static void __bounding_get_effective_position(const Bounding *b, Vector *result)
{
assert(b && "Bad bounding pointer.");
assert(b->origin && b->previous_origin && b->orientation && b->direction && "Bad bounding data.");
assert(result && "Bad result pointer.");
Vector p = *b->origin,
t,
side;
if (!vector_eq(b->orientation, b->direction))
{
vector_vector_mul(b->orientation, b->direction, &side);
}
else
{
vector_get_orthogonal(b->direction, &side);
}
VECTOR_NORMALIZE(&side);
double sx, sy, sz;
vector_scale(b->direction, b->offset.x, &t);
sx = vector_length(&t);
vector_scale(&side, b->offset.y, &t);
sy = vector_length(&t);
vector_scale(b->orientation, b->offset.z, &t);
sz = vector_length(&t);
p.x += sx;
p.y += sy;
p.z += sz;
*result = p;
}
Vector vector_update_sample_variance(Vector var_n, Vector mean_n1, Vector x_n1, int n)
{
if (n == 0)
return ORIGIN;
Vector a = vector_scale(var_n, (float) n / (n + 1));
Vector b = vector_scale(vector_square_2(vector_sub(x_n1, mean_n1)), 1.0 / n);
return vector_add(a, b);
}
Vector vector_interpolate_spherical(Vector a, Vector b, float t)
{
float phi = vector_angle(a, b);
float s = sin(phi);
float factor_a = sin((1 - t) * phi) / s;
float factor_b = sin(t * phi) / s;
return vector_add(vector_scale(a, factor_a), vector_scale(b, factor_b));
}
static void update_particle(particle *p) {
const generator_data *data = p->data;
double factor = p->time_alive / p->time_to_live;
double time = time_elapsed;
p->velocity = vector_scale(p->velocity, 1 - data->deceleration * time);
p->position = vector_add(p->position, vector_scale(p->velocity, time));
p->time_alive += time;
p->radius = data->start_radius + factor * data->end_radius;
p->color = lerp_color(data->start_color, data->end_color, factor);
}
void set_val_sphere(t_env *env, double t, t_ray *ray)
{
OBJ.new_start = vector_add(ray->start, vector_scale(t, ray->dir));
OBJ.normal = vector_sub(OBJ.new_start, SP_POS(OBJ.cur_sphere));
if (vector_dot(OBJ.normal, OBJ.normal) == 0)
{
env->br = 1;
return ;
}
OBJ.normal = vector_scale(1.0f / ABSV(OBJ.normal), OBJ.normal);
OBJ.cur_mat = env->obj.mats[SPHERES[OBJ.cur_sphere].shape.material];
}
void lighting(t_intersect *sct, t_env *env, float *reflect)
{
float refl_ray;
t_vec tmp;
// t_ray r;
// reset_ray(r, &env->r);
sct->norm_check = 1.0f / sqrtf(sct->norm_check);
sct->normal = vector_scale(sct->norm_check, &sct->normal);
light_point(sct, env);
env->coef *= *reflect;
refl_ray = 2.0f * vector_dot(&env->r.dir, &sct->normal);
tmp = vector_scale(refl_ray, &sct->normal);
env->r.dir = vector_sub(&env->r.dir, &tmp);
}
void set_val_sphere(t_env *env, float t, t_ray ray)
{
t_vector scaled;
scaled = vector_scale(t, &ray.dir);
OBJ.new_start = vector_add(&ray.start, &scaled);
OBJ.normal = vector_sub(&OBJ.new_start, &SP_POS(OBJ.cur_sphere));
if (vector_dot(&OBJ.normal, &OBJ.normal) == 0)
{
env->br = 1;
return ;
}
OBJ.normal = vector_scale(1.0f / ABSV(OBJ.normal), &OBJ.normal);
OBJ.cur_mat = env->obj.mats[SPHERES[OBJ.cur_sphere].shape.material];
}
void set_val_tri(t_env *env, float t, t_ray ray)
{
t_vector scaled;
scaled = vector_scale(t, &ray.dir);
OBJ.new_start = vector_add(&ray.start, &scaled);
OBJ.normal = TRI[OBJ.cur_tri].normal;
if (vector_dot(&OBJ.normal, &OBJ.normal) == 0)
{
env->br = 1;
return ;
}
OBJ.normal = vector_scale(1.0f / ABSV(OBJ.normal), &OBJ.normal);
OBJ.cur_mat = env->obj.mats[TRI[OBJ.cur_tri].shape.material];
}
int main(int argc, char *argv[]) {
Point myPoint = point_new(0.0, 0.0);
Vector unitX = vector_new(1.0, 0.0);
Vector unitY = vector_new(0.0, 1.0);
printf("%s + %s + %s = ", point_toString(myPoint),
vector_toString(unitX),
vector_toString(unitY) );
point_addVector(myPoint, unitX);
point_addVector(myPoint, unitY);
printf("As a tuple: %s\n", tuple_toString((Tuple)myPoint));
printf("As a point: %s\n", point_toString(myPoint));
printf( "After scaling unitX by -0.5: %s\n",
vector_toString(vector_scale(unitX, -0.5))
);
printf("unitX has length %lf\n", vector_length(unitX));
vector_delete(unitX);
vector_delete(unitY);
point_delete(myPoint);
return 0;
}
void generate_normals(object *obj){
unsigned int mesh,i;
unsigned short *face;
if(!obj) return;
for(i=0;i<obj->vertex_count;i++)
obj->vertices[i].normal = vector_make(0,0,0);
for(mesh=0;mesh<obj->submesh_count;mesh++){
face = obj->submeshes[mesh].triangles;
for(i=0;i<obj->submeshes[mesh].triangle_count;i++){
vector facenormal = vector_scale(
vector_crossproduct(
vector_sub( obj->vertices[face[i*3+2]].vertex, obj->vertices[face[i*3+0]].vertex ),
vector_sub( obj->vertices[face[i*3+1]].vertex, obj->vertices[face[i*3+0]].vertex )
),-1
);
obj->vertices[face[i*3+0]].normal = vector_add( obj->vertices[face[i*3+0]].normal, facenormal );
obj->vertices[face[i*3+1]].normal = vector_add( obj->vertices[face[i*3+1]].normal, facenormal );
obj->vertices[face[i*3+2]].normal = vector_add( obj->vertices[face[i*3+2]].normal, facenormal );
}
}
// for(i=0;i<obj->vertex_count;i++)
// obj->vertices[i].normal = vector_normalize(obj->vertices[i].normal);
}
static void midpt_set_domain(void* context,
mesh_t* mesh,
int cell)
{
midpt_t* midpt = context;
ASSERT(mesh_cell_num_faces(mesh, cell) < 50);
midpt->num_faces = mesh_cell_num_faces(mesh, cell);
// Fetch face centers/areas/normals and the cell center.
midpt->cell_center = mesh->cell_centers[cell];
midpt->cell_volume = mesh->cell_volumes[cell];
int pos = 0, face;
point_t* xc = &midpt->cell_center;
while (mesh_cell_next_oriented_face(mesh, cell, &pos, &face))
{
int local_face = pos - 1;
int actual_face = (face >= 0) ? face : ~face;
midpt->face_areas[local_face] = mesh->face_areas[actual_face];
midpt->face_centers[local_face] = mesh->face_centers[actual_face];
// Use the orientation of the face to determine the direction of the
// face's normal vector.
vector_t n = mesh->face_normals[actual_face];
point_t* xf = &mesh->face_centers[actual_face];
vector_t outward;
point_displacement(xc, xf, &outward);
if (face != actual_face)
vector_scale(&n, -1.0);
midpt->face_normals[local_face] = n;
}
}
void set_val_cone(t_env *env, double t, t_ray *ray)
{
OBJ.new_start = vector_add(ray->start, vector_scale(t, ray->dir));
OBJ.normal = get_cone_normal(CONES[OBJ.cur_cone], OBJ.new_start);
OBJ.cur_mat = env->obj.mats[CONES[OBJ.cur_cone].shape.material];
env->spec_coef = OBJ.cur_mat.specular;
}
ok_status vector_uniform_rand(vector * v, const ok_float minval,
const ok_float maxval)
{
OK_RETURNIF_ERR( ok_rand_u01(v->data, v->size, v->stride) );
OK_RETURNIF_ERR( vector_scale(v, maxval - minval) );
return OK_SCAN_ERR( vector_add_constant(v, minval) );
}
void k3 (ODEFunc ode, float *xn, float *d, float *k2, float time, float tdelt, int dim, float *scratch)
{
float h2 = tdelt / 2.0f;
vector_scale (k2, h2, scratch, dim);
vector_add (scratch, xn, scratch, dim);
ode (scratch, d, time + h2);
}
/* build orthonormal basis matrix
Q = Y;
for j=1:k
vj = Q(:,j);
for i=1:(j-1)
vi = Q(:,i);
vj = vj - project_vec(vj,vi);
end
vj = vj/norm(vj);
Q(:,j) = vj;
end
*/
void build_orthonormal_basis_from_mat(mat *A, mat *Q){
int m,n,i,j,ind,num_ortos=2;
double vec_norm;
vec *vi,*vj,*p;
m = A->nrows;
n = A->ncols;
vi = vector_new(m);
vj = vector_new(m);
p = vector_new(m);
matrix_copy(Q, A);
for(ind=0; ind<num_ortos; ind++){
for(j=0; j<n; j++){
matrix_get_col(Q, j, vj);
for(i=0; i<j; i++){
matrix_get_col(Q, i, vi);
project_vector(vj, vi, p);
vector_sub(vj, p);
}
vec_norm = vector_get2norm(vj);
vector_scale(vj, 1.0/vec_norm);
matrix_set_col(Q, j, vj);
}
}
vector_delete(vi);
vector_delete(vj);
vector_delete(p);
}
/*
% project v in direction of u
function p=project_vec(v,u)
p = (dot(v,u)/norm(u)^2)*u;
*/
void project_vector(vec *v, vec *u, vec *p){
double dot_product_val, vec_norm, scalar_val;
dot_product_val = vector_dot_product(v, u);
vec_norm = vector_get2norm(u);
scalar_val = dot_product_val/(vec_norm*vec_norm);
vector_copy(p, u);
vector_scale(p, scalar_val);
}
void set_val_plane(t_env *env, double t, t_ray *ray)
{
OBJ.new_start = vector_add(ray->start, vector_scale(t, ray->dir));
OBJ.normal = OBJ.planes[OBJ.cur_plane].rot;
if (vector_dot(ray->dir, OBJ.normal) > 0.0F)
OBJ.normal = vector_sub((t_vector){0.0F, 0.0F, 0.0F}, OBJ.normal);
OBJ.cur_mat = OBJ.mats[OBJ.planes[OBJ.cur_plane].shape.material];
}
void set_val_object(t_env *env, double t, t_ray *ray)
{
OBJ.new_start = vector_add(ray->start, vector_scale(t, ray->dir));
OBJ.normal = OBJ.objects[OBJ.cur_object[0]].faces[OBJ.cur_object[1]].normal;
if (vector_dot(ray->dir, OBJ.normal) > 0.0F)
OBJ.normal = vector_sub((t_vector){0.0F, 0.0F, 0.0F}, OBJ.normal);
OBJ.cur_mat = OBJ.mats[OBJ.objects[OBJ.cur_object[0]].material];
}
void set_val_tri(t_env *env, double t, t_ray *ray)
{
OBJ.new_start = vector_add(ray->start, vector_scale(t, ray->dir));
OBJ.normal = TRI[OBJ.cur_tri].normal;
if (vector_dot(ray->dir, OBJ.normal) > 0.0F)
OBJ.normal = vector_sub((t_vector){0.0F, 0.0F, 0.0F}, OBJ.normal);
OBJ.cur_mat = env->obj.mats[TRI[OBJ.cur_tri].shape.material];
}
Vector vector_clamp(Vector v, float max_length)
{
float length = vector_length(v);
return length > max_length
? vector_scale(v, max_length / length)
: v;
}
void scale(t_vec *centre, t_env *env, float t)
{
t_vec scaled_hit;
t_intersect sct;
scaled_hit = vector_scale(t, &env->r.dir);
sct.intersect = vector_add(&env->r.start, &scaled_hit);
sct.normal = vector_sub(&sct.intersect, centre);
sct.norm_check = vector_dot(&sct.normal, &sct.normal);
}
bool plane_intersect(plane_t p, vector_t ray_start, vector_t ray_direction, vector_t* hit)
{
float denominator = vector_dot(p.normal, ray_direction);
if (denominator == 0)
return false;
float t = vector_dot(p.normal, vector_sub(p.point, ray_start)) / denominator;
if (t < 0.0)
return false;
*hit = vector_add(ray_start, vector_scale(ray_direction, t));
return true;
}
void lambert_diffusion(t_intersect *sct, t_env *env, float t, t_vec *dist)
{
t_ray light_ray;
float lambert;
light_ray.dir = vector_scale((1 / t), dist);
lambert = vector_dot(&light_ray.dir, &sct->normal) * env->coef;
env->c.r += lambert * env->l[2]->intensity.r * env->c.r;
env->c.g += lambert * env->l[2]->intensity.g * env->c.g;
env->c.b += lambert * env->l[2]->intensity.b * env->c.b;
}
static void update_shape(jigglystruct *js)
{
vertex *vtx = js->shape->vertices;
edge *e = js->shape->edges;
vector zero;
vector_init(zero, 0, 0, 0);
/* sum all the vertex-vertex forces */
while(e) {
vector f;
coord mag;
vector_sub(e->left->vtx->v, e->right->vtx->v, f);
mag = js->stable_distance - magnitude(f);
vector_scale(f, mag);
vector_add_to(e->left->vtx->f, f);
vector_sub(zero, f, f);
vector_add_to(e->right->vtx->f, f);
e = e->next;
}
/* scale back the v-v force and add the spherical force
* then add the result to the vertex velocity, damping
* if necessary. Finally, move the vertex */
while(vtx) {
coord mag;
vector to_sphere;
vector_scale(vtx->f, js->hold_strength);
vector_copy(to_sphere, vtx->v);
mag = 1 - magnitude(to_sphere);
vector_scale(to_sphere, mag * js->spherify_strength);
vector_add_to(vtx->f, to_sphere);
vector_add_to(vtx->vel, vtx->f);
vector_init(vtx->f, 0, 0, 0);
mag = magnitude2(vtx->vel);
if(mag > js->damping_velocity)
vector_scale(vtx->vel, js->damping_factor);
vector_add_to(vtx->v, vtx->vel);
vtx = vtx->next;
}
}
static t_vector reflect_ray(t_env *env, t_ray *ray)
{
float reflect;
t_vector tmp;
t_vector new_dir;
ray->start = OBJ.new_start;
reflect = 2.0f * vector_dot(&ray->dir, &OBJ.normal);
tmp = vector_scale(reflect, &OBJ.normal);
ray->dir = vector_sub(&ray->dir, &tmp);
return (new_dir);
}
void fill_metafield(metaball *balls, const int ball_count){
int x, y, z, i;
memset(iso_values,0,sizeof(float)*GRIDSIZE*GRIDSIZE*GRIDSIZE);
memset(iso_normals,0,sizeof(vector)*GRIDSIZE*GRIDSIZE*GRIDSIZE);
for(i=0;i<ball_count;i++){
float temp;
int xstart, xend;
int ystart, yend;
int zstart, zend;
float start;
balls[i].rr = balls[i].r*balls[i].r;
balls[i].irr = 1.f/balls[i].rr;
start = (0.707f*balls[i].r)*GRIDSIZE;
temp = (balls[i].pos.x*GRIDSIZE)+(GRIDSIZE/2);
xstart = (int)ceil(temp-start);
xend = (int)floor(temp+start);
if(xstart<0) xstart = 0;
if(xend>GRIDSIZE) xend = GRIDSIZE;
temp = (balls[i].pos.y*GRIDSIZE)+(GRIDSIZE/2);
ystart = (int)ceil(temp-start);
yend = (int)floor(temp+start);
if(ystart<0) ystart = 0;
if(yend>GRIDSIZE) yend = GRIDSIZE;
temp = (balls[i].pos.z*GRIDSIZE)+(GRIDSIZE/2);
zstart = (int)ceil(temp-start);
zend = (int)floor(temp+start);
if(zstart<0) zstart = 0;
if(yend>GRIDSIZE) yend = GRIDSIZE;
for(z=zstart;z<zend;z++){
for(y=ystart;y<yend;y++){
for(x=xstart;x<xend;x++){
const vector dir = vector_sub(balls[i].pos,iso_positions[x][y][z]);
const float rr = ((dir.x*dir.x)+(dir.y*dir.y)+(dir.z*dir.z))*balls[i].irr;
if(rr<0.5f){
const float f = (1.f-(rr-rr*rr)*4)*2;
iso_normals[x][y][z] = vector_add(iso_normals[x][y][z],vector_scale(dir,f));
iso_values[x][y][z] += f;
}
}
}
}
}
}
void set_val_cone(t_env *env, float t, t_ray ray)
{
t_vector scaled;
scaled = vector_scale(t, &ray.dir);
OBJ.new_start = vector_add(&ray.start, &scaled);
OBJ.normal = vector_sub(&OBJ.new_start, &CN_POS(OBJ.cur_cone));
unrotate_vec2(env, OBJ.cur_cone, &OBJ.normal);
OBJ.normal.y *= -1.0f;
rotate_vec_x(CONES[OBJ.cur_cone].rot.x, &OBJ.normal);
rotate_vec_y(CONES[OBJ.cur_cone].rot.y, &OBJ.normal);
rotate_vec_z(CONES[OBJ.cur_cone].rot.z, &OBJ.normal);
if (vector_dot(&OBJ.normal, &OBJ.normal) == 0)
{
env->br = 1;
return ;
}
OBJ.normal = vector_scale(1.0f / ABSV(OBJ.normal), &OBJ.normal);
vector_norm(&OBJ.normal);
OBJ.cur_mat = env->obj.mats[CONES[OBJ.cur_cone].shape.material];
}
void rWeaponRaybeam::animate(float spf) {
triggereded = triggered;
if (trigger) fire();
trigger = false;
timeReloading -= spf;
if (timeReloading < 0) {
timeReloading = 0.0f;
if (remainingAmmo == 0 && remainingClips != 0) {
remainingAmmo = clipSize;
if (remainingClips > 0) remainingClips--;
}
}
timeFiring -= spf;
if (timeFiring < 0) {
timeFiring = 0.0f;
return;
}
float* source = weaponPosef;
// Vector that points to the Mountpoint relative to the eye.
float* mpnt = &source[12];
//vector_print(mpnt);
// Mountpoint-Forward Vector relative to the eye.
float* source_8 = &source[8];
float mfwd[3];
vector_cpy(mfwd, source_8);
//vector_print(mfwd);
vector_norm(mfwd, mfwd);
// Interpolate single points towards the "tip" of the ray.
float offset = 80 * (1.0f - (timeFiring / 0.7));
float worldpos[] = {0, 0, 0};
vector_scale(worldpos, mfwd, -offset);
vector_add(worldpos, worldpos, mpnt);
//vector_print(worldpos);
// Collide and Damage with single point on ray.
{
float radius = 0.5;
int roles = 0;
float damage = 25;
int damaged = damageByParticle(worldpos, radius, roles, damage);
// Stop ray on collision.
if (damaged > 0) timeFiring = 0;
}
}
vector3d ahrs_drift_correction(dataexchange_t *data) {
vector3d corr_vector, acc_g;
corr_vector.x = 0.0;
corr_vector.y = 0.0;
corr_vector.z = 0.0;
//do correction only then acceleration is close to 1G (unreliable if greater)
acc_g = adxl345_raw_to_g(data, SCALE_2G_10B);
double acc_magnitude = vector_magnitude(acc_g);
if (fabs(acc_magnitude - 1.0) <= 0.15) {
float corr_strength = 0.15;
//vectors for rotation matrix
vector3d acc_v, mag_v;
acc_v.x = (*data).acc_x;
acc_v.y = (*data).acc_y;
acc_v.z = (*data).acc_z;
mag_v.x = (*data).mag_x;
mag_v.y = (*data).mag_y;
mag_v.z = (*data).mag_z;
hmc5883l_applyCalibration(&mag_v, calib_ptr);
vector3d down = vector_inv(acc_v);
vector3d east = vector_cross(down, mag_v);
vector3d north = vector_cross(east, down);
//normalize vectors
vector_norm(&down);
vector_norm(&east);
vector_norm(&north);
//matrix from rotation quaternion
matrix3x3d rot_matrix = quaternion_to_matrix((*data).qr);
//correction vector calculation
vector3d sum1 = vector_sum(vector_cross(north, matrix_row_to_vector(&rot_matrix, 1)),
vector_cross(east, matrix_row_to_vector(&rot_matrix, 2)));
vector3d sum2 = vector_sum(sum1, vector_cross(down, matrix_row_to_vector(&rot_matrix, 3)));
corr_vector = vector_scale(sum2, corr_strength);
}
return corr_vector;
}
void constr_scale_in_direction(float A[3], float B[3], float C[3], float D[3],
float E[3], float F[3], float fixed_point[3],
int g)
/* scales group by |AB|/|CD| in direction EF */
{
double lAB,lCD,s;
float AB[3], CD[3], EF[3], v[3], tmp[3];
double sp;
int i;
if(vector_eq(E,F))
{
printf("scaling in direction EF refused: EF = 0 !!!\n");
return;
}
vector_sub(B, A, AB);
vector_sub(D, C, CD);
vector_sub(F, E, EF);
vector_normalize(EF);
lAB=vector_length(AB);
lCD=vector_length(CD);
if(lCD==0)
{
printf("scaling refused: |CD| = 0 !!!\n");
return;
}
s=lAB/lCD;
if(s== 1.0)
{
printf("scaling by 1 does not change anything !!!\n");
return;
}
backup();
for(i=0; i<VERTEX_MAX; i++)
if(vertex_used[i] && group[i]==g)
{
vector_sub(vertex[i], fixed_point, v);
sp=scalar_product(EF,v);
vectorcpy(tmp, EF);
vector_scale((s-1)*sp, tmp);
vector_add(v,tmp, v);
vector_add(v, fixed_point, vertex[i]);
}
}
