// Update Scene Struct
void updateSceneMouse(double diffX, double diffY)
{
double eyeX = myScene->pose.eye.val[0];
double eyeY = myScene->pose.eye.val[1];
double eyeZ = myScene->pose.eye.val[2];
double centerX = myScene->pose.center.val[0];
double centerY = myScene->pose.center.val[1];
double centerZ = myScene->pose.center.val[2];
double threshold = .1;
double scale = 10;
double maxAngle = PI/4;
// Rotating from Z-Axis (optional X & Y) - move mouse left and right
if (leftClicked && !rightClicked) {
CvScalar diff = cvScalar(centerX - eyeX,
centerY - eyeY,
centerZ - eyeZ, 0.0);
double radius = norm(diff);
myScene->pose.eye.val[0] = centerX + radius * cos(maxAngle * diffY);
myScene->pose.eye.val[1] = centerY + radius * sin(maxAngle * diffY);
}
// Translation along Z-Y plane
if (!leftClicked && rightClicked) {
if ((absD(diffX) > threshold) && (absD(diffY) < threshold)) {
myScene->pose.eye.val[1] = eyeY + scale*diffX;
myScene->pose.center.val[1] = centerY + scale*diffX;
} else if ((absD(diffX) < threshold) && (absD(diffY) > threshold)) {
myScene->pose.eye.val[2] = eyeZ + scale*diffY;
myScene->pose.center.val[2] = centerZ + scale*diffY;
}
}
// Zooming along X-Axis - move mouse up and down
if ((leftClicked && rightClicked) || middleClicked) {
CvScalar diff = cvScalar(centerX - eyeX,
centerY - eyeY,
centerZ - eyeZ, 0.0);
double radius = norm(diff);
double zoom = radius + diffX/10;
myScene->pose.eye.val[0] = centerX + zoom * diff.val[0] / radius;
myScene->pose.eye.val[1] = centerY + zoom * diff.val[1] / radius;
}
}
// From Real-time Collision Detection, p179.
bool b2AABB::RayCast(b2RayCastOutput* output, const b2RayCastInput& input) const
{
float32 tmin = -b2_maxFloat;
float32 tmax = b2_maxFloat;
b2Vec2 p = input.p1;
b2Vec2 d = input.p2 - input.p1;
b2Vec2 absD = b2Abs(d);
b2Vec2 normal;
for (int32 i = 0; i < 2; ++i)
{
if (absD(i) < b2_epsilon)
{
// Parallel.
if (p(i) < lowerBound(i) || upperBound(i) < p(i))
{
return false;
}
}
else
{
float32 inv_d = 1.0f / d(i);
float32 t1 = (lowerBound(i) - p(i)) * inv_d;
float32 t2 = (upperBound(i) - p(i)) * inv_d;
// Sign of the normal vector.
float32 s = -1.0f;
if (t1 > t2)
{
b2Swap(t1, t2);
s = 1.0f;
}
// Push the min up
if (t1 > tmin)
{
normal.SetZero();
normal(i) = s;
tmin = t1;
}
// Pull the max down
tmax = b2Min(tmax, t2);
if (tmin > tmax)
{
return false;
}
}
}
// Does the ray start inside the box?
// Does the ray intersect beyond the max fraction?
if (tmin < 0.0f || input.maxFraction < tmin)
{
return false;
}
// Intersection.
output->fraction = tmin;
output->normal = normal;
return true;
}
