bool Sphere::isHit( Ray &ray, vect3d &pNormal, float *pt, vect3d *pTexColor)
{
if(!_bbox.isHit(ray))
{
return false;
}
float t, len;
len = len2Line(ray, &t);
if(len > _fRad)
{
return false;
}
if( len <= _fRad)
{
float d = sqrt(_fRad * _fRad - len * len);
float r = d / vecLen(ray.direction_vec);
if(ray.bIsInObj)
{
t += r;
}
else
{
t -= r;
}
}
*pt = t;
// calc normal
vect3d pPoint, vec;
point2point(pPoint, ray.start_point, pPoint);
point2point(vec, ray.direction_vec, vec); vecScale(vec, t, vec);
point2point(pPoint, vec, pPoint);
points2vec(_ctr, pPoint, pNormal);
normalize(pNormal);
// Texture
if(_tex != NULL && pTexColor != NULL)
{
float x = pPoint[0] - _ctr[0];
float y = pPoint[1] - _ctr[1];
float z = pPoint[2] - _ctr[2];
float a = atan2f( x, z );
float b = acosf( y / _fRad );
float u = a / (2 * PI) ;
float v = b / (1 * PI);
//
_tex->getTexAt( (u + 0.5) * _tex->nWidth, (v) * _tex->nHeight, *pTexColor);
}
return true;
}
PerpCamera::PerpCamera(float fEye2Near, vect3d &pCtrPos, vect3d &pUpVec, vect3d &pViewVec, float fNtoF, float fPlaneRatio)
: Camera(pCtrPos, pUpVec, pViewVec, fNtoF, fPlaneRatio)
{
assert(fEye2Near > 0);
//
vect3d vInverseVec;
vecScale(_dir, -fEye2Near, vInverseVec);
point2point(_ctrPos, vInverseVec, _eyePos);
}
bool Triangle::isHit(Ray &ray, vect3d &pNormal, float *pt, vect3d *pTexColor)
{
// This will slow down the performance
//
//if(!_bbox.isHit(ray))
//{
// return false;
//}
float u = 0, v = 0;
if(isTriangleHit(_vertices, ray, pt, &u, &v))
{
if(_bSmooth && _bHasVNorm)
{
vect3d vSmoothNorm;
point2point(_vnormal[1], vSmoothNorm, vSmoothNorm);
vecScale(vSmoothNorm, u, vSmoothNorm);
vect3d vnorm2;
point2point(_vnormal[2], vnorm2, vnorm2);
vecScale(vnorm2, v, vnorm2);
vect3d vnorm3;
point2point(_vnormal[0], vnorm3, vnorm3);
vecScale(vnorm3, (1 - u - v), vnorm3);
point2point(vSmoothNorm, vnorm2, vSmoothNorm);
point2point(vSmoothNorm, vnorm3, pNormal);
normalize(pNormal);
}
else
{
vecCopy(pNormal, _normal);
}
return true;
}
return false;
}
void PerpCamera::genViewRaysByRow(unsigned nRowCount, PixelIntegrator *pBuf)
{
// TODO: the following code piece is redundant...
//
assert(pBuf && nRowCount < WinHeight && _pSampler);
for(unsigned i = 0; i < WinWidth; i ++) // loop for an entire row
{
// to fine the current primary ray starting point
//
vect3d nCurrCtr;
// right vec first
vect3d rightVec;
point2point(rightVec, _rightVec, rightVec);
vecScale(rightVec, (i - WinWidth/2.f) * ViewPlaneRatio / vecLen(_rightVec), rightVec);
// up vec second
vect3d upVec;
point2point(upVec, _upVec, upVec);
vecScale(upVec, (nRowCount - WinHeight/2.f) * ViewPlaneRatio/ vecLen(_upVec), upVec);
point2point(_ctrPos, rightVec, nCurrCtr);
point2point(nCurrCtr, upVec, nCurrCtr);
// since we reuse the vector, we have to clear it before next use
(pBuf + i)->getRays().clear();
for(unsigned j = 0; j < _nMultiSamplingCount; j ++)
{
vect3d startPoint;
// Get current sampling start point
float fdx = 0, fdy = 0;
_pSampler->getNextSample(&fdx, &fdy);
assert( (fdx >= -1 && fdx <= 1) &&
(fdy >= -1 && fdy <= 1) );
vect3d vDeltaXVec;
vecScale(_rightVec, ViewPlaneRatio * fSamplingDeltaFactor * fdx, vDeltaXVec);
vect3d vDeltaYVec;
vecScale(_upVec, ViewPlaneRatio * fSamplingDeltaFactor * fdy, vDeltaYVec);
point2point(nCurrCtr, vDeltaXVec, startPoint);
point2point(startPoint, vDeltaYVec, startPoint);
// put into PixelIntegrator
vect3d viewDir;
points2vec(_eyePos, startPoint, viewDir);
normalize(viewDir);
Ray ray(startPoint, viewDir);
ray.fDeltaX = fdx * fSamplingDeltaFactor;
ray.fDeltaY = fdy * fSamplingDeltaFactor;
(pBuf + i)->addRay(ray);
}
}
}
Cube::Cube( float fLen, float fWidth, float fHeight,
vect3d &pCenterPos,
vect3d &pVerticalVec,
vect3d &pHorizonVec,
float fReflR, float fRefrR, float fRefrK, float fEmitR)
:PrimaryObject(fReflR, fRefrR, fRefrK, fEmitR)
{
assert( (fLen > 0) && (fWidth > 0) && (fHeight > 0) );
///
/// Since there's no ObjObject in GPU, and I want to make primaryObj id the same as the
/// GPU primaryObj array index, I do this. This should not impact the current functional
/// code.
///
nCurrObj --;
_fLength = fLen;
_fWidth = fWidth;
_fHeight = fHeight;
vecCopy(_vCenterPos, pCenterPos);
vecCopy(_verticalVec, pVerticalVec);
vecCopy(_horizonVec, pHorizonVec);
vect3d tmpVec, tmpPoint;
// Top square
vecScale(_verticalVec, _fHeight / 2.0, tmpVec);
point2point(_vCenterPos, tmpVec, tmpPoint);
_vs[0] = new Square(tmpPoint, _verticalVec, _horizonVec, _fLength, _fWidth);
//_vs[0]->setColor(c1,c1,c1, c1, 0.5);
vecScale(_verticalVec, (-1)*_fHeight / 2.0, tmpVec);
point2point(_vCenterPos, tmpVec, tmpPoint);
vecScale(_verticalVec, -1, tmpVec);
_vs[1] = new Square(tmpPoint, tmpVec, _horizonVec, _fLength, _fWidth);
//_vs[1]->setColor(c1,c1,c1, c1,0.5);
// Left square
vect3d vLeftNormalVec;
cross_product(_horizonVec, _verticalVec, vLeftNormalVec);
normalize(vLeftNormalVec);
vecScale(vLeftNormalVec, _fLength / 2.0, tmpVec);
point2point(_vCenterPos, tmpVec, tmpPoint);
_vs[2] = new Square(tmpPoint, vLeftNormalVec, _horizonVec, _fHeight, _fWidth);
//_vs[2]->setColor(c2,c2,c2, c2,0.5);
vecScale(vLeftNormalVec, (-1)*_fLength / 2.0, tmpVec);
point2point(_vCenterPos, tmpVec, tmpPoint);
vecScale(vLeftNormalVec, -1, tmpVec);
_vs[3] = new Square(tmpPoint, tmpVec, _horizonVec, _fHeight, _fWidth);
//_vs[3]->setColor(c2,c2,c2, c2,0.5);
// Right square
vecScale(_horizonVec, _fWidth / 2.0, tmpVec);
point2point(_vCenterPos, tmpVec, tmpPoint);
_vs[4] = new Square(tmpPoint, _horizonVec, _verticalVec, _fLength, _fHeight);
//_vs[4]->setColor(c3,c3,c3, c3,0.5);
vecScale(_horizonVec, (-1)*_fWidth / 2.0, tmpVec);
point2point(_vCenterPos, tmpVec, tmpPoint);
vecScale(_horizonVec, -1, tmpVec);
_vs[5] = new Square(tmpPoint, tmpVec, _verticalVec, _fLength, _fHeight);
//_vs[5]->setColor(c3,c3,c3, c3,0.5);
updateBBox();
}
bool Square::isHit(Ray &ray, vect3d &pNormal, float *pt, vect3d *pTexColor)
{
if(!_bbox.isHit(ray))
{
return false;
}
// The hit point on the plane
vect3d op;
points2vec(_vCenter, ray.start_point, op);
float dn = dot_product(ray.direction_vec, _vNormal);
if(dn == 0.f)
{
return false;
}
float t = - dot_product(op, _vNormal) / dn;
// NOTE: since it is a 0-thickness plane, we need this.
if(t <= epsi)
{
return false;
}
// Get the hit point
vect3d vHitPoint;
vect3d pView; vecScale(ray.direction_vec, t, pView);
point2point(ray.start_point, pView, vHitPoint);
vect3d vHitVec;
points2vec(vHitPoint, _vCenter, vHitVec);
float dx = dot_product(vHitVec, _v2HeightVec) / pow( _nWidth /2 , 2);
float dy = dot_product(vHitVec, _v2WidthVec) / pow( _nHeight /2 , 2);
if( fabs(dy) <= 1.f && fabs(dx) <= 1.0f )
{
*pt = t;
vecCopy(pNormal, _vNormal);
if(_tex != NULL && pTexColor != NULL)
{
float fWidInx = (-dx + 1.f) / 2.f * _nWidth;
float fHeiInx = (dy + 1.f) / 2.f * _nHeight;
switch(_eTexMapType)
{
case STRETCH:
_tex->getTexAt( fWidInx / _nWidth * _tex->nWidth,
fHeiInx / _nHeight * _tex->nHeight, *pTexColor);
break;
case REPEAT:
_tex->getTexAt( (unsigned)fWidInx % _tex->nWidth,
(unsigned)fHeiInx % _tex->nHeight, *pTexColor);
break;
case STRAIGHT:
if(fWidInx < _tex->nWidth && fHeiInx < _tex->nHeight)
{
_tex->getTexAt( (unsigned)fWidInx, (unsigned)fHeiInx, *pTexColor);
}
break;
};
}
return true;
}
return false;
}
ScalarType CoSegmentation::similarity_between_component_back(IndexType i, IndexType j)
{
assert( components_[i].frame==components_[j].frame-1 );
ScalarType toDis = 0.;
ScalarType backDis = 0.;
map<IndexType,IndexType> com_part;
map<IndexType,IndexType> com_back_part;
IndexType com_num = compute_common(components_[i], components_[j],com_part);
IndexType com_back_num = compute_common_back(components_[i], components_[j], com_back_part);
if (com_num==0 && com_back_num == 0) // should bigger than ..vertexes
{
return INF_LOCAL;
}
const IndexType k = 300;
IndexType neighbours[k];
ScalarType dist[k];
map<IndexType, IndexType> valid_neigs;
//to distances
if ( com_num > 0)
{
for ( map<IndexType,IndexType>::iterator iter = com_part.begin();
iter != com_part.end(); iter++)
{
valid_neigs.clear();
Sample& cur_frame = SampleSet::get_instance()[components_[i].frame];
cur_frame.neighbours( iter->first, k, neighbours, dist );
for (IndexType kk=0; kk<k; kk++)
{
auto fiter = com_part.find( neighbours[kk] );
if( fiter!=com_part.end() )
{
assert(fiter->second!=-1);
valid_neigs.insert( *fiter );
}
}
IndexType neig_siz = (IndexType)valid_neigs.size();
if(neig_siz<3)continue;
Matrix3X s_coord, t_coord;
s_coord.setZero(3, neig_siz);
t_coord.setZero(3, neig_siz);
Sample& next_frame = SampleSet::get_instance()[ components_[j].frame ];
IndexType vi = 0;
IndexType kk = 0;
for ( map<IndexType,IndexType>::iterator neig_iter = valid_neigs.begin();
neig_iter != valid_neigs.end(); ++neig_iter )
{
s_coord.col(kk) = cur_frame.vertices_matrix().col(neig_iter->first );
t_coord.col(kk) = next_frame.vertices_matrix().col(neig_iter->second);
}
Matrix33 rot_mat;
MatrixXX tran_vec;
point2point(s_coord, t_coord, rot_mat, tran_vec);
auto bias = rot_mat*cur_frame.vertices_matrix().col(iter->first) + tran_vec
- next_frame.vertices_matrix().col(iter->second);
toDis += bias.norm(); //local ICP
}
}
return toDis + backDis;
}
