// Given a point and a plane (defined by a coplanar point and a normal), compute the closest point
// in the plane. (The plane is unbounded.)
vec3f NearestPointInPlane(const vec3f &point, const vec3f &planePoint, const vec3f &planeNormal)
{
vec3f nearestPoint;
vec3f pointDelta = point - planePoint;
float delta = planeNormal.dot(pointDelta) / planeNormal.dot(planeNormal);
nearestPoint = point - delta*planeNormal;
return nearestPoint;
}
bool Sphere::intersect(Ray ray, float* t, vec3f* intersectionPoint) const noexcept
{
const vec3f k{implementation->position - ray.position};
const float a = ray.direction.dot(k);
const float D = a * a - (k.dot(k) - implementation->radius * implementation->radius);
if (D < 0.0F)
return false;
const float sqrtD = std::sqrt(D);
const float t1 = a - sqrtD;
const float t2 = a + sqrtD;
const float minT = std::min(t1, t2);
const float maxT = std::max(t1, t2);
const float fineT = minT >= 0.0F ? minT : maxT;
if (fineT < 0.0F)
return false;
if (t) *t = fineT;
if (intersectionPoint)
*intersectionPoint = ray.position + ray.direction * fineT;
return true;
}
//******************************************************************
//FUNCTION:
void COutdoorLightScattering::__getRaySphereIntersection(vec3f vRayOrigin, vec3f vRayDirection, vec3f vSphereCenter, float vSphereRadius, vec2f& voIntersection)
{
vRayOrigin -= vSphereCenter;
float A = vRayDirection.dot(vRayDirection);
float B = 2 * vRayOrigin.dot(vRayDirection);
float C = vRayOrigin.dot(vRayOrigin) - vSphereRadius * vSphereRadius;
float D = B * B - 4 * A * C;
if (D < 0)
{
voIntersection = vec2f(-1);
}
else
{
D = sqrt(D);
voIntersection = vec2f((-B - D) / 2 * A, (-B + D) / 2 * A);
}
}
/**
* LookTowards
*
* Note 1: Function will exit if front_vec is (close to) parallel to the Y-axis; supply your own up_vec if this is the case.
* Note 2: Not fully tested, use at own risk...
*
* Example:
* Make camera look at 'my_node'. Note that world space positions are used.
* camera->lookAt( my_node->getWorldPosition() - camera->getWorldPosition() );
*/
void Transformable::lookTowards(
vec3f front_vec,
vec3f up_vec
)
{
vec3f right;
vec3f up;
vec3f prev_up;
front_vec.normalize();
up_vec.normalize();
if (abs(up_vec.dot(front_vec)) > 0.99999f) {
return;
}
if (parent && parent->is_transformable) {
mat3f mat;
R = ((Transformable *) parent)->getWorldMatrix().rotationMatrix();
R.inv();
prev_up = up_vec;
right = front_vec.cross(prev_up);
up = right.cross(front_vec);
right.normalize();
up.normalize();
mat.setCol(0, right);
mat.setCol(1, up);
mat.setCol(2, -front_vec);
R = R * mat;
} else {
prev_up = up_vec;
right = front_vec.cross(prev_up);
up = right.cross(front_vec);
right.normalize();
up.normalize();
R.setCol(0, right);
R.setCol(1, up);
R.setCol(2, -front_vec);
}
}
/**
* @brief Called in response to user interaction.
*/
void
cylinder_sensor_node::do_activate(double timestamp,
bool,
bool active,
const double (&p)[3])
{
using openvrml::local::pi;
using openvrml::local::pi_2;
using openvrml::vec3f;
using openvrml::make_vec3f;
if (this->enabled_.sfbool::value()) {
// Become active
if (active && !this->is_active_.value()) {
this->is_active_.value(active);
// set activation point in local coords
vec3f v = make_vec3f(static_cast<float>(p[0]),
static_cast<float>(p[1]),
static_cast<float>(p[2]));
this->activationMatrix = this->modelview.inverse();
v *= this->activationMatrix;
this->activationPoint = v;
// Bearing vector in local coordinate system
v.x(this->activationMatrix[2][0]);
v.y(this->activationMatrix[2][1]);
v.z(this->activationMatrix[2][2]);
const vec3f bearing = v.normalize();
const vec3f up = make_vec3f(0.0, 1.0, 0.0);
double ang = acos(bearing.dot(up));
if (ang > pi_2) { ang = pi - ang; }
this->disk = (ang < this->disk_angle_.sffloat::value());
// send message
node::emit_event(this->is_active_emitter_, timestamp);
}
// Become inactive
else if (!active && this->is_active_.value()) {
this->is_active_.value(active);
node::emit_event(this->is_active_emitter_, timestamp);
// save auto offset of rotation
if (this->auto_offset_.sfbool::value()) {
this->offset_.sffloat::value(rotation_val);
node::emit_event(this->offset_, timestamp);
}
}
// Tracking
else if (active) {
using openvrml::local::fequal;
// get local coord for touch point
vec3f Vec = make_vec3f(static_cast<float>(p[0]),
static_cast<float>(p[1]),
static_cast<float>(p[2]));
Vec = Vec * this->activationMatrix;
this->track_point_changed_.value(Vec);
node::emit_event(this->track_point_changed_emitter_,
timestamp);
vec3f tempv;
float rot, radius;
vec3f dir1 = make_vec3f(Vec[0], 0, Vec[2]);
radius = this->disk
? 1.0f
: dir1.length();
dir1 = dir1.normalize();
vec3f dir2 = make_vec3f(this->activationPoint.x(),
0,
this->activationPoint.z());
dir2 = dir2.normalize();
tempv = dir2 * dir1;
vec3f cx(tempv);
cx = cx.normalize();
if (cx.length() == 0.0) { return; }
rot = radius * float(acos(dir2.dot(dir1)));
if (fequal(cx.y(), -1.0f)) { rot = -rot; }
if (this->auto_offset_.sfbool::value()) {
rot = this->offset_.sffloat::value() + rot;
}
if (this->min_angle_.sffloat::value()
< this->max_angle_.sffloat::value()) {
if (rot < this->min_angle_.sffloat::value()) {
rot = this->min_angle_.sffloat::value();
} else if (rot > this->max_angle_.sffloat::value()) {
rot = this->max_angle_.sffloat::value();
}
}
this->rotation_val = rot;
this->rotation_changed_.sfrotation::value(
openvrml::make_rotation(0, 1, 0, rot));
node::emit_event(this->rotation_changed_emitter_, timestamp);
}
}
}