vec3_t projectPointOnEdge(const vec3_t& M,const vec3_t& A, const vec3_t& u)
{
checkVector(u);
if(u.abs2()==0) EG_BUG;
double k = ((M-A)*u)/u.abs2();
return A + k*u;
}
static vec3_t RotateZ(K rot_sin, K rot_cos, const vec3_t& v) {
return vec3_t {
rot_cos*v.x() - rot_sin*v.y(),
rot_sin*v.x() + rot_cos*v.y(),
v.z()
};
}
mat3_t vecs2rot(const vec3_t &a_B, const vec3_t &g) {
// Create Quaternion from two vectors
const double cos_theta = a_B.normalized().transpose() * g.normalized();
const double half_cos = sqrt(0.5 * (1.0 + cos_theta));
const double half_sin = sqrt(0.5 * (1.0 - cos_theta));
const vec3_t w = a_B.cross(g).normalized();
const double qw = half_cos;
const double qx = half_sin * w(0);
const double qy = half_sin * w(1);
const double qz = half_sin * w(2);
// Convert Quaternion to rotation matrix
const double qx2 = qx * qx;
const double qy2 = qy * qy;
const double qz2 = qz * qz;
const double qw2 = qw * qw;
const double R11 = qw2 + qx2 - qy2 - qz2;
const double R12 = 2 * (qx * qy - qw * qz);
const double R13 = 2 * (qx * qz + qw * qy);
const double R21 = 2 * (qx * qy + qw * qz);
const double R22 = qw2 - qx2 + qy2 - qz2;
const double R23 = 2 * (qy * qz - qw * qx);
const double R31 = 2 * (qx * qz - qw * qy);
const double R32 = 2 * (qy * qz + qw * qx);
const double R33 = qw2 - qx2 - qy2 + qz2;
mat3_t R;
R << R11, R12, R13, R21, R22, R23, R31, R32, R33;
return R;
}
bool vec3_t::RayCylinderIntersect(const vec3_t& pStart, const vec3_t& pDir,
const vec3_t& edgeStart, const vec3_t& edgeEnd,
const float radius,
float* f)
{
// math. for 3d game programming 2nd ed. page 270
// assert(edgeStart != edgeEnd); // sloppy level design
const vec3_t pa = edgeEnd - edgeStart;
const vec3_t s0 = pStart - edgeStart;
const float pa_squared = pa.AbsSquared();
const float pa_isquared = 1.0f/pa_squared;
// a
const float pva = pDir * pa;
const float a = pDir.AbsSquared() - pva*pva*pa_isquared;
// b
const float b = s0*pDir - (s0*pa)*(pva)*pa_isquared;
// c
const float ps0a = s0*pa;
const float c = s0.AbsSquared() - radius*radius - ps0a*ps0a*pa_isquared;
const float dis = b*b - a*c;
if(dis < 0)
return false;
*f = (-b - lynxmath::Sqrt(dis))/a;
const float collision = (pStart + *f*pDir - edgeStart)*pa;
return collision >= 0 && collision <= pa_squared;
}
vec2_t projectVectorOnPlane(vec3_t V,vec3_t i,vec3_t j)
{
if(i.abs2()==0) EG_BUG;
if(j.abs2()==0) EG_BUG;
double x = V*i/i.abs2();
double y = V*j/j.abs2();
return vec2_t(x,y);
}
void CHudHealth::CalcDamageDirection(vec3_t vecFrom)
{
vec3_t forward, right, up;
float side, front;
vec3_t vecOrigin, vecAngles;
if (!vecFrom[0] && !vecFrom[1] && !vecFrom[2])
{
m_fAttackFront = m_fAttackRear = m_fAttackRight = m_fAttackLeft = 0;
return;
}
memcpy(vecOrigin, gHUD.m_vecOrigin, sizeof(vec3_t));
memcpy(vecAngles, gHUD.m_vecAngles, sizeof(vec3_t));
VectorSubtract (vecFrom, vecOrigin, vecFrom);
float flDistToTarget = vecFrom.Length();
vecFrom = vecFrom.Normalize();
AngleVectors (vecAngles, forward, right, up);
front = DotProduct (vecFrom, right);
side = DotProduct (vecFrom, forward);
if (flDistToTarget <= 50)
{
m_fAttackFront = m_fAttackRear = m_fAttackRight = m_fAttackLeft = 1;
}
else
{
if (side > 0)
{
if (side > 0.3)
m_fAttackFront = max(m_fAttackFront, side);
}
else
{
float f = fabs(side);
if (f > 0.3)
m_fAttackRear = max(m_fAttackRear, f);
}
if (front > 0)
{
if (front > 0.3)
m_fAttackRight = max(m_fAttackRight, front);
}
else
{
float f = fabs(front);
if (f > 0.3)
m_fAttackLeft = max(m_fAttackLeft, f);
}
}
}
void Wavefront::Transform(vec3_t& v, const LLXform* x) //recursive
{
LLMatrix4 m;
x->getLocalMat4(m);
for (vec3_t::iterator iterv = v.begin(); iterv != v.end(); ++iterv)
{
*iterv = *iterv * m;
}
if (const LLXform* xp = x->getParent()) Transform(v, xp);
}
float vec3_t::GetAngleDeg(const vec3_t& a, const vec3_t& b)
{
float d = a.Abs() * b.Abs();
#ifdef _DEBUG
if(fabsf(d) < lynxmath::EPSILON)
{
assert(0);
return 0.0f;
}
#endif
return acosf((a * b) / d) * lynxmath::RADTODEG;
}
double angle(const vec3_t & u, const vec3_t & v)
{
// return the angle w.r.t. another 3-vector
double ptot2 = u.abs2()*v.abs2();
if(ptot2 <= 0) {
return 0.0;
} else {
double arg = (u*v)/sqrt(ptot2);
if(arg > 1.0) arg = 1.0;
if(arg < -1.0) arg = -1.0;
return acos(arg);
}
}
vec3_t CPartEffects::RandomRoundVec( vec3_t vMin, vec3_t vMax )
{
float flMin, flMax;
flMin = vMin.Length( );
flMax = vMax.Length( );
vec3_t vVec( gEngfuncs.pfnRandomFloat( vMin.x, vMax.x ), gEngfuncs.pfnRandomFloat( vMin.y, vMax.y ),
gEngfuncs.pfnRandomFloat( vMin.z, vMax.z ) );
vVec = vVec.Normalize( ) * gEngfuncs.pfnRandomFloat( flMin, flMax );
return vVec;
}
void CParticleSystem::Render(const vec3_t& side, const vec3_t& up, const vec3_t& dir)
{
glBindTexture(GL_TEXTURE_2D, m_texture);
glBegin(GL_QUADS);
// use vbos instead of this
std::vector<particle_t>::const_iterator iter;
for(iter = m_particles.begin();iter != m_particles.end(); ++iter)
{
if(iter->lifetime < 0.0f)
continue;
const vec3_t X = iter->size*0.5f*side;
const vec3_t Y = iter->size*0.5f*up;
const vec3_t Q1 = X + Y + iter->origin;
const vec3_t Q2 = -X + Y + iter->origin;
const vec3_t Q3 = -X - Y + iter->origin;
const vec3_t Q4 = X - Y + iter->origin;
glColor4f(iter->color.x, iter->color.y, iter->color.z, iter->alpha);
glTexCoord2f(1.0f, 1.0f);
glVertex3fv(Q1.GetPointer());
glTexCoord2f(0.0f, 1.0f);
glVertex3fv(Q2.GetPointer());
glTexCoord2f(0.0f, 0.0f);
glVertex3fv(Q3.GetPointer());
glTexCoord2f(1.0f, 0.0f);
glVertex3fv(Q4.GetPointer());
}
glEnd();
}
void V_GetDeathCam(cl_entity_t * ent1, cl_entity_t * ent2, float * angle, float * origin)
{
float newAngle[3];
float newOrigin[3];
static vec3_t nonDestructedOrigin;
float distance = 168.0f;
v_lastDistance += v_frametime * 96.0f; // move unit per seconds back
if ( v_resetCamera )
v_lastDistance = 64.0f;
if ( distance > v_lastDistance )
distance = v_lastDistance;
if (ent1->origin.x == 0 && ent1->origin.y == 0 && ent1->origin.z == 0)
nonDestructedOrigin.CopyToArray(newOrigin);
else
{
nonDestructedOrigin = ent1->origin;
VectorCopy(ent1->origin, newOrigin);
}
if ( ent1->player )
newOrigin[2]+= 17; // head level of living player
// get new angle towards second target
if ( ent2 )
{
VectorSubtract(ent2->origin, nonDestructedOrigin, newAngle);
VectorAngles( newAngle, newAngle );
newAngle[0] = -newAngle[0];
}
else
{
// if no second target is given, look down to dead player
newAngle[0] = 90.0f;
newAngle[1] = 0.0f;
newAngle[2] = 0;
}
// and smooth view
V_SmoothInterpolateAngles( v_lastAngles, newAngle, angle, 120.0f );
V_GetChaseOrigin( angle, newOrigin, distance, origin );
VectorCopy(angle, v_lastAngles);
}
bool LaplaceSmoother::setNewPosition(vtkIdType id_node, vec3_t x_new)
{
using namespace GeometryTools;
vec3_t x_old;
m_Grid->GetPoint(id_node, x_old.data());
EG_VTKDCN(vtkCharArray, node_type, m_Grid, "node_type");
bool move = true;
if(m_NoCheck) {
return move;
}
QVector<vec3_t> old_cell_normals(m_Part.n2cGSize(id_node));
EG_VTKDCC(vtkIntArray, cell_code, m_Grid, "cell_code");
for (int i = 0; i < m_Part.n2cGSize(id_node); ++i) {
old_cell_normals[i] = GeometryTools::cellNormal(m_Grid, m_Part.n2cGG(id_node, i));
}
m_Grid->GetPoints()->SetPoint(id_node, x_new.data());
for (int i = 0; i < m_Part.n2cGSize(id_node); ++i) {
vec3_t n = GeometryTools::cellNormal(m_Grid, m_Part.n2cGG(id_node, i));
if (n*old_cell_normals[i] < 0.2*old_cell_normals[i].abs2()) {
move = false;
break;
}
}
if (!move) {
m_Grid->GetPoints()->SetPoint(id_node, x_old.data());
}
return move;
}
BrlCadInterface::HitType BrlCadInterface::shootRay(vec3_t x, vec3_t v, vec3_t &x_hit, vec3_t &n_hit, double &r)
{
HitType hit_type = Miss;
v.normalise();
vec3_t x_in, x_out, n_in, n_out;
double r_in, r_out;
if (brlCadShootRay(x, v, x_in, x_out, n_in, n_out, r_in, r_out)) {
double d_in = (x_in - x)*v;
if (d_in > 0) {
x_hit = x_in;
n_hit = n_in;
r = r_in;
hit_type = HitIn;
}
double d_out = (x_out - x)*v;
if (d_out > 0) {
if (hit_type == Miss || d_out < d_in) {
x_hit = x_out;
n_hit = n_out;
hit_type = HitOut;
r = r_out;
}
}
}
return hit_type;
}
bool is_touching_button(vec2_t screen_pos) {
vec2_t pos = vec2_sub( screen_pos , vec2_scale(_screen_size, 0.5f));
pos.y = -pos.y;
const vec2_t diff = vec2_sub(pos, ATTACK_POSITION.get_xy());
return fabs(diff.x) < ATTACK_SIZE.x * 0.5f
&& fabs(diff.y) < ATTACK_SIZE.y * 0.5f;
}
void CMixer::Update(const float dt, const uint32_t ticks)
{
OBJITER iter;
CObj* obj;
bool success;
for(iter=m_world->ObjBegin();iter!=m_world->ObjEnd();iter++)
{
obj = (*iter).second;
if(obj->GetSound() && !obj->GetSoundState()->is_playing)
{
success = obj->GetSound()->Play(obj->GetSoundState());
CObj* localplayer = m_world->GetLocalObj();
if(success && localplayer)
{
// Distance to sound source
const vec3_t diff = localplayer->GetOrigin() - obj->GetOrigin();
const float dist = std::min(diff.Abs(), SOUND_MAX_DIST);
int volume = (int)(dist*255/SOUND_MAX_DIST);
if(volume > 255)
volume = 255;
uint16_t angle; // 0-360 deg. for Mix_SetPosition
vec3_t playerlook; // player is looking in this direction
float fAlpha; // riwi to sound source
float fBeta; // riwi look dir
m_world->GetLocalController()->GetDir(&playerlook, NULL, NULL);
fAlpha = atan2(diff.x, -diff.z);
fBeta = atan2(playerlook.x, -playerlook.z);
angle = (uint16_t)((fAlpha - fBeta)*180/lynxmath::PI);
Mix_SetPosition(obj->GetSoundState()->cur_channel,
angle, (uint8_t)volume);
}
}
}
}
vec3_t rotate(vec3_t v, vec3_t axis, double theta)
{
axis.normalise();
// transposed base of rotate system
mat3_t g_t;
// compute projection of v in axis direction
vec3_t v_axis = (axis*v)*axis;
// compute first orthogonal vector (first base vector)
g_t[0] = v-v_axis;
//In case of points on the rotation axis, do nothing
if(g_t[0].abs()==0) return v;
g_t[0].normalise();
// second base vector is the normalised axis
g_t[1] = axis;
// compute second orthogonal vector (third base vector)
g_t[2] = g_t[0].cross(g_t[1]);
// base of rotate system
mat3_t g = g_t.transp();
// matrix for rotation around g_t[1];
mat3_t rot = mat3_t::identity();
rot[0][0] = cos(theta);
rot[0][2] = sin(theta);
rot[2][0] = -sin(theta);
rot[2][2] = cos(theta);
// transfer v to rotate system
vec3_t v_r = g_t*v;
// rotate the vector and transfer it back
v_r = rot*v_r;
v = g*v_r;
return v;
}
void cart2spherical(vec3_t x, double &alpha, double &beta, double &r)
{
r = x.abs();
static const vec3_t ex(1,0,0);
vec3_t xy(x[0],x[1],0);
if (x[1] >= 0) {
alpha = angle(ex, xy);
} else {
alpha = 2*M_PI - angle(xy, ex);
}
if (xy.abs2() > 0) {
if (x[2] >= 0) {
beta = angle(xy, x);
} else {
beta = -angle(xy, x);
}
} else {
beta = 0.5*M_PI;
}
}
bool CreateCadTesselation::shootRay(vec3_t x, vec3_t v, vec3_t &x_in, vec3_t &x_out, vec3_t &n_in, vec3_t &n_out)
{
v.normalise();
double r_hit;
vec3_t x_hit, n_hit;
CadInterface::HitType hit_type = m_CadInterface->shootRay(x, v, x_hit, n_hit, r_hit);
if (hit_type == CadInterface::Miss || hit_type == CadInterface::HitOut) {
return false;
}
x_in = x_hit;
n_in = n_hit;
x = x_in;
do {
x += 1e-10*v;
hit_type = m_CadInterface->shootRay(x, v, x_hit, n_hit, r_hit);
if (hit_type == CadInterface::HitOut) {
x_out = x_hit;
n_out = n_hit;
}
x = x_hit;
} while (hit_type == CadInterface::HitIn);
return true;
}
vec3_t intersectionOnPlane(vec3_t v, vec3_t A, vec3_t nA, vec3_t B, vec3_t nB)
{
vec3_t u = B-A;
// u.normalise();
v.normalise();
v = u.abs()*v;
//cout<<"u="<<u<<" v="<<v<<endl;
vec2_t p_A(0,0);
vec2_t p_B(1,0);
vec2_t p_nA = projectVectorOnPlane(nA,u,v);
vec2_t p_nB = projectVectorOnPlane(nB,u,v);
vec2_t p_tA = turnRight(p_nA);
vec2_t p_tB = turnRight(p_nB);
double k1, k2;
vec2_t p_K;
if(!intersection(k1, k2, p_A, p_tA, p_B, p_tB)) {
//qDebug()<<"WARNING: No intersection found!!!";
p_K = 0.5*(p_A + p_B);
}
else {
p_K = p_A + k1*p_tA;
}
//cout<<"nA="<<nA<<endl;
//cout<<"p_nA="<<p_nA<<endl;
//cout<<"p_tA="<<p_tA<<endl;
//cout<<"p_K="<<p_K<<endl;
if(p_K[0]<0) p_K[0] = 0;
if(p_K[0]>1) p_K[0] = 1;
vec3_t K = A + p_K[0]*u + p_K[1]*v;
//cout<<"K="<<K<<endl;
return K;
}
vec3_t projectPointOnPlane(const vec3_t& M, const vec3_t& A, const vec3_t& N)
{
double k = ((M-A)*N)/N.abs2();
return( M - k*N );
}
/** Checks if a point in camera coordinates is visible by the retina */
bool isVisible(const vec3_t& pos) const {
const int ix = static_cast<int>(pos.x() / pos.z() * retina_proj_param_);
const int iy = static_cast<int>(pos.y() / pos.z() * retina_proj_param_);
return -RETINA_SIZE/2 <= ix && ix <= RETINA_SIZE/2
&& -RETINA_SIZE/2 <= iy && iy <= RETINA_SIZE/2;
}
vec2_t projectCameraOnRetina(const vec3_t& x_cam) const {
const float q = retina_proj_param_ / x_cam.z();
return q * vec2_t(x_cam.x(), x_cam.y());
}
double intersection(vec3_t x_straight, vec3_t v_straight, vec3_t x_plane, vec3_t u_plane, vec3_t v_plane)
{
vec3_t n = u_plane.cross(v_plane);
return intersection(x_straight,v_straight,x_plane,n);
}
foreach (vec3_t nf, m_Faces) {
nf.normalise();
double h = nf*n0;
hf = min(h, hf);
}
foreach (int bc, m_NodeToBc[i_nodes]) {
//x_new = GuiMainWindow::pointer()->getCadInterface(bc)->correctCurvature(GuiMainWindow::pointer()->getCadInterface(bc)->lastProjTriangle(), x_new);
x_new = GuiMainWindow::pointer()->getCadInterface(bc)->correctCurvature(x_new);
}
}
}
}
}
// compute the minimal length of any edge adjacent to this node
// .. This will be used to limit the node movement.
// .. Hopefully jammed topologies can be avoided this way.
//
EG_VTKDCN(vtkDoubleArray, cl, m_Grid, "node_meshdensity_desired");
vec3_t x_old;
m_Grid->GetPoint(id_node, x_old.data());
double L_min = cl->GetValue(id_node);
for (int i = 0; i < m_Part.n2nGSize(id_node); ++i) {
vtkIdType id_neigh = m_Part.n2nGG(id_node, i);
vec3_t x_neigh;
m_Grid->GetPoint(id_neigh, x_neigh.data());
L_min = min(L_min, (x_old - x_neigh).abs());
}
// limit node displacement
vec3_t dx = x_new - x_old;
if (dx.abs() > m_Limit*L_min) {
x_new -= dx;
dx.normalise();
x_new += m_Limit*L_min*dx;
