void CPanel::Rotate(CVector const &HA, Quaternion &Qt, double const &angle)
{
// HA is a point on the rotation axis
// for a VLM analysis, we need to rotate :
// - the control point
// - the vortice vector
// - the vortice's end points
W.x = VortexPos.x - HA.x;
W.y = VortexPos.y - HA.y;
W.z = VortexPos.z - HA.z;
Qt.Conjugate(W);
VortexPos.x = W.x + HA.x;
VortexPos.y = W.y + HA.y;
VortexPos.z = W.z + HA.z;
W.x = CtrlPt.x - HA.x;
W.y = CtrlPt.y - HA.y;
W.z = CtrlPt.z - HA.z;
Qt.Conjugate(W);
CtrlPt.x = W.x + HA.x;
CtrlPt.y = W.y + HA.y;
CtrlPt.z = W.z + HA.z;
Qt.Conjugate(Vortex);
Normal.RotateY(angle);
//TODO ; remove ?
// What's the point of A and B anyway?
// are they used anywhere
W.x = A.x - HA.x;
W.y = A.y - HA.y;
W.z = A.z - HA.z;
Qt.Conjugate(W);
A.x = W.x + HA.x;
A.y = W.y + HA.y;
A.z = W.z + HA.z;
W.x = B.x - HA.x;
W.y = B.y - HA.y;
W.z = B.z - HA.z;
Qt.Conjugate(W);
B.x = W.x + HA.x;
B.y = W.y + HA.y;
B.z = W.z + HA.z;
}
void MayaCamera::OnUpdate(TimeStep timeStep)
{
const Application& app = Application::GetApplication();
if (app.IsKeyPressed(GLFW_KEY_LEFT_ALT))
{
const vec2& mouse = app.GetMousePos();
vec2 delta = mouse - m_InitialMousePosition;
m_InitialMousePosition = mouse;
if (app.GetMouseButton() == GLFW_MOUSE_BUTTON_MIDDLE)
MousePan(delta);
else if (app.GetMouseButton() == GLFW_MOUSE_BUTTON_LEFT)
MouseRotate(delta);
else if (app.GetMouseButton() == GLFW_MOUSE_BUTTON_RIGHT)
MouseZoom(delta.y);
}
// MouseZoom(window->GetMouseScrollPosition().y);
m_Position = CalculatePosition();
Quaternion orientation = GetOrientation();
m_Rotation = orientation.ToEulerAngles() * (180.0f / 3.14f);
m_View = mat4::Translate(vec3(0, 0, 1)) * mat4::Rotate(orientation.Conjugate()) * mat4::Translate(-m_Position);
}
// 点或向量乘以四元数（点或向量经四元数变换）
Vector3 operator*(Vector3 vec, Quaternion q)
{
Quaternion vecQ = Quaternion(0, vec.x, vec.y, vec.z);
Quaternion resultQ = q * vecQ * q.Conjugate();
return Vector3(resultQ.x, resultQ.y, resultQ.z);
}
// set the rotation of the 3D viewer
void Viewer3dParam::SetPose( Quaternion q, Vec3f t )
{
Rotation( q.Conjugate() );
Translation( t );
}
Vec3 Vec3::Rotate(const Quaternion& rotation)
{
Quaternion conjugateQ = rotation.Conjugate();
Quaternion q = rotation * (*this) * conjugateQ;
Vec3 ret(q.x, q.y, q.z);
return ret;
}
Vector3D OpenGLSceneViewCore::positionFromRotatedAxisPoint(Axis axis, NSPoint point, Quaternion rotation)
{
DrawPlane(_camera->GetAxisX(), _camera->GetAxisY(), planeSize);
Vector3D position = positionInSpaceByPoint(point);
Vector3D result = _manipulated->selectionCenter();
position = rotation.Conjugate().ToMatrix().Transform(position);
result[(int)axis] = position[(int)axis];
return result;
}
void Quaternion::SetupSquad(
const Quaternion &q0,
const Quaternion &q1,
const Quaternion &q2,
Quaternion &a,
Quaternion &b)
{
// assert: q0, q1, q2 are unit quaternions
Quaternion q0inv = q0.Conjugate();
Quaternion q1inv = q1.Conjugate();
Quaternion p0 = q0inv * q1;
Quaternion p1 = q1inv * q2;
Quaternion arg = 0.25f * (p0.Ln() - p1.Ln());
Quaternion minusArg = -arg;
a = q1 * arg.Exp();
b = q1 * minusArg.Exp();
}
Quaternion<Real>
Quaternion<Real>::GetIntermediate(const Quaternion& rkQ0, const Quaternion& rkQ1, const Quaternion& rkQ2)
{
// assert: Q0, Q1, Q2 all unit-length
Quaternion<Real> kQ1Inv = rkQ1.Conjugate();
Quaternion<Real> kP0 = kQ1Inv* rkQ0;
Quaternion<Real> kP2 = kQ1Inv* rkQ2;
Quaternion<Real> kArg = -((Real) 0.25) * (kP0.Log() + kP2.Log());
Quaternion<Real> kA = rkQ1* kArg.Exp();
return kA;
}
Quaternion Quaternion::Inverse()
{
Quaternion q;
q.x = x;
q.y = y;
q.z = z;
q.w = w;
q.Conjugate().Scale(1/q.Norm());
return q;
}
ShadowCameraTransform DirectionalLight::CalcShadowCameraTransform(const Vector3f& mainCameraPos, const Quaternion& mainCameraRot) const
{
Vector3f resultPos = mainCameraPos + mainCameraRot.GetForward() * GetHalfShadowArea();
Quaternion resultRot = GetTransform().GetTransformedRot();
float worldTexelSize = (GetHalfShadowArea()*2)/((float)(1 << GetShadowInfo().GetShadowMapSizeAsPowerOf2()));
Vector3f lightSpaceCameraPos = resultPos.Rotate(resultRot.Conjugate());
lightSpaceCameraPos.SetX(worldTexelSize * floor(lightSpaceCameraPos.GetX() / worldTexelSize));
lightSpaceCameraPos.SetY(worldTexelSize * floor(lightSpaceCameraPos.GetY() / worldTexelSize));
resultPos = lightSpaceCameraPos.Rotate(resultRot);
return ShadowCameraTransform(resultPos, resultRot);
}
/**
*Rotates the boundary condition properties which are used in stability analysis with variable control positions.
*@param HA is the center of rotation
*@param Qt the quaternion which defines the 3D rotation
*/
void Panel::RotateBC(CVector const &HA, Quaternion &Qt)
{
// Qt.Conjugate(Vortex);
static CVector WTest;
WTest.x = VortexPos.x - HA.x;
WTest.y = VortexPos.y - HA.y;
WTest.z = VortexPos.z - HA.z;
Qt.Conjugate(WTest);
VortexPos.x = WTest.x + HA.x;
VortexPos.y = WTest.y + HA.y;
VortexPos.z = WTest.z + HA.z;
WTest.x = VA.x - HA.x;
WTest.y = VA.y - HA.y;
WTest.z = VA.z - HA.z;
Qt.Conjugate(WTest);
VA.x = WTest.x + HA.x;
VA.y = WTest.y + HA.y;
VA.z = WTest.z + HA.z;
WTest.x = VB.x - HA.x;
WTest.y = VB.y - HA.y;
WTest.z = VB.z - HA.z;
Qt.Conjugate(WTest);
VB.x = WTest.x + HA.x;
VB.y = WTest.y + HA.y;
VB.z = WTest.z + HA.z;
WTest.x = CtrlPt.x - HA.x;
WTest.y = CtrlPt.y - HA.y;
WTest.z = CtrlPt.z - HA.z;
Qt.Conjugate(WTest);
CtrlPt.x = WTest.x + HA.x;
CtrlPt.y = WTest.y + HA.y;
CtrlPt.z = WTest.z + HA.z;
WTest.x = CollPt.x - HA.x;
WTest.y = CollPt.y - HA.y;
WTest.z = CollPt.z - HA.z;
Qt.Conjugate(WTest);
CollPt.x = WTest.x + HA.x;
CollPt.y = WTest.y + HA.y;
CollPt.z = WTest.z + HA.z;
Qt.Conjugate(Vortex);
Qt.Conjugate(Normal);
}
void TreeSegGeo::constructGeometryData(Quaternion orient, bool topPlane, bool bottomPlane)
{
int numVerts = mSegmentsW * (mSegmentsH + 1) + 2;
// positionData
mGeoData.posData.push_back(Vector3::Zero);
mGeoData.posData.push_back(Vector3(0, mLength, 0));
float heightDelta = mLength / mSegmentsH;
float deltaTheta = 2*PI / mSegmentsW;
for(int i = 0; i <= mSegmentsH; ++i)
{
float circleHeight = i * heightDelta;
float circleRadius = mRadius[i];
for(int j = 0; j < mSegmentsW; ++j)
{
float x = circleRadius * cos(j*deltaTheta);
float z = circleRadius * sin(j*deltaTheta);
Vector3 vertPos(x, circleHeight, z);
if(i == 0)
vertPos = vertPos * orient.Conjugate();
mGeoData.posData.push_back(vertPos);
}
}
// verts
for(size_t i = 0; i < mGeoData.posData.size(); ++i)
{
Vert vert(i);
mGeoData.verts.push_back(vert);
}
// triangles
if(bottomPlane)
{
for(int i = 0; i < mSegmentsW; ++i) // 底圆面
{
// 顶点索引为2 ~ sw+1
Triangle triangle(0, 2+i, 2 + (i + 1) % mSegmentsW);
mGeoData.tris.push_back(triangle);
}
}
if(topPlane)
{
for(int i = 0; i < mSegmentsW; ++i) // 顶圆面
{
// 顶点索引为sw*sh + 2 ~ sw*(sh + 1) + 1
Triangle triangle(1, mSegmentsW*mSegmentsH + 2 + (i + 1) % mSegmentsW, mSegmentsW*mSegmentsH + 2 + i);
mGeoData.tris.push_back(triangle);
}
}
for(int i = 0; i < mSegmentsH; ++i) // 柱面
{
for(int j = 0; j < mSegmentsW; ++j)
{
Triangle tri1;
Triangle tri2;
tri1.vertexIndex[0] = mSegmentsW * i + j + 2;
tri1.vertexIndex[1] = mSegmentsW * (i + 1) + j + 2;
tri1.vertexIndex[2] = mSegmentsW * i + (j + 1)%mSegmentsW + 2;
tri2.vertexIndex[0] = mSegmentsW * (i + 1) + j + 2;
tri2.vertexIndex[1] = mSegmentsW * (i + 1) + (j + 1)%mSegmentsW + 2;
tri2.vertexIndex[2] = mSegmentsW * i + (j + 1)%mSegmentsW + 2;
_Assert(tri1.vertexIndex[0] < mSegmentsW * (mSegmentsH + 1) + 2);
_Assert(tri1.vertexIndex[1] < mSegmentsW * (mSegmentsH + 1) + 2);
_Assert(tri1.vertexIndex[2] < mSegmentsW * (mSegmentsH + 1) + 2);
_Assert(tri2.vertexIndex[0] < mSegmentsW * (mSegmentsH + 1) + 2);
_Assert(tri2.vertexIndex[1] < mSegmentsW * (mSegmentsH + 1) + 2);
_Assert(tri2.vertexIndex[2] < mSegmentsW * (mSegmentsH + 1) + 2);
mGeoData.tris.push_back(tri1);
mGeoData.tris.push_back(tri2);
}
}
}
Quaternion operator~(const Quaternion &op)
{
return op.Conjugate();
}
void FPSCamera::Update()
{
vec2 windowSize = Application::GetApplication().GetWindowSize();
vec2 windowCenter = vec2((float)(int32)(windowSize.x / 2.0f), (float)(int32)(windowSize.y / 2.0f));
if (Input::IsMouseButtonPressed(SP_MOUSE_RIGHT))
{
if (!Input::GetInputManager()->IsMouseGrabbed())
{
Input::GetInputManager()->SetMouseGrabbed(true);
Input::GetInputManager()->SetMouseCursor(SP_NO_CURSOR);
}
}
if (Input::GetInputManager()->IsMouseGrabbed())
{
vec2 mouse = Input::GetInputManager()->GetMousePosition();
mouse.x -= windowCenter.x;
mouse.y -= windowCenter.y;
if (m_MouseWasGrabbed)
{
m_Yaw += mouse.x * m_MouseSensitivity;
m_Pitch += mouse.y * m_MouseSensitivity;
}
m_MouseWasGrabbed = true;
Input::GetInputManager()->SetMousePosition(windowCenter);
Quaternion orientation = GetOrientation();
m_Rotation = orientation.ToEulerAngles() * (180.0f / SP_PI);
vec3 forward = GetForwardDirection(orientation);
vec3 right = GetRightDirection(orientation);
vec3 up = vec3::YAxis();
float speed = Input::IsKeyPressed(SP_KEY_SHIFT) ? m_SprintSpeed : m_Speed;
if (Input::IsKeyPressed(SP_KEY_W))
m_Position += forward * speed;
else if (Input::IsKeyPressed(SP_KEY_S))
m_Position -= forward * speed;
if (Input::IsKeyPressed(SP_KEY_A))
m_Position -= right * speed;
else if (Input::IsKeyPressed(SP_KEY_D))
m_Position += right * speed;
if (Input::IsKeyPressed(SP_KEY_SPACE))
m_Position += up * speed;
if (Input::IsKeyPressed(SP_KEY_CONTROL))
m_Position -= up * speed;
mat4 rotation = mat4::Rotate(orientation.Conjugate());
mat4 translation = mat4::Translate(-m_Position);
m_ViewMatrix = rotation * translation;
}
if (Input::IsKeyPressed(SP_KEY_ESCAPE))
{
Input::GetInputManager()->SetMouseGrabbed(false);
Input::GetInputManager()->SetMouseCursor(1);
m_MouseWasGrabbed = false;
}
}