void vectorNormalize(float* v1) // changes the magnitude to 1
{
float mag = vectorMagnitude(v1);
v1[0]/=mag;
v1[1]/=mag;
v1[2]/=mag;
}
void SceneDelegate::animate(float time) {
shape_[1].rotation.z = cos(time);
shape_[3].position.z = 3.f + 2.f * abs(cos(0.2f * time) * cos(time));
light_[0].position = Float3(25.f * cos(time), 25.f * sin(time), 10.f);
light_[0].direction = scaleVector(light_[0].position,
-1.f / vectorMagnitude(light_[0].position));
}
Vector Biot_Savart_SingleLineSeg(LineSeg seg,Vector fieldpoint)
{
Vector result,r,Seg_Cross_r;
Vector SegMidPoint,SegVector,SegDirection;
Vector BDirection;
double SegLength,x,z,constval;
double Bmag;
SegMidPoint=linesegCenter(seg);
SegLength=linesegLength(seg);
SegVector=linesegVector(seg);
SegDirection=vectorUnitVector(SegVector);
r=linesegVector(linesegGenerate(SegMidPoint,fieldpoint));
Seg_Cross_r=vectorCross(SegVector,r);
BDirection=vectorUnitVector(Seg_Cross_r);
z=vectorMagnitude(Seg_Cross_r)/SegLength;
constval=mu_0/(4*M_PI*z);
x=vectorDot(SegDirection,r);
if(z == 0)
{
Bmag=0;
}
else
{
Bmag=constval*((SegLength-2*x)/sqrt((SegLength-2*x)*(SegLength-2*x)+4*z*z)+(SegLength+2*x)/sqrt((SegLength+2*x)*(SegLength+2*x)+4*z*z));
}
//printf("Bmag %g\n",Bmag);
result=vectorScale(BDirection,Bmag);
//printf("result.x,result.y,result.z %g,%g,%g\n",result.x,result.y,result.z);
return result;
}
void SkeletonState::renderLimb(SkeletonPoint& pt1, SkeletonPoint& pt2)
{
if(pt1.confidence <= 0.5 || pt2.confidence <= 0.5)
return;
float a[3] = {pt1.x, pt1.y, pt1.z};
float b[3] = {pt2.x, pt2.y, pt2.z};
// vector formed by the two joints
float c[3];
vectorSubtraction(a, b, c);
// glu cylinder vector
float z[3] = {0,0,1};
// r is axis of rotation about z
float r[3];
vectorCrossProduct(z, c, r);
// get angle of rotation in degrees
float angle = 180./M_PI * acos((vectorDotProduct(z, c)/vectorMagnitude(c)));
glPushMatrix();
// translate to second joint
glTranslatef(pt2.x, pt2.y, pt2.z);
glRotatef(angle, r[0], r[1], r[2]);
// set up quadric object
GLUquadricObj* quadObj = gluNewQuadric();
gluCylinder(quadObj, 10, 10, vectorMagnitude(c), 10, 10);
glPopMatrix();
// delete used quadric
gluDeleteQuadric(quadObj);
}
struct Vector3 vectorNormalise(struct Vector3 in)
{
int vectorMagnitudeReciprocal = fp_reciprocal(vectorMagnitude(in));
if (vectorMagnitudeReciprocal>(1<<16))
{
struct Vector3 result = { fp_mult(in.x,vectorMagnitudeReciprocal),
fp_mult(in.y,vectorMagnitudeReciprocal),
fp_mult(in.z,vectorMagnitudeReciprocal) };
return result;
}
else
{
struct Vector3 result = { fp_frac(in.x,vectorMagnitudeReciprocal),
fp_frac(in.y,vectorMagnitudeReciprocal),
fp_frac(in.z,vectorMagnitudeReciprocal) };
return result;
}
}
// helper to correct normals and winding order
static void normalizeMesh(bool invertNormals, Mesh* mesh) {
// unitize normal vectors
for (std::vector<Float3>::iterator it = mesh->normalArray.begin();
it != mesh->normalArray.end(); it++) {
const float length = invertNormals ? -1.f : 1.f * vectorMagnitude(*it);
*it = scaleVector(*it, 1.f / length);
}
// change winding order if necessary
if (invertNormals) {
const unsigned int numberOfTriangles = mesh->indexArray.size() / 3;
for (unsigned int i=0; i<numberOfTriangles; ++i) {
const unsigned int idx = 3 * i;
const unsigned int tmp = mesh->indexArray[idx];
mesh->indexArray[idx] = mesh->indexArray[idx + 1];
mesh->indexArray[idx + 1] = tmp;
}
}
}
void textureDrawLine (TEXTURE t, VECTOR3 start, VECTOR3 end)
{
VECTOR3
diff = vectorSubtract (&end, &start),
norm = vectorNormalize (&diff),
current = start;
/* i'm using i/max as a counter since due to floating point rounding error
* it's not feasible to use vector_cmp (¤t, &end), which is the only
* other way i can think of to check for when the line is actually done
* - xph 2011 08 27
*/
int
i = 0,
max = vectorMagnitude (&diff) + 1;
/* if start is out of bounds skip ahead until it isn't (if it isn't), and
* if it goes out of bounds again then it's not coming back. this is
* important if start is out of bounds but end isn't (or if they're both
* oob but they cross the image edge at some point); the start of the line
* won't be drawn but stopping after the first oob coordiante would be
* wrong
* (there's a better way to do this: if either value is oob, calculate the
* intersection of the line w/ the screen edges and jump to that point
* without needing to loop)
* - xph 2011 08 27
*/
while (textureOOB (t, current) && i < max)
{
current = vectorAdd (¤t, &norm);
i++;
}
while (i < max)
{
if (textureOOB (t, current))
break;
textureDrawPixel (t, current);
current = vectorAdd (¤t, &norm);
i++;
}
}
int performART1( void )
{
int andresult[MAX_ITEMS];
int pvec, magPE, magP, magE;
float result, test;
int index, done = 0;
int count = 50;
while (!done) {
done = 1;
for (index = 0 ; index < MAX_CUSTOMERS ; index++) {
#ifdef DEBUG
printf("\nExample %d (currently in %d)\n", index, membership[index]);
#endif
/* Step 3 */
for (pvec = 0 ; pvec < TOTAL_PROTOTYPE_VECTORS ; pvec++) {
if (members[pvec]) {
#ifdef DEBUG
printf("Test vector %d (members %d)\n", pvec, members[pvec]);
#endif
vectorBitwiseAnd( andresult,
&database[index][0], &prototypeVector[pvec][0] );
magPE = vectorMagnitude( andresult );
magP = vectorMagnitude( &prototypeVector[pvec][0] );
magE = vectorMagnitude( &database[index][0] );
result = (float)magPE / (beta + (float)magP);
test = (float)magE / (beta + (float)MAX_ITEMS);
#ifdef DEBUG
printf("step 3 : %f > %f ?\n", result, test);
#endif
if (result > test) {
/* Test for vigilance acceptability */
#ifdef DEBUG
printf("step 4 : testing vigilance %f < %f\n",
((float)magPE/(float)magE), vigilance);
#endif
if (((float)magPE/(float)magE) < vigilance) {
int old;
/* Ensure this is a different cluster */
if (membership[index] != pvec) {
old = membership[index];
membership[index] = pvec;
#ifdef DEBUG
printf("Moved example %d from cluster %d to %d\n",
index, old, pvec);
#endif
if (old >= 0) {
members[old]--;
if (members[old] == 0) numPrototypeVectors--;
}
members[pvec]++;
/* Recalculate the prototype vectors for the old and new
* clusters.
*/
if ((old >= 0) && (old < TOTAL_PROTOTYPE_VECTORS)) {
updatePrototypeVectors( old );
}
updatePrototypeVectors( pvec );
done = 0;
break;
} else {
/* Already in this cluster */
}
} /* vigilance test */
}
}
} /* for vector loop */
/* Check to see if the current vector was processed */
if (membership[index] == -1) {
/* No prototype vector was found to be close to the example
* vector. Create a new prototype vector for this example.
*/
membership[index] = createNewPrototypeVector( &database[index][0] );
done = 0;
}
} /* customers loop */
#ifdef DEBUG
printf("\n");
#endif
if (!count--) break;
} /* !done */
return 0;
}
