState.IRSensors[3].Found);            }            txtHelper.DrawTextLine("Last Key Pressed: " + lastKey);                        txtHelper.DrawTextLine("Est Head X-Y (mm): " + headX * screenHeightinMM + ", " + headY * screenHeightinMM);            txtHelper.DrawTextLine("Est Head Dist (mm): " + headDist*screenHeightinMM);            txtHelper.DrawTextLine("Camera Vert Angle (rad): " + cameraVerticaleAngle);            if(cameraIsAboveScreen)                txtHelper.DrawTextLine("Camera Position: Above Screen");            else                 txtHelper.DrawTextLine("Camera Position: Below Screen");            txtHelper.DrawTextLine("Screen Height (mm) : " + screenHeightinMM);            txtHelper.DrawTextLine("IR Dot Width (mm) : " + dotDistanceInMM);            txtHelper.DrawTextLine("");            txtHelper.DrawTextLine("Controls -----");            txtHelper.DrawTextLine("Space - calibrate camera angle/center view");            txtHelper.DrawTextLine("C - Toggle camera position above/below screen");            txtHelper.DrawTextLine("esc - Quit");            txtHelper.DrawTextLine("");            txtHelper.DrawTextLine("Show--------");            txtHelper.DrawTextLine("M - Mouse Cursor");            txtHelper.DrawTextLine("G - Grid");            txtHelper.DrawTextLine("H - Help Text");            txtHelper.DrawTextLine("");            txtHelper.End();        }		public bool InitializeGraphics()		{			try			{                this.FormBorderStyle = FormBorderStyle.None;//this is the bug that kept thing crashing C# on vista                AdapterInformation ai = Manager.Adapters.Default;                Caps caps = Manager.GetDeviceCaps(ai.Adapter, DeviceType.Hardware);                                Cursor.Hide();                //presentParams.Windowed=!doFullscreen;                presentParams.Windowed = true;                presentParams.SwapEffect = SwapEffect.Discard; // Discard the frames 				presentParams.EnableAutoDepthStencil = true; // Turn on a Depth stencil				presentParams.AutoDepthStencilFormat = DepthFormat.D16; // And the stencil format                presentParams.BackBufferWidth = m_dwWidth;					//screen width                presentParams.BackBufferHeight = m_dwHeight;					//screen height                presentParams.BackBufferFormat = Format.R5G6B5;					//color depth                presentParams.MultiSample = MultiSampleType.None;				//anti-aliasing                presentParams.PresentationInterval  = PresentInterval.Immediate; //don't wait... draw right away                device = new Device(0, DeviceType.Hardware, this, CreateFlags.SoftwareVertexProcessing, presentParams); //Create a device                device.DeviceReset += new System.EventHandler(this.OnResetDevice);				this.OnCreateDevice(device, null);				this.OnResetDevice(device, null);				return true;			}			catch (DirectXException)			{				// Catch any errors and return a failure				return false;			}		}        public void CreateGridGeometry(Device dev)        {            int step = m_dwWidth / numGridlines;            gridBuffer = new VertexBuffer(typeof(CustomVertex.PositionColored), 4 * (numGridlines + 2), dev, 0, CustomVertex.PositionColored.Format, Pool.Default);            CustomVertex.PositionColored[] verts2;            verts2 = (CustomVertex.PositionColored[])gridBuffer.Lock(0, 0); // Lock the buffer (which will return our structs)            int vertIndex = 0;            for (int i = 0; i <= numGridlines * 2; i += 2)            {                verts2[vertIndex].Position = new Vector3((i * step / 2.0f) / m_dwWidth, 0.0f, 0.0f);                verts2[vertIndex].Color = gridColor;                vertIndex++;                verts2[vertIndex].Position = new Vector3((i * step / 2.0f) / m_dwWidth, 1.0f, 0.0f);                verts2[vertIndex].Color = gridColor;                vertIndex++;            }            for (int i = 0; i <= numGridlines * 2; i += 2)            {                verts2[vertIndex].Position = new Vector3(0.0f, (i * step / 2.0f) / m_dwWidth, 0.0f);                verts2[vertIndex].Color = gridColor;                vertIndex++;                verts2[vertIndex].Position = new Vector3(1.0f, (i * step / 2.0f) / m_dwWidth, 0.0f);                verts2[vertIndex].Color = gridColor;                vertIndex++;            }            gridBuffer.Unlock();        }        public void OnCreateVertexBuffer(object sender, EventArgs e)        {            VertexBuffer vb = (VertexBuffer)sender;            // Create a vertex buffer (100 customervertex)            CustomVertex.PositionNormalTextured[] verts = (CustomVertex.PositionNormalTextured[])vb.Lock(0, 0); // Lock the buffer (which will return our structs)            for (int i = 0; i < 50; i++)            {                // Fill up our structs                float theta = (float)(2 * Math.PI * i) / 49;                verts[2 * i].Position = new Vector3((float)Math.Sin(theta), -1, (float)Math.Cos(theta));                verts[2 * i].Normal = new Vector3((float)Math.Sin(theta), 0, (float)Math.Cos(theta));                verts[2 * i].Tu = ((float)i) / (50 - 1);                verts[2 * i].Tv = 1.0f;                verts[2 * i + 1].Position = new Vector3((float)Math.Sin(theta), 1, (float)Math.Cos(theta));                verts[2 * i + 1].Normal = new Vector3((float)Math.Sin(theta), 0, (float)Math.Cos(theta));                verts[2 * i + 1].Tu = ((float)i) / (50 - 1);                verts[2 * i + 1].Tv = 0.0f;            }            // Unlock (and copy) the data            vb.Unlock();        }	        public void OnCreateDevice(object sender, EventArgs e)		{			Device dev = (Device)sender;            textSprite = new Sprite(dev);            statsFont = ResourceCache.GetGlobalInstance().CreateFont(dev, 15, 0, FontWeight.Bold, 1, false, CharacterSet.Default,Precision.Default, FontQuality.Default, PitchAndFamily.FamilyDoNotCare | PitchAndFamily.DefaultPitch, "Arial");                         //init cursors            wiiCursor1 = new CrosshairCursor(dev, 0x00ff00, .04f);            wiiCursor2 = new CrosshairCursor(dev, 0x0000ff, .04f);            wiiCursor3 = new CrosshairCursor(dev, 0xff0000, .04f);            wiiCursor4 = new CrosshairCursor(dev, 0xffff00, .04f);            CreateGridGeometry(dev);            LoadHeightData();            if (doWiimote)            {                try                {                    remote = new Wiimote();                    remote.Connect();                    remote.SetReportType(InputReport.IRAccel, true);                    remote.SetLEDs(true, false, false, false);                    remote.WiimoteChanged +=new EventHandler<WiimoteChangedEventArgs>(wm_OnWiimoteChanged);                 }                catch (Exception x)                {                    MessageBox.Show("Cannot find a wii remote: " + x.Message);                    doWiimote = false;                }            }		}        void wm_OnWiimoteChanged(object sender, WiimoteChangedEventArgs args)        {            ParseWiimoteData();            if (isReady)                Render();//wiimote triggered wiimote thread        }        public void ParseWiimoteData()        {            if (remote.WiimoteState == null)                return;            Point2D firstPoint = new Point2D();            Point2D secondPoint = new Point2D();            int numvisible = 0;            if (remote.WiimoteState.IRState.IRSensors[0].Found)            {                wiimotePointsNormalized[0].x = 1.0f-remote.WiimoteState.IRState.IRSensors[0].RawPosition.X / 768.0f;                wiimotePointsNormalized[0].y = remote.WiimoteState.IRState.IRSensors[0].RawPosition.Y / 768.0f;                wiiCursor1.isDown = true;                firstPoint.x = remote.WiimoteState.IRState.IRSensors[0].RawPosition.X;                firstPoint.y = remote.WiimoteState.IRState.IRSensors[0].RawPosition.Y;                numvisible = 1;            }            else            {//not visible                wiiCursor1.isDown = false;            }            if (remote.WiimoteState.IRState.IRSensors[1].Found)            {                wiimotePointsNormalized[1].x = 1.0f - remote.WiimoteState.IRState.IRSensors[1].RawPosition.X / 768.0f;                wiimotePointsNormalized[1].y = remote.WiimoteState.IRState.IRSensors[1].RawPosition.Y / 768.0f;                wiiCursor2.isDown = true;                if (numvisible == 0)                {                    firstPoint.x = remote.WiimoteState.IRState.IRSensors[1].RawPosition.X;                    firstPoint.y = remote.WiimoteState.IRState.IRSensors[1].RawPosition.Y;                    numvisible = 1;                }                else                {                    secondPoint.x = remote.WiimoteState.IRState.IRSensors[1].RawPosition.X;                    secondPoint.y = remote.WiimoteState.IRState.IRSensors[1].RawPosition.Y;                    numvisible = 2;                }            }            else            {//not visible                wiiCursor2.isDown = false;            }            if (remote.WiimoteState.IRState.IRSensors[2].Found)            {                wiimotePointsNormalized[2].x = 1.0f - remote.WiimoteState.IRState.IRSensors[2].RawPosition.X / 768.0f;                wiimotePointsNormalized[2].y = remote.WiimoteState.IRState.IRSensors[2].RawPosition.Y / 768.0f;                wiiCursor3.isDown = true;                if (numvisible == 0)                {                    firstPoint.x = remote.WiimoteState.IRState.IRSensors[2].RawPosition.X;                    firstPoint.y = remote.WiimoteState.IRState.IRSensors[2].RawPosition.Y;                    numvisible = 1;                }                else if(numvisible==1)                {                    secondPoint.x = remote.WiimoteState.IRState.IRSensors[2].RawPosition.X;                    secondPoint.y = remote.WiimoteState.IRState.IRSensors[2].RawPosition.Y;                    numvisible = 2;                }            }            else            {//not visible                wiiCursor3.isDown = false;            }            if (remote.WiimoteState.IRState.IRSensors[3].Found)            {                wiimotePointsNormalized[3].x = 1.0f - remote.WiimoteState.IRState.IRSensors[3].RawPosition.X / 768.0f;                wiimotePointsNormalized[3].y = remote.WiimoteState.IRState.IRSensors[3].RawPosition.Y / 768.0f;                wiiCursor4.isDown = true;                if(numvisible==1)                {                    secondPoint.x = remote.WiimoteState.IRState.IRSensors[3].RawPosition.X;                    secondPoint.y = remote.WiimoteState.IRState.IRSensors[3].RawPosition.Y;                    numvisible = 2;                }            }            else            {//not visible                wiiCursor4.isDown = false;            }            if (numvisible == 2)            {                float dx = firstPoint.x - secondPoint.x;                float dy = firstPoint.y - secondPoint.y;                float pointDist = (float)Math.Sqrt(dx * dx + dy * dy);                float angle = radiansPerPixel * pointDist / 2;                //in units of screen hieght since the box is a unit cube and box hieght is 1                headDist = movementScaling * (float)((dotDistanceInMM / 2) / Math.Tan(angle)) / screenHeightinMM;                float avgX = (firstPoint.x + secondPoint.x) / 2.0f;                float avgY = (firstPoint.y + secondPoint.y) / 2.0f;                //should  calaculate based on distance                headX = (float)(movementScaling *  Math.Sin(radiansPerPixel * (avgX - 512)) * headDist);                relativeVerticalAngle = (avgY - 384) * radiansPerPixel;//relative angle to camera axis                if(cameraIsAboveScreen)                    headY = .5f+(float)(movementScaling * Math.Sin(relativeVerticalAngle + cameraVerticaleAngle)  *headDist);                else                    headY = -.5f + (float)(movementScaling * Math.Sin(relativeVerticalAngle + cameraVerticaleAngle) * headDist);            }            //position the graphical cursors at the 3rd and 4th ir points if they exist            if (wiiCursor1.isDown)                wiiCursor1.setDown(wiimotePointsNormalized[0].x, wiimotePointsNormalized[0].y);            if (wiiCursor2.isDown)                wiiCursor2.setDown(wiimotePointsNormalized[1].x, wiimotePointsNormalized[1].y);            if (wiiCursor3.isDown)                wiiCursor3.setDown(wiimotePointsNormalized[2].x, wiimotePointsNormalized[2].y);            if (wiiCursor4.isDown)                wiiCursor4.setDown(wiimotePointsNormalized[3].x, wiimotePointsNormalized[3].y);            wiiCursor1.wasDown = wiiCursor1.isDown;            wiiCursor2.wasDown = wiiCursor2.isDown;            wiiCursor3.wasDown = wiiCursor3.isDown;            wiiCursor4.wasDown = wiiCursor4.isDown;         }		public void OnResetDevice(object sender, EventArgs e)		{			Device dev = (Device)sender;			// Turn off culling, so we see the front and back of the triangle			dev.RenderState.CullMode = Cull.None;			// Turn off D3D lighting			dev.RenderState.Lighting = false;			// Turn on the ZBuffer			dev.RenderState.ZBufferEnable = true;        }		        private void SetupMatrices()		{            device.Transform.World = Matrix.Identity;			// Set up our view matrix. A view matrix can be defined given an eye point,			// a point to lookat, and a direction for which way is up. Here, we set the			// eye five units back along the z-axis and up three units, look at the			// origin, and define "up" to be in the y-direction.//            device.Transform.View = Matrix.LookAtLH(new Vector3(mouseCursor.X, mouseCursor.Y, -5.0f), new Vector3(0.0f, 0.0f, 0.0f), new Vector3(0.0f, 1.0f, 0.0f));            device.Transform.View = Matrix.LookAtLH(new Vector3(headX, headY, headDist), new Vector3(/*CHANGEME! was (headX, headY, 0)*/0, 0, 0), new Vector3(0.0f, 1.0f, 0.0f));			// For the projection matrix, we set up a perspective transform (which			// transforms geometry from 3D view space to 2D viewport space, with			// a perspective divide making objects smaller in the distance). To build			// a perpsective transform, we need the field of view (1/4 pi is common),			// the aspect ratio, and the near and far clipping planes (which define at			// what distances geometry should be no longer be rendered).            //compute the near plane so that the camera stays fixed to -.5f*screenAspect, .5f*screenAspect, -.5f,.5f            //compting a closer plane rather than simply specifying xmin,xmax,ymin,ymax allows things to float in front of the displa            float nearPlane = .05f;            device.Transform.Projection = Matrix.PerspectiveOffCenterLH(    nearPlane*(-.5f * screenAspect + headX)/headDist,                                                                             nearPlane*(.5f * screenAspect + headX)/headDist,                                                                             nearPlane*(-.5f - headY)/headDist,                                                                             nearPlane*(.5f - headY)/headDist,                                                                             nearPlane, 100);        }		private void Render()		{            if (isRendering)                return;            isRendering = true;            if (device == null)                return;			//Clear the backbuffer to a green color 			device.Clear(ClearFlags.Target | ClearFlags.ZBuffer, System.Drawing.Color.DarkGreen, 1.0f, 0);			//Begin the scene			device.BeginScene();			// Setup the world, view, and projection matrices            IndicesDeclaration();            vbmine = new VertexBuffer(typeof(CustomVertex.PositionColored), WIDTH * HEIGHT, device, Usage.Dynamic | Usage.WriteOnly, CustomVertex.PositionColored.Format, Pool.Default);            vertices = new CustomVertex.PositionColored[WIDTH * HEIGHT];            for (int x = 0; x < WIDTH; x++)            {                for (int y = 0; y < HEIGHT; y++)                {                    vertices[x + y * WIDTH].Position = new Vector3(x, y, heightData[x, y]);                    vertices[x + y * WIDTH].Color = Color.FromArgb(heightData[x, y], heightData[x, y], heightData[x, y]).ToArgb();                }            }            vbmine.SetData(vertices, 0, LockFlags.None);            device.VertexFormat = CustomVertex.PositionColored.Format;            device.SetStreamSource(0, vbmine, 0);            device.Indices = ibmine;            device.DrawIndexedPrimitives(PrimitiveType.TriangleList, 0, 0, WIDTH * HEIGHT, 0, indices.Length / 3);            //WHY THE HELL WONT THIS WORK?            SetupMatrices();            if (doWiimote)            {                             if (doWiiCursors)                {                }                device.Transform.World = worldTransform;            }            if (showGrid)            {                device.TextureState[0].ColorOperation = TextureOperation.Disable;                device.RenderState.AlphaBlendEnable = false;                device.RenderState.AlphaTestEnable = false;                                //back                device.Transform.World = Matrix.Translation(new Vector3(-.5f, -.5f, -1*boxdepth/2));                device.Transform.World *= Matrix.Scaling(new Vector3(screenAspect, 1, 1));                device.SetStreamSource(0, gridBuffer, 0);                device.VertexFormat = CustomVertex.PositionColored.Format;                device.DrawPrimitives(PrimitiveType.LineList, 0, 2 * (numGridlines + 2));                //left and right                device.Transform.World = Matrix.Translation(new Vector3(-.5f, -.5f, 0));                device.Transform.World *= Matrix.Scaling(new Vector3(1 * boxdepth / 2, 1, 1));                device.Transform.World *= Matrix.RotationY((float)(Math.PI / 2));                device.Transform.World *= Matrix.Translation(new Vector3(0.5f * screenAspect, 0, -.5f*boxdepth/2));                device.DrawPrimitives(PrimitiveType.LineList, 0, 2 * (numGridlines + 2));                device.Transform.World *= Matrix.Translation(new Vector3(-1.0f * screenAspect, 0, 0));                device.DrawPrimitives(PrimitiveType.LineList, 0, 2 * (numGridlines + 2));                //floor and ceiling                device.Transform.World = Matrix.Translation(new Vector3(-.5f, -.5f, 0));                device.Transform.World *= Matrix.Scaling(new Vector3(screenAspect, 1 * boxdepth / 2, 1));                device.Transform.World *= Matrix.RotationX((float)(Math.PI / 2));                device.Transform.World *= Matrix.Translation(new Vector3(0, 0.5f, -.5f*boxdepth/2));                device.DrawPrimitives(PrimitiveType.LineList, 0, 2 * (numGridlines + 2));                device.Transform.World *= Matrix.Translation(new Vector3(0, -1.0f, 0));                device.DrawPrimitives(PrimitiveType.LineList, 0, 2 * (numGridlines + 2));            }                if (showHelp)                RenderText();            //End the scene			device.EndScene();			// Update the screen			device.Present();            isRendering = false;    		}		protected override void OnPaint(System.Windows.Forms.PaintEventArgs e)		{            isReady = true;//rendering triggered by wiimote is waiting for this.        }        protected override void OnResize(System.EventArgs e)        {        }          		static void Main() 		{            using (AFMHeadtracking frm = new AFMHeadtracking())            {                if (!frm.InitializeGraphics()) // Initialize Direct3D                {                    MessageBox.Show("Could not initialize Direct3D or connect to Wiimote.Please make sure the Wiimote is on and connected to your Bluetooth stack. The program will exit.");                    return;                }                frm.Show();                // While the form is still valid, render and process messages                while(frm.Created)                {                   Application.DoEvents();                   if (!frm.doWiimote)                       frm.Render();               }                Cursor.Show();            }		}	}}