void
SbMatrix::multLineMatrix(const SbLine &src, SbLine &dst) const
{
SbVec3f pos, dir;
multVecMatrix(src.getPosition(), pos);
multDirMatrix(src.getDirection(), dir);
dst.setValue(pos, pos+dir);
}
SbRotation
SbSphereSectionProjector::getRotation(const SbVec3f &p1, const SbVec3f &p2)
//
////////////////////////////////////////////////////////////////////////
{
SbBool tol1 = isWithinTolerance(p1);
SbBool tol2 = isWithinTolerance(p2);
if (tol1 && tol2) {
// both points in tolerance, rotate about
// sphere center
return SbRotation(
p1 - sphere.getCenter(),
p2 - sphere.getCenter());
}
else if (!tol1 && !tol2) {
// both points out of tolerance, rotate about
// plane point
// Would like to just use this:
SbRotation badRot = SbRotation(p1 - planePoint, p2 - planePoint);
// but fp instablity gives back a goofy axis, so we don't get
// pure roll.
// So we need to snap the axis to be parallel to plane dir
SbVec3f badAxis; float goodAngle;
badRot.getValue(badAxis, goodAngle);
SbVec3f goodAxis;
if (badAxis.dot(planeDir) > 0.0)
goodAxis = planeDir;
else
goodAxis = -planeDir;
SbRotation rollRot(goodAxis, goodAngle);
//Now find rotation in the direction perpendicular to this:
SbVec3f diff1 = p1 - planePoint;
SbVec3f diff2 = p2 - planePoint;
float d = diff2.length() - diff1.length();
// Check for degenerate cases
float theta = d / sphere.getRadius();
if ( fabs(theta) < 0.000001 || fabs(theta) > 1.0 )
return rollRot;
diff1.normalize();
SbVec3f pullAxis = planeDir.cross( diff1 );
pullAxis.normalize();
SbRotation pullRot(pullAxis, getRadialFactor() * theta );
SbRotation totalRot = rollRot * pullRot;
return totalRot;
}
else {
// one point in, one point out, so rotate about
// the center of the sphere from the point on the
// sphere to the intersection of the plane and the
// sphere closest to the point off the sphere
SbLine planeLine;
SbVec3f intersection;
if (tol1) {
planeLine.setValue(planePoint, p2);
}
else {
planeLine.setValue(planePoint, p1);
}
if (! sphere.intersect(planeLine, intersection))
#ifdef DEBUG
SoDebugError::post("SbSphereSectionProjector::getRotation",
"Couldn't intersect plane line with sphere");
#else
/* Do nothing */;
#endif
if (tol1) {
// went off sphere
return SbRotation(
p1 - sphere.getCenter(),
intersection - sphere.getCenter());
}
else {
// came on to sphere
// "Hey cutie. You've got quite a radius..."
return SbRotation(
intersection - sphere.getCenter(),
p2 - sphere.getCenter());
}
}
}