//---------------------------------------------------------------------------
bool CMesh::InsideTri(Vec3D<>& p, Vec3D<>& v0, Vec3D<>& v1, Vec3D<>& v2)
//---------------------------------------------------------------------------
{// True if point p projects to within triangle (v0;v1;v2)
Vec3D<> xax = (v1-v0).Normalized();
Vec3D<> zax = ((v2-v0).Cross(xax)).Normalized();
Vec3D<> yax = zax.Cross(xax).Normalized();
Vec3D<> p0(0,0,1);
Vec3D<> p1((v1-v0).Dot(xax),(v1-v0).Dot(yax),1);
Vec3D<> p2((v2-v0).Dot(xax),(v2-v0).Dot(yax),1);
Vec3D<> pt((p-v0).Dot(xax),(p-v0).Dot(yax),1);
vfloat d0 = Det(p0,p1,pt);
vfloat d1 = Det(p1,p2,pt);
vfloat d2 = Det(p2,p0,pt);
if (d0<=0 && d1<=0 && d2<=0)
return true;
if (d0>=0 && d1>=0 && d2>=0)
return true;
return false;
}
template<typename T2> Vec3D<T2> convert()
{
Vec3D<T2> ret;
ret.at(0) = static_cast<T2>(this->at(0));
ret.at(1) = static_cast<T2>(this->at(1));
ret.at(2) = static_cast<T2>(this->at(2));
}
// For the description of the algorithm, see manual.tex
bool Reorient::calcRotationAngles(double &angle1, double &angle2) {
if (gonioAxis.at(0).isNull() || gonioAxis.at(1).isNull()) return false;
Vec3D nfrom = fromNormal();
if (nfrom.isNull()) return false;
Vec3D nto = toNormal();
if (nto.isNull()) return false;
// Calculates a line u1+lambda*u2 in 3d-space, that is the intersection of the
// two planes with normal Vector
// gonioAxis[0] and gonioAxis[1] and that contain nFrom and nTo, respectively
Vec3D u1, u2;
if (!calcLine(nfrom, nto, u1, u2)) return false;
double score = -1;
// check the up to two points of intersection of the line with the unit sphere
foreach (Vec3D v, calcPossibleIntermediatePositions(u1, u2)) {
double aChi=calcRotationAngle(nfrom, v, gonioAxis.at(0));
double aPhi=calcRotationAngle(v, nto, gonioAxis.at(1));
if ((score<0) || (score > (aChi*aChi+aPhi*aPhi))) {
angle1 = aChi;
angle2 = aPhi;
score = (aChi*aChi+aPhi*aPhi);
}
}
void CP_Mesh::Draw(Vec3D<>* Envelope)
{
glPushMatrix();
// glScalef(MaxVal,MaxVal, MaxVal);
glColor4d(R, G, B, alpha);
Vec3D<> Min = ThisMesh.GetBBMin();
Vec3D<> Size = ThisMesh.GetBBSize();
Vec3D<> v1(X, Y, Z);
if (Envelope){
Vec3D<> ScaleFacV = Vec3D<>(dX, dY, dZ).Scale(Envelope->ScaleInv(Size)); //= WS/Size
vfloat MinScaleFac = ScaleFacV.Min();
v1 = v1.Scale(*Envelope);
glTranslated(v1.x, v1.y, v1.z);
glScaled(MinScaleFac, MinScaleFac, MinScaleFac);
}
else {
glTranslated(v1.x, v1.y, v1.z);
glScaled(dX/Size.x, dY/Size.y, dZ/Size.z);
}
glTranslated(-Min.x, -Min.y, -Min.z);
ThisMesh.Draw(false, true, true, true);
glPopMatrix();
}
bool toxi::geom::AABB::intersectsBox( AABB & box )
{
Vec3D t = box.sub(x, y, z);
return toxi::math::MathUtils::abs( t.getX() ) <= ( extent.getX() + box.extent.getX() )
&& toxi::math::MathUtils::abs( t.getY() ) <= ( extent.getZ() + box.extent.getY() )
&& toxi::math::MathUtils::abs( t.getY() ) <= ( extent.getY() + box.extent.getZ() );
}
toxi::geom::AABB::AABB( const Vec3D & point, const Vec3D & extend )
{
this->x = point.getX();
this->y = point.getY();
this->z = point.getZ();
setExtend( extend );
}
Particle PlaneParticleEmitter::newParticle(int anim, int time)
{
Particle p;
// TODO: maybe evaluate these outside the spawn function, since they will be common for a given frame?
float w = sys->areal.getValue(anim, time) * 0.5f;
float l = sys->areaw.getValue(anim, time) * 0.5f;
float spd = sys->speed.getValue(anim, time);
float var = sys->variation.getValue(anim, time);
p.pos = sys->pos + Vec3D(randfloat(-l,l), 0, randfloat(-w,w));
p.pos = sys->parent->mat * p.pos;
Vec3D dir = sys->parent->mrot * Vec3D(0,1,0);
p.down = Vec3D(0,-1.0f,0); // dir * -1.0f;
//p.speed = dir.normalize() * randfloat(spd1,spd2); // ?
p.speed = dir.normalize() * spd * (1.0f+randfloat(-var,var));
p.life = 0;
p.maxlife = sys->lifespan.getValue(anim, time);
p.origin = p.pos;
p.tile = randint(0, sys->rows*sys->cols-1);
return p;
}
void TShadowManager::refreshTerrainTri()
{
std::vector< int >& triVec = FuCShadowModify::getTriIDVec();
triVec.clear();
FnTriangle tT;
tT.Object( curLevel->getFlyTerrain().Object() , 0);
Vec3D actorPos = m_player->getPosition();
int nList = tT.GetTriangleNumber();
int tri[3];
float pos[16];
float r2 = gShadowMaxRadius * gShadowMaxRadius;
for (int i = 0; i < nList; i++)
{
tT.GetTopology( i , tri);
tT.GetVertex(tri[0], pos);
float dx = actorPos.x() - pos[0];
float dy = actorPos.y() - pos[1];
if ( dx * dx + dy * dy < r2 )
triVec.push_back( i );
}
}
toxi::geom::Triangle3D toxi::geom::Triangle3D::createEquilateralFrom( Vec3D & a, Vec3D & b )
{
Vec3D c = a.interpolateTo( b, 0.5 );
Vec3D dir = b.sub( a );
Vec3D n = a.cross( dir.normalize( ) );
c.addSelf( n.normalizeTo( dir.magnitude() * toxi::math::MathUtils::SQRT3 / 2 ) );
return Triangle3D( a, b, c );
}
/*
============
idQuat::ToAngularVelocity
============
*/
Vec3D idQuat::ToAngularVelocity( void ) const {
Vec3D vec;
vec.x = x;
vec.y = y;
vec.z = z;
vec.Normalize();
return vec * Float_ACos( w );
}
Color Cylinder::getDifColor(const Vec3D& pnt, const CIsect& isect/* = CIsect()*/) const
{
if (mMtrl->DifTexture)
{
Vec3D texCoords = getTexCoords(pnt, isect);
return scale3D(mMtrl->DifTexture->sample(texCoords.x(), texCoords.y()), mMtrl->DifColor);
}
return mMtrl->DifColor;
}
toxi::geom::Vec3D toxi::geom::Matrix4x4::applyToSelf( Vec3D & v )
{
for ( int i = 0; i < 4; i++ ) {
double* m = matrix[ i ];
temp[ i ] = v.getX() * m[ 0 ] + v.getY() * m[ 1 ] + v.getZ() * m[ 2 ] + m[ 3 ];
}
v.set( ( float ) temp[ 0 ], ( float ) temp[ 1 ], ( float ) temp[ 2 ] ).scaleSelf(
( float ) ( 1.0 / temp[ 3 ] ) );
return v;
}
void Matrix<float>::translate(const Vec3D& vec)
{
const float x = vec._x();
const float y = vec._y();
const float z = vec._z();
matrix[12] += matrix[0]*x + matrix[4]*y + matrix[8]*z;
matrix[13] += matrix[1]*x + matrix[5]*y + matrix[9]*z;
matrix[14] += matrix[2]*x + matrix[6]*y + matrix[10]*z;
}
Vec3D CSceneData::getVertexNormal(int x, int y)const
{
float a = getVertexHeight(x, y);
float b = getVertexHeight(x, y+1);
float c = getVertexHeight(x+1, y);
Vec3D vVector0(0,(b-a),1);
Vec3D vVector1(1,(c-a),0);
Vec3D vN = vVector0.cross(vVector1);
return vN.normalize();
}
void Camera::RotateLeftAroundCenter(float speed)
{
Vec3D d = m_up.CrossProduct(m_center - m_eye);
float tam = d.Length();
d /= tam;
m_eye += d * speed;
}
Vec3D CTerrainData::getVertexNormal(int nCellX, int nCellY)const
{
float a = getVertexHeight(nCellX, nCellY);
float b = getVertexHeight(nCellX, nCellY+1);
float c = getVertexHeight(nCellX+1, nCellY);
Vec3D vVector0(0,(b-a),1);
Vec3D vVector1(1,(c-a),0);
Vec3D vN = vVector0.cross(vVector1);
return vN.normalize();
}
void Matrix<float>::scale(const Vec3D& vec)
{
const float x = vec._x();
const float y = vec._y();
const float z = vec._z();
matrix[0] *= x; matrix[1] *= x; matrix[2] *= x;
matrix[4] *= y; matrix[5] *= y; matrix[6] *= y;
matrix[8] *= z; matrix[9] *= z; matrix[10] *= z;
}
Mat3D VectorPairRotation(const Vec3D& from1, const Vec3D& from2, const Vec3D& to1, const Vec3D& to2) {
Vec3D from_x = (from1.normalized()+from2.normalized()).normalized();
Vec3D from_y = (from1.normalized()-from2.normalized()).normalized();
Mat3D Mfrom(from_x, from_y, from_x%from_y);
Vec3D to_x = (to1.normalized()+to2.normalized()).normalized();
Vec3D to_y = (to1.normalized()-to2.normalized()).normalized();
Mat3D Mto(to_x, to_y, to_x%to_y);
return Mto * Mfrom.inverse();
}
void Camera::moveRelative(const Vec3D& direction) {
float elevation = position_.z() - terrain_.heightMap().elevation(Vec2D(position_.x(), position_.y()));
Vec3D d;
d.x() = direction.x() * std::cos(rotation_.z()) - direction.y() * std::sin(rotation_.z());
d.y() = direction.x() * std::sin(rotation_.z()) + direction.y() * std::cos(rotation_.z());
position_ += d;
position_.z() = terrain_.heightMap().elevation(Vec2D(position_.x(), position_.y())) + elevation;
}
void Camera::MoveLeft(float speed)
{
Vec3D d = m_up.CrossProduct(m_center - m_eye);
float tam = d.Length();
d /= tam;
m_center += d * speed;
m_eye += d * speed;
}
void Camera::MoveForward(float speed)
{
Vec3D d = m_center - m_eye;
float tam = d.Length();
d /= tam;
m_center += d * speed;
m_eye += d * speed;
}
void RibbonEmitter::setup(int anim, int time)
{
Vec3D ntpos = parent->mat * pos;
Vec3D ntup = parent->mat * (pos + Vec3D(0, 0, 1));
ntup -= ntpos;
ntup.normalize();
float dlen = (ntpos - tpos).length();
manim = anim;
mtime = time;
// move first segment
RibbonSegment &first = *segs.begin();
if (first.len > seglen) {
// add new segment
first.back = (tpos - ntpos).normalize();
first.len0 = first.len;
RibbonSegment newseg;
newseg.pos = ntpos;
newseg.up = ntup;
newseg.len = dlen;
segs.push_front(newseg);
}
else {
first.up = ntup;
first.pos = ntpos;
first.len += dlen;
}
// kill stuff from the end
float l = 0;
bool erasemode = false;
for (std::list<RibbonSegment>::iterator it = segs.begin(); it != segs.end();) {
if (!erasemode) {
l += it->len;
if (l > length) {
it->len = l - length;
erasemode = true;
}
}
else {
segs.erase(it);
}
++it;
}
tpos = ntpos;
tcolor = Vec4D(color.getValue(anim, time), opacity.getValue(anim, time));
tabove = above.getValue(anim, time);
tbelow = below.getValue(anim, time);
}
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/// Method to return a normalized direction vector
inline Vec3D Vec4D::GetDirection()
{
if(r.Norm2()==0.)
{
return r;
}
else
{
VEC3D_T norm = r.Norm();
Vec3D r1 = r/norm;
return r1;
}
}
void TFlyObjectEdit::moveObject( int x , int y , int mode , bool isPress /*= true */ )
{
static bool startMove = false;
if ( m_selectIndex == -1 )
return;
if ( !isPress )
{
startMove = false;
return;
}
if ( isPress && !startMove )
{
startMove = true;
m_x0 = x;
m_y0 = y;
}
int dx = x - m_x0;
int dy = y - m_y0;
Vec3D front , up;
m_camera.GetWorldDirection( &front[0] , &up[0] );
Vec3D pos;
m_camera.GetWorldPosition( &pos[0] );
Vec3D objPos;
m_selectObj.GetWorldPosition( &objPos[0] );
float dist = 0.003 * pos.distance( objPos );
Vec3D yAxis = up.cross( front );
if ( mode == 0 )
{
Vec3D pos;
m_selectObj.GetWorldPosition( &pos[0] );
pos += dist *( -dx * yAxis - dy * up );
m_selectObj.SetWorldPosition( &pos[0] );
}
else
{
Vec3D pos;
m_selectObj.GetWorldPosition( &pos[0] );
pos -= dist * ( dx * yAxis + dy * front );
m_selectObj.SetWorldPosition( &pos[0] );
}
m_x0 = x;
m_y0 = y;
}
Vec3D& Vec3D::operator &= (const Vec3D& r)
{
#define R1 (*this)
#define R2 r
const double r1_theta = R1.norm();
const double r2_theta = R2.norm();
if(r1_theta == 0)
{
// R1 is zero so set to R2
*this = R2;
}
else if(r2_theta == 0)
{
// R2 is zero so set to R1
*this = R1;
}
else
{
const double sin_half_r1 = sin(r1_theta/2.0);
const double cos_half_r1 = cos(r1_theta/2.0);
const double sin_half_r2 = sin(r2_theta/2.0);
const double cos_half_r2 = cos(r2_theta/2.0);
const Vec3D r1_hat = R1/r1_theta;
const Vec3D r2_hat = R2/r2_theta;
const double coshalftheta =
cos_half_r1*cos_half_r2-
sin_half_r1*sin_half_r2*(r1_hat*r2_hat);
const Vec3D axis(r1_hat*sin_half_r1*cos_half_r2+
r2_hat*sin_half_r2*cos_half_r1-
(r1_hat^r2_hat)*sin_half_r1*sin_half_r2);
const double sinhalftheta = axis.norm();
if(sinhalftheta==0)
{
*this = Vec3D(0,0,0);
}
else
{
const double halftheta=atan(sinhalftheta/coshalftheta);
*this = axis/sinhalftheta*halftheta*2.0;
}
}
return *this;
}
bool SphereIntersectsSphere( const Vec3D& center0, f32 radius0, const Vec3D& center1, f32 radius1 )
{
// Get the separating axis.
Vec3D vSeparatingAxis = center0 - center1;
// Get the sum of the radii.
f32 fRadiiSum = radius0 + radius1;
// If the distance between the centers is less than the sum of the radii, then we have an intersection.
if( vSeparatingAxis.getLengthSQ() < fRadiiSum * fRadiiSum ) {
return true;
}
// Otherwise they are separated.
return false;
}
//new Vec4D that takes Vec4D
//note no further computation of gamma is required
inline bool Vec4D::Boost4D( const Vec4D& boost4D )
{
/*Here we begin by taking Vec4D and extracting
beta-gamma boost vector parameter as Vec3D
boost after dividing by gamma and last
coordinate as scalar gamma*/
//VEC3D_T _n = Norm2();
VEC3D_T gamma = boost4D.r0;
Vec3D boost = (boost4D.r)/gamma;
VEC3D_T s = boost.Norm();
if(s > (VEC3D_T) 1) {
return false;
}
Vec3D e_boost;
if( s != (VEC3D_T)0 ) {
e_boost=boost/s;
}
else {
return true; // no boost required, boost=0..
}
//change the boosting specifics by factoring to preserve precision
VEC3D_T par=(r*e_boost);
Vec4D t(gamma*r0-(boost4D.r)*r,
r - par*e_boost + gamma*(par*e_boost) - (boost4D.r)*r0);
/*VEC3D_T _n2 = t.Norm2();
std::cout << _n2;
if(_n>_n2)
{
t.r0+=sqrt(_n-_n2);
}
else if(_n<_n2)
{
t.r0-=sqrt(_n-_n2);
}*/
*this=t;
return true;
}
// using vector to a point, unit normal vector to a plane, and a vector
// to a point in the plane, find distance from point to plane
static double distancePointToPlane(const Vec3D& point,
const Vec3D& unitN,
const Vec3D& pointInPlane)
{
Vec3D diff = point - pointInPlane;
return unitN.dot(diff);
}
//
// Matrix3::SetRotationAxis
//
void Matrix3::SetRotationAxis( FLOAT angle, const Vec3D& axis )
{
mxASSERT( axis.IsNormalized() );
FLOAT s, c;
Float_SinCos( angle, s, c );
const FLOAT xy = axis.x * axis.y;
const FLOAT yz = axis.y * axis.z;
const FLOAT zx = axis.z * axis.x;
const FLOAT xs = axis.x * s;
const FLOAT ys = axis.y * s;
const FLOAT zs = axis.z * s;
const FLOAT oneMinusC = 1.0f - c;
mColumns[0].Set(
oneMinusC * axis.x * axis.x + c,
oneMinusC * xy + zs,
oneMinusC * zx - ys
);
mColumns[1].Set(
oneMinusC * xy - zs,
oneMinusC * axis.y * axis.y + c,
oneMinusC * yz + xs
);
mColumns[2].Set(
oneMinusC * zx + ys,
oneMinusC * yz - xs,
oneMinusC * axis.z * axis.z + c
);
}
void WMO::drawSkybox(Vec3D pCamera, Vec3D pLower, Vec3D pUpper) const
{
if (skybox && pCamera.IsInsideOf(pLower, pUpper))
{
//! \todo only draw sky if we are "inside" the WMO... ?
// We need to clear the depth buffer, because the skybox model can (will?)
// require it *. This is inefficient - is there a better way to do this?
// * planets in front of "space" in Caverns of Time
//glClear(GL_DEPTH_BUFFER_BIT);
// update: skybox models seem to have an explicit renderop ordering!
// that saves us the depth buffer clear and the depth testing, too
glDisable(GL_CULL_FACE);
glDisable(GL_DEPTH_TEST);
glPushMatrix();
Vec3D o = gWorld->camera;
glTranslatef(o.x, o.y, o.z);
const float sc = 2.0f;
glScalef(sc, sc, sc);
skybox->draw();
glPopMatrix();
gWorld->hadSky = true;
glEnable(GL_DEPTH_TEST);
}
}
