void generateInitialTraj(MotionOptimizer & chomper,
int N,
const vec2f& p0,
const vec2f& p1,
MatX& q0,
MatX& q1) {
q0.resize(1, 2);
q1.resize(1, 2);
q0 << p0.x(), p0.y();
q1 << p1.x(), p1.y();
chomper.getTrajectory().initialize( q0, q1, N );
}
bool baryCentricTriangle(vec2f p, vec3f v1, vec3f v2, vec3f v3, float &u, float &v, float &r)
{
float x1mx3 = v1.x() - v3.x();
float x2mx3 = v2.x() - v3.x();
float y1my3 = v1.y() - v3.y();
float y2my3 = v2.y() - v3.y();
float det = (x1mx3 * y2my3) - (y1my3*x2mx3);
float pxmx3 = p.x() - v3.x();
float pymy3 = p.y() - v3.y();
if(det == 0.0 || det == -0.0) return false;
u = (y2my3*pxmx3 + x2mx3*-1*pymy3)/det;
v = (y1my3*-1*pxmx3 + x1mx3*pymy3)/det;
r = 1-u-v;
if (u > 1.0f || v > 1.0f || r > 1.0f) return false;
if (u < 0.0f || v < 0.0f || r < 0.0f) return false;
return true;
}
void Shader::setUniform(const std::string &name, const vec2f v, bool warn) {
glUniform2f(uniform(name, warn), v.x(), v.y());
}
void Camera::setViewport(vec2f dim)
{
vpWidth = dim.x();
vpHeight = dim.y();
hasProjChanged = true;
}
