int
_echoRayIntx_Instance(RAYINTX_ARGS(Instance)) {
echoPos_t a[4], b[4], tmp;
echoRay iray;
/*
ELL_3V_COPY(iray.from, ray->from);
ELL_3V_COPY(iray.dir, ray->dir);
*/
ELL_4V_SET(a, ray->from[0], ray->from[1], ray->from[2], 1);
ELL_4MV_MUL(b, obj->Mi, a);
ELL_34V_HOMOG(iray.from, b);
ELL_4V_SET(a, ray->dir[0], ray->dir[1], ray->dir[2], 0);
ELL_4MV_MUL(b, obj->Mi, a);
ELL_3V_COPY(iray.dir, b);
if (tstate->verbose) {
fprintf(stderr, "%s%s: dir (%g,%g,%g)\n%s -- Mi --> "
"(%g,%g,%g,%g)\n%s --> (%g,%g,%g)\n",
_echoDot(tstate->depth), "_echoRayIntx_Instance",
a[0], a[1], a[2], _echoDot(tstate->depth),
b[0], b[1], b[2], b[3], _echoDot(tstate->depth),
iray.dir[0], iray.dir[1], iray.dir[2]);
}
iray.neer = ray->neer;
iray.faar = ray->faar;
iray.shadow = ray->shadow;
if (_echoRayIntx[obj->obj->type](intx, &iray, obj->obj, parm, tstate)) {
ELL_4V_SET(a, intx->norm[0], intx->norm[1], intx->norm[2], 0);
ELL_4MV_TMUL(b, obj->Mi, a);
ELL_3V_COPY(intx->norm, b);
ELL_3V_NORM(intx->norm, intx->norm, tmp);
if (tstate->verbose) {
fprintf(stderr, "%s%s: hit a %d (at t=%g) with M == \n",
_echoDot(tstate->depth), "_echoRayIntx_Instance",
obj->obj->type, intx->t);
ell_4m_PRINT(stderr, obj->M);
fprintf(stderr, "%s ... (det = %f), and Mi == \n",
_echoDot(tstate->depth), ell_4m_DET(obj->M));
ell_4m_PRINT(stderr, obj->Mi);
}
return AIR_TRUE;
}
/* else */
return AIR_FALSE;
}
void
gageShapeItoW(gageShape *shape, double _world[3], double _index[3]) {
double world[4], index[4];
ELL_3V_COPY(index, _index);
index[3] = 1.0;
ELL_4MV_MUL(world, shape->ItoW, index);
ELL_3V_SCALE(_world, 1.0/world[3], world);
}
void
gageShapeWtoI(gageShape *shape, double _index[3], double _world[3]) {
double index[4], world[4];
ELL_3V_COPY(world, _world);
world[3] = 1.0;
ELL_4MV_MUL(index, shape->WtoI, world);
ELL_3V_SCALE(_index, 1.0/index[3], index);
}
void
_echoPosSet(echoPos_t *p3, echoPos_t *matx, echoPos_t *p4) {
echoPos_t a[4], b[4];
if (matx) {
ELL_4V_SET(a, p4[0], p4[1], p4[2], 1);
ELL_4MV_MUL(b, matx, a);
ELL_34V_HOMOG(p3, b);
}
else {
ELL_3V_COPY(p3, p4);
}
}
void
gageShapeWtoI(gageShape *shape, double _index[3], double _world[3]) {
/* char me[]="gageShapeWtoI"; */
double index[4], world[4];
/*
fprintf(stderr, "!%s: hello %p %p %p; %p\n", me,
shape, _index, _world, shape->WtoI);
*/
ELL_3V_COPY(world, _world);
world[3] = 1.0;
ELL_4MV_MUL(index, shape->WtoI, world);
ELL_3V_SCALE(_index, 1.0/index[3], index);
}
/*
******** limnPolyDataTransform_f, limnPolyDataTransform_d
**
** transforms a surface (both positions, and normals (if set))
** by given homogenous transform
*/
void
limnPolyDataTransform_f(limnPolyData *pld,
const float homat[16]) {
double hovec[4], mat[9], inv[9], norm[3], nmat[9];
unsigned int vertIdx;
if (pld && homat) {
if (pld->norm) {
ELL_34M_EXTRACT(mat, homat);
ell_3m_inv_d(inv, mat);
ELL_3M_TRANSPOSE(nmat, inv);
} else {
ELL_3M_IDENTITY_SET(nmat); /* hush unused value compiler warnings */
}
for (vertIdx=0; vertIdx<pld->xyzwNum; vertIdx++) {
ELL_4MV_MUL(hovec, homat, pld->xyzw + 4*vertIdx);
ELL_4V_COPY_TT(pld->xyzw + 4*vertIdx, float, hovec);
if (pld->norm) {
ELL_3MV_MUL(norm, nmat, pld->norm + 3*vertIdx);
ELL_3V_COPY_TT(pld->norm + 3*vertIdx, float, norm);
}
}
}
/*
** bins on boundary now extend to infinity; so the only time this
** returns NULL (indicating error) is for non-existent positions
*/
pushBin *
_pushBinLocate(pushContext *pctx, double *_posWorld) {
static const char me[]="_pushBinLocate";
double posWorld[4], posIdx[4];
unsigned int axi, eidx[3], binIdx;
if (!ELL_3V_EXISTS(_posWorld)) {
biffAddf(PUSH, "%s: non-existent position (%g,%g,%g)", me,
_posWorld[0], _posWorld[1], _posWorld[2]);
return NULL;
}
if (pctx->binSingle) {
binIdx = 0;
} else {
ELL_3V_COPY(posWorld, _posWorld);
posWorld[3] = 1.0;
ELL_4MV_MUL(posIdx, pctx->gctx->shape->WtoI, posWorld);
ELL_34V_HOMOG(posIdx, posIdx);
for (axi=0; axi<3; axi++) {
eidx[axi] = airIndexClamp(-0.5,
posIdx[axi],
pctx->gctx->shape->size[axi]-0.5,
pctx->binsEdge[axi]);
}
binIdx = (eidx[0]
+ pctx->binsEdge[0]*(eidx[1]
+ pctx->binsEdge[1]*eidx[2]));
}
/*
fprintf(stderr, "!%s: bin(%g,%g,%g) = %u\n", me,
_posWorld[0], _posWorld[1], _posWorld[2], binIdx);
*/
return pctx->bin + binIdx;
}
void
ell_4mv_mul_d(double v2[4], double m[16], double v1[4]) {
ELL_4MV_MUL(v2, m, v1);
}
void
ell_4mv_mul_f(float v2[4], float m[16], float v1[4]) {
ELL_4MV_MUL(v2, m, v1);
}
