void invSPDMatrix(double *Matrix, int nrow){
double tmp, det;
int i;
if (nrow == 1){
Matrix[0] = 1.0/Matrix[0];
} else if (nrow == 2){
det = Matrix[0]*Matrix[3] - Matrix[1]*Matrix[2];
tmp = Matrix[0];
Matrix[0] = Matrix[3];
Matrix[3] = tmp;
Matrix[1] = -Matrix[1];
Matrix[2] = -Matrix[2];
for (i=0; i<nrow*nrow; i++) Matrix[i] /= det;
} else if (nrow > 2){
double *L = calloc(nrow*nrow, sizeof(double));
double *tL = calloc(nrow*nrow, sizeof(double));
cholesky(Matrix, nrow, L, 0);
invMatrix(L, nrow);
for (i=0; i<nrow*nrow; i++) tL[i] = L[i];
tr(tL, nrow, nrow);
prodMatrix(tL, L, Matrix, nrow, nrow, nrow, nrow);
free(L); free(tL);
}
}
bool MeshEntity::checkCollision(const Ray& ray, FaceSample& collisionPoint) const
{
PR_GUARD_PROFILE();
// Local space
Ray local = ray;
local.setStartPosition(PM::pm_Multiply(invMatrix(), ray.startPosition()));
local.setDirection(PM::pm_Normalize3D(PM::pm_Multiply(invDirectionMatrix(), ray.direction())));
if (mMesh->checkCollision(local, collisionPoint))
{
collisionPoint.P = PM::pm_Multiply(matrix(), collisionPoint.P);
collisionPoint.Ng = PM::pm_Normalize3D(PM::pm_Multiply(directionMatrix(), collisionPoint.Ng));
Projection::tangent_frame(collisionPoint.Ng, collisionPoint.Nx, collisionPoint.Ny);
if(mMaterialOverride)
collisionPoint.Material = mMaterialOverride;
return true;
}
else
{
return false;
}
}
dVector dSceneRender::ScreenToGlobal (const dVector& screen) const
{
dFloat width = dFloat (GetViewPortWidth());
dFloat height = dFloat (GetViewPortHeight());
dVector p0 (2.0f * screen.m_x / width - 1.0f, 2.0f * (height - screen.m_y) / height - 1.0f, 2.0f * screen.m_z - 1.0f, 1.0f);
dMatrix modelview (GetModelViewMatrix());
dMatrix projection (GetProjectionMatrix());
dMatrix matrix (modelview * projection);
dMatrix invMatrix (matrix.Inverse4x4());
dVector p1 (invMatrix.RotateVector4x4(p0));
p1.m_w = 1.0f / p1.m_w;
p1 = p1.Scale(p1.m_w);
p1.m_w = 1.0f;
return p1;
}
void ViewSphereRender::paintGL()
{
m_camera.setupModelMatrix();
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
float ps;
glGetFloatv(GL_POINT_SIZE, &ps);
vector<ViewPoint>& vp = m_viewSphere.vViewPos;
glPointSize(5);
/*
// 绘制顶点
glColor3ub(255, 0, 0);
glPointSize(5);
glBegin(GL_POINTS);
glVertex3dv(vp[0].coord);
vector<ViewPoint>::iterator iter = vp.begin();
for (; iter != vp.end(); ++iter)
{
glVertex3dv(iter->coord);
}
glEnd();
*/
Vector4d p0(vp[0].coord[0], vp[0].coord[1], vp[0].coord[2], 1.0);
double matrix[16];
glGetDoublev(GL_MODELVIEW_MATRIX, matrix);
// GLint viewport[4];
// GLdouble projection[16];
// double win_coord[3];
// win_coord[0] = width() / 2;
// win_coord[1] = height() / 2;
// glReadPixels( int(win_coord[0]), int(win_coord[1]), 1, 1, GL_DEPTH_COMPONENT, GL_FLOAT, &win_coord[2] );
// glGetDoublev( GL_PROJECTION_MATRIX, projection );
// glGetIntegerv( GL_VIEWPORT, viewport );
// double pos[3];
// gluUnProject( win_coord[0], win_coord[1], win_coord[2], matrix, projection, viewport, &pos[0], &pos[1], &pos[2]);
// glPushMatrix();
// glMatrixMode(GL_MODELVIEW);
// glLoadIdentity();
// glPopMatrix();
p0.set(0, 0, 1.0, 1.0);
invMatrix(matrix, matrix);
p0 = multiply(p0, matrix);
long ipix;
vec2pix_ring(m_nside, (double*)&p0, &ipix);
glColor3ub(255, 128, 0);
glBegin(GL_POINTS);
glVertex3dv(vp[ipix].coord);
glEnd();
m_currentPos = &(vp[ipix]);
/*
glColor3ub(255, 255, 255);
// 绘制顶点连线
glBegin(GL_LINES);
vector< pair<int, int> >::iterator itLink = m_viewSphere.links.begin();
for(; itLink != m_viewSphere.links.end(); ++ itLink)
{
glVertex3dv(vp[itLink->first].coord);
glVertex3dv(vp[itLink->second].coord);
}
glEnd();
*/
// 绘制球面
vector<Vector3i>& vTris = m_viewSphere.vTris;
vector<Vector3i>::iterator itTris = vTris.begin();
glBegin(GL_TRIANGLES);
for (; itTris != vTris.end(); ++itTris)
{
glColor3ub(128, 0, 0);
glVertex3dv(vp[itTris->x].coord);
glColor3ub(0, 128, 0);
glVertex3dv(vp[itTris->y].coord);
glColor3ub(0, 0, 128);
glVertex3dv(vp[itTris->z].coord);
}
glEnd();
// 绘制视点变化曲线
vector<const ViewPoint*> vPoint = m_recorder->all();
if (vPoint.size() > 0)
{
glColor3ub(255, 255, 0);
glBegin(GL_POINTS);
glVertex3dv(vPoint.front()->coord);
glEnd();
if (vPoint.size() > 1)
{
glColor3ub(255, 102, 0);
glBegin(GL_LINES);
glVertex3dv(vPoint.front()->coord);
for(int i = 0; i < m_recorder->current(); ++i)
{
glVertex3dv(vPoint[i]->coord);
glVertex3dv(vPoint[i]->coord);
}
glVertex3dv(vPoint[m_recorder->current()]->coord);
glEnd();
glColor3ub(0, 255, 0);
glBegin(GL_POINTS);
glVertex3dv(vPoint.back()->coord);
glEnd();
}
}
//glDisable(GL_POLYGON_OFFSET_FILL);
//////////////////////////////////////////////////////////////////////////
glDisable(GL_DEPTH_TEST);
//drawCoord();
m_camera.setOrthoProjection();
m_camera.drawArc();
glEnable(GL_DEPTH_TEST);
glPointSize(ps);
}