Aabb Aabb::SplitAlongZ(float startU, float endU) const {
Vec3f nmin, nmax;
nmin = InterpolateLinear(m_min, Vec3f(m_min[0], m_min[1], m_max[2]),
startU);
nmax = InterpolateLinear(Vec3f(m_max[0], m_max[1], m_min[2]), m_max, endU);
return Aabb(nmin, nmax);
}
void DoSegment(int i,double *V0, double A)
{
double d,t,angle;
d = dist[i]; // get distance for this segment
// determine how much time will be required to go this distance
// at a starting Velocity of V0 while accelerating at A
if (A!=0)
{
// must solve quadratic to determine time at end
t = (-(*V0) + sqrt((*V0)*(*V0) + 2.0f*A*d))/A;
}
else
{
// constant velocity case is simple
t = d/(*V0);
}
// determine the direction of the segment so we can control the tagential knife
angle = FindAngle(pointx[i]-pointx[i-1],pointy[i]-pointy[i-1]);
x0=x1; // this segment starts at the beg of previous
y0=y1;
a0=a1;
x1=pointx[i]*RESX;
y1=pointy[i]*RESY;
a1=angle*RESA;
InterpolateLinear(0.0, 0.5*A/d, *V0/d, 0.0, t); // add to coordinated motion buffer
*V0 += t * A; // return new final velocity
}
void InterpolatorKNN::KollinearWithDistinctPositions(NNCandidate candidates[3], Vertex v) {
// project v onto line <v_01, v_02> with hesse normal form
D3DXVECTOR3 v_01 = candidates[1].vertex.pos-candidates[0].vertex.pos;
D3DXVECTOR3 v_02 = candidates[2].vertex.pos-candidates[0].vertex.pos;
D3DXVECTOR3 v_0v = v.pos-candidates[0].vertex.pos;
D3DXVECTOR3 v_1v = v.pos-candidates[1].vertex.pos;
D3DXVECTOR3 v_2v = v.pos-candidates[2].vertex.pos;
D3DXVECTOR3 v_2 = CrossProd(v_01, v_0v);
if(v_2.x != 0.0f || v_2.y != 0.0f || v_2.z != 0.0f) {
D3DXVECTOR3 normal = Normalize(CrossProd(v_01, v_2));
D3DXVECTOR3 pointOnPlane = candidates[0].vertex.pos;
float d = DotProd(normal, pointOnPlane);
float distance = DotProd(normal, v.pos) - d;
v.pos = v.pos + distance * (-normal);
}
if(DotProd(v_01, v_02) < -0.9f) {
// 0 is in the middle
if(DotProd(v_01, v_0v) > 0.9f){
// v on the same side as 1
InterpolateLinear(candidates[0], candidates[1], v);
candidates[2].weight = 0.0f;
}
else{
// v on the same side as 2
InterpolateLinear(candidates[0], candidates[2], v);
candidates[1].weight = 0.0f;
}
}
if(Length(v_01) < Length(v_02)) {
// 1 is in the middle
if(DotProd(-v_01, v_1v) > 0.9f){
// v on the same side as 0
InterpolateLinear(candidates[1], candidates[0], v);
candidates[2].weight = 0.0f;
}
else{
// v on the same side as 2
InterpolateLinear(candidates[1], candidates[2], v);
candidates[0].weight = 0.0f;
}
}
else{
// 2 is in the middle
if(DotProd(-v_02, v_2v) > 0.9f){
// v on the same side as 0
InterpolateLinear(candidates[2], candidates[0], v);
candidates[1].weight = 0.0f;
}
else{
// v on the same side as 1
InterpolateLinear(candidates[2], candidates[1], v);
candidates[0].weight = 0.0f;
}
}
}
T InterpolateLinear(T start, T end, float startT, float endT, float time)
{
return InterpolateLinear(start, end, (time-startT)/(endT-startT));
};