bool Cube::samplePosition(PathSampleGenerator &sampler, PositionSample &sample) const
{
float u = sampler.next1D();
int dim = sampleFace(u);
float s = (dim + 1) % 3;
float t = (dim + 2) % 3;
Vec2f xi = sampler.next2D();
Vec3f n(0.0f);
n[dim] = u < 0.5f ? -1.0f : 1.0f;
Vec3f p(0.0f);
p[dim] = n[dim]*_scale[dim];
p[s] = (xi.x()*2.0f - 1.0f)*_scale[s];
p[t] = (xi.y()*2.0f - 1.0f)*_scale[t];
sample.p = _rot*p + _pos;
sample.pdf = _invArea;
sample.uv = xi;
sample.weight = PI*_area*(*_emission)[sample.uv];
sample.Ng = _rot*n;
return true;
}
void
CompliantPlannerDlg::boxSampling(double a, double b, double c, double res)
{
std::list<GraspPlanningState*> sampling;
res = 30;
sampleFace( vec3(0, 1,0), vec3(-1,0,0), vec3(0,0,1) , a, c, vec3(0,-b,0), res, &sampling);
sampleFace( vec3(0,-1,0), vec3( 1,0,0), vec3(0,0,1) , a, c, vec3(0, b,0), res, &sampling);
sampleFace( vec3(0,0, 1), vec3(0,1,0), vec3(-1,0,0) , b, a, vec3(0,0,-c), res, &sampling);
sampleFace( vec3(0,0,-1), vec3(0,1,0), vec3( 1,0,0) , b, a, vec3(0,0, c), res, &sampling);
sampleFace( vec3( 1,0,0), vec3(0, 1,0), vec3(0,0,1) , b, c, vec3(-a,0,0), res, &sampling);
sampleFace( vec3(-1,0,0), vec3(0,-1,0), vec3(0,0,1) , b, c, vec3( a,0,0), res, &sampling);
DBGA("Sampled " << sampling.size() << " states.");
mNumCandidates = sampling.size();
mPlanner->setInput(sampling);
}
