void MotionSystem::noiseShiftWithOdo(Particle* particle, float dX, float dY, float dH) {
// How x,y,h factors when deciding ranges
float xF = 5.f;
float yF = 5.f;
float hF = 5.f;
float xL, xU, yL, yU, hL, hU;
if ((std::fabs(dX * xF) - .2f) < 0.001f) {
xL = -.2f;
xU = .2f;
}
else if (dX >0) {
xL = -1.f * dX * xF;
xU = dX * xF;
}
else {//dX <0
xL = dX * xF;
xU = -1.f * dX * xF;
}
if ((std::fabs(dY * yF) - .2f) < 0.001f) {
yL = -.2f;
yU = .2f;
}
else if (dY >0) {
yL = -1.f * dY * yF;
yU = dY * yF;
}
else { //dY <0
yL = dY * yF;
yU = -1.f * dY * yF;
}
if ((std::fabs(dH * hF) - .025f) < 0.001f) {
hL = -.025f;
hU = .025f;
}
else if (dH >0) {
hL = -1.f * dH * hF;
hU = dH * hF;
}
else { //dH <0
hL = dH * hF;
hU = -1.f * dH * hF;
}
boost::uniform_real<float> xRange(xL, xU);
boost::uniform_real<float> yRange(yL, yU);
boost::uniform_real<float> hRange(hL, hU);
boost::variate_generator<boost::mt19937&, boost::uniform_real<float> > xShift(rng, xRange);
boost::variate_generator<boost::mt19937&, boost::uniform_real<float> > yShift(rng, yRange);
boost::variate_generator<boost::mt19937&, boost::uniform_real<float> > hShift(rng, hRange);
particle->shift(xShift(), yShift(), hShift());
}
void ViewingArea::update_projection_matrices()
{
// if the inset is asymmetric, shift the viewing volume accordingly
GLfloat xShift((insetCenter_[X_INDEX]-centerAndRelative_[X_INDEX])/centerAndRelative_[X_INDEX]);
GLfloat yShift((insetCenter_[Y_INDEX]-centerAndRelative_[Y_INDEX])/centerAndRelative_[Y_INDEX]);
// if the inset is smaller than the window, rescale the viewing volume accordingly;
GLfloat xScale((insetRelative_[X_INDEX]/centerAndRelative_[X_INDEX]));
GLfloat yScale((insetRelative_[Y_INDEX]/centerAndRelative_[Y_INDEX]));
// correct for the aspect ratio of the inset;
GLfloat r(insetRelative_[X_INDEX]/insetRelative_[Y_INDEX]);
if(r>1)
xScale/=r;
else
yScale*=r;
// check if we have orthogonal projection
if(!(angle_>0))
{
projectionMatrix_[X_INDEX+N_ROWS*X_INDEX]=xScale;inverseProjectionMatrix_[X_INDEX+N_ROWS*X_INDEX]=1/xScale;
projectionMatrix_[Y_INDEX+N_ROWS*Y_INDEX]=yScale;inverseProjectionMatrix_[Y_INDEX+N_ROWS*Y_INDEX]=1/yScale;
projectionMatrix_[Z_INDEX+N_ROWS*Z_INDEX]=-zScaleOrtho_;inverseProjectionMatrix_[Z_INDEX+N_ROWS*Z_INDEX]=-1/zScaleOrtho_;
projectionMatrix_[X_INDEX+N_ROWS*N_SPATIAL_DIMENSIONS]=xShift;inverseProjectionMatrix_[X_INDEX+N_ROWS*N_SPATIAL_DIMENSIONS]=-xShift/xScale;
projectionMatrix_[Y_INDEX+N_ROWS*N_SPATIAL_DIMENSIONS]=yShift;inverseProjectionMatrix_[Y_INDEX+N_ROWS*N_SPATIAL_DIMENSIONS]=-yShift/yScale;
}
else // perspective projection
{
/* The original (-1,-1,-1) - (1,1,1) viewing volume must be rescaled to fit into
the window depending on its distance from the camera.
*/
xScale*=(zShift_+zCamera_);
yScale*=(zShift_+zCamera_);
// set near and far clipping planes (magic numbers right now -> find better way)
GLfloat n(zShift_/10);
GLfloat f(zShift_*10);
/* put together the perspective projection everything together in this order:
scale x, y and z in camera space,
shift z in camera space,
apply perspective transformation (as in gluPerspective, aspect ratio is
already built into xScale and yScale)
shift x and y in screen space (shifting in camera space would decenter the frustum)
the projection matrix below is the product of all these transformations
*/
/* note that zShift_ is positive, with larger values equivalent to a larger distance
from the viewer. In camera space, however, negative values are further away from
the viewer. zShift_ enters the projection matrix below such that a large positive
value of zShift_ will create a large negative shift in the z coordinate of the input
vector.
*/
a_=(-(f+n)/(f-n));
b_=(-2.0f*(f*n)/(f-n));
// first column
projectionMatrix_[X_INDEX+N_ROWS*X_INDEX]=xScale;inverseProjectionMatrix_[X_INDEX+N_ROWS*X_INDEX]=1/xScale;
// second column
projectionMatrix_[Y_INDEX+N_ROWS*Y_INDEX]=yScale;inverseProjectionMatrix_[Y_INDEX+N_ROWS*Y_INDEX]=1/yScale;
// third column
projectionMatrix_[N_ROWS*Z_INDEX+X_INDEX]=-xShift;
projectionMatrix_[N_ROWS*Z_INDEX+Y_INDEX]=-yShift;
projectionMatrix_[N_ROWS*Z_INDEX+Z_INDEX]=a_;inverseProjectionMatrix_[N_ROWS*Z_INDEX+Z_INDEX]=zShift_/b_;
projectionMatrix_[N_ROWS*Z_INDEX+N_SPATIAL_DIMENSIONS]=-1;inverseProjectionMatrix_[N_ROWS*Z_INDEX+N_SPATIAL_DIMENSIONS]=1/b_;
// fourth column
projectionMatrix_[N_ROWS*N_SPATIAL_DIMENSIONS+X_INDEX]=zShift_*xShift;inverseProjectionMatrix_[N_ROWS*N_SPATIAL_DIMENSIONS+X_INDEX]=-xShift/xScale;
projectionMatrix_[N_ROWS*N_SPATIAL_DIMENSIONS+Y_INDEX]=zShift_*yShift;inverseProjectionMatrix_[N_ROWS*N_SPATIAL_DIMENSIONS+Y_INDEX]=-yShift/yScale;
projectionMatrix_[N_ROWS*N_SPATIAL_DIMENSIONS+Z_INDEX]=-a_*zShift_+b_;inverseProjectionMatrix_[N_ROWS*N_SPATIAL_DIMENSIONS+Z_INDEX]=a_*zShift_/b_-1;
projectionMatrix_[N_ROWS*N_SPATIAL_DIMENSIONS+N_SPATIAL_DIMENSIONS]=zShift_;inverseProjectionMatrix_[N_ROWS*N_SPATIAL_DIMENSIONS+N_SPATIAL_DIMENSIONS]=a_/b_;
}
glContext_->update_global_uniform_4x4(GLContext::PROJECTION_MATRIX,projectionMatrix_);
glContext_->update_global_uniform_4x4(GLContext::INVERSE_PROJECTION_MATRIX,inverseProjectionMatrix_);
glContext_->request_redraw();
}
