void ViewingCore::pickCenter( const double ndcX, const double ndcY )
{
// Preserve the view direction.
const osg::Vec3d lastPosition = getEyePosition();
osg::Matrixd p = computeProjection();
osg::Vec4d ccFarPoint( ndcX, ndcY, 1., 1. );
if( !getOrtho() ) {
// Not ortho, so w != 1.0. Multiply by the far plane distance.
// This yields a value in clip coords.
double fovy, aspect, zNear, zFar;
p.getPerspective( fovy, aspect, zNear, zFar );
ccFarPoint *= zFar;
}
// Get inverse view & proj matrices to back-transform the clip coord point.
osg::Matrixd v = getMatrix();
p.invert( p );
osg::Vec4d wc = ccFarPoint * p * v;
osg::Vec3d farPoint( wc.x(), wc.y(), wc.z() );
if( !( intersect( _viewCenter, farPoint ) ) )
osg::notify( osg::WARN ) << "ViewingCore::pickCenter: No intersections." << std::endl;
_viewDistance = ( lastPosition - _viewCenter ).length();
}
//----------------------------------------------------------------------------------------------------------------------
ngl::Vec3 NGLDraw::getWorldSpace(const int _x, const int _y)
{
ngl::Mat4 m;
m = m*m_mouseGlobalTX;
ngl::Mat4 t=m_cam->getProjectionMatrix();
ngl::Mat4 v=m_cam->getViewMatrix();
// as ngl:: and OpenGL use different formats need to transpose the matrix.
t.transpose();
v.transpose();
m.transpose();
ngl::Mat4 inverse=(t*v*m).inverse();
ngl::Vec4 tmp(0,0,-1.0f,1.0f);
// convert into NDC
tmp.m_x=(2.0f * _x) / m_width- 1.0f;
tmp.m_y=1.0f - (2.0f * _y) / m_height;
// scale by inverse MV * Project transform
ngl::Vec4 near(tmp.m_x,tmp.m_y,-1.0f,1.0f);
ngl::Vec4 far(tmp.m_x,tmp.m_y,1.0f,1.0f);
//get world point on near and far clipping planes
ngl::Vec4 obj_near=inverse*near;
ngl::Vec4 obj_far=inverse*far;
// Scale by w
obj_near/=obj_near.m_w;
obj_far/=obj_far.m_w;
ngl::Vec3 nearPoint(obj_near.m_x,obj_near.m_y,obj_near.m_z);
ngl::Vec3 farPoint(obj_far.m_x,obj_far.m_y,obj_far.m_z);
//create ray
ngl::Vec3 rayDir(farPoint-nearPoint);
if(rayDir.lengthSquared() == 0.0f)
{
std::cout<<"Ray Direction in getWorldSpace equals zero, can't normalise"<<std::endl;
}
else
{
rayDir.normalize();
}
//calculate distance to zx plane
float dist = (-nearPoint.m_y)/rayDir.m_y;
//set world space coordinate where y = 0
ngl::Vec3 obj(nearPoint.m_x + (dist*rayDir.m_x),nearPoint.m_y + (dist*rayDir.m_y),nearPoint.m_z + (dist*rayDir.m_z));
obj.m_y = 0.0;
return obj;
}
Ray Camera::GetScreenRay(float screenX, float screenY) const
{
Update();
Vertex3 nearPoint(screenX, screenY, -1); //in normalized device coordinates (Z goes from near = -1 to far = 1)
Vertex3 farPoint(screenX, screenY, 0); //in normalized device coordinates
Vertex3 nearWorldCoord = ScreenToWorld(nearPoint);
Vertex3 farWorldCoord = ScreenToWorld(farPoint);
Vector3 direction(farWorldCoord - nearWorldCoord);
return Ray(nearWorldCoord, direction);
}
Ray::Ray(const gfx::View* view, const gfx::ICamera* camera, const vec2& mousePos, float maxDist /*= FLT_MAX*/ )
{
const RectI& viewPort(view->getViewport());
vec2 ndc(((mousePos.x - viewPort.x) / viewPort.width) * 2.0f - 1.0f,
-((mousePos.y - viewPort.y ) / viewPort.height) * 2.0f + 1.0f);
vec4 nearPoint(ndc, 0.0f, 1.0f);
vec4 farPoint(ndc, 1.0f, 1.0f);
mat44 unproject(camera->getViewProjection().inverse());
nearPoint = unproject * nearPoint;
farPoint = unproject * farPoint;
m_Origin = nearPoint.xyz() / nearPoint.w;
m_Direction = normalize(farPoint.xyz() / farPoint.w - m_Origin);
m_MaxDistance = maxDist;
}
Util::Vector SteerLib::GJK_EPA::getFarPoint(const std::vector<Util::Vector>& shape, const Util::Vector& dir){
Util::Vector farPoint(0,0,0);
float farDistance = 0;
float farIndex = 0;
for(int i = 0; i < shape.size(); i++){
float checkFar = dotProd(shape[i], dir);
if (checkFar > farDistance){
farDistance = checkFar;
farIndex = i;
}
}
farPoint[0] = shape[farIndex][0];
farPoint[1] = shape[farIndex][1];
farPoint[2] = shape[farIndex][2];
return farPoint;
}
osg::Vec3d ViewingCore::getFarPoint(const double ndcX, const double ndcY)
{
osg::Matrixd p = computeProjection();
osg::Vec4d ccFarPoint( ndcX, ndcY, 1., 1. );
if( !getOrtho() ) {
// Not ortho, so w != 1.0. Multiply by the far plane distance.
// This yields a value in clip coords.
double fovy, aspect, zNear, zFar;
p.getPerspective( fovy, aspect, zNear, zFar );
ccFarPoint *= zFar;
}
// Get inverse view & proj matrices to back-transform the clip coord point.
osg::Matrixd v = getMatrix();
p.invert( p );
osg::Vec4d wc = ccFarPoint * p * v;
osg::Vec3d farPoint( wc.x(), wc.y(), wc.z() );
return farPoint;
}
