static int mouse_press (Viewer *viewer, EventHandler *ehandler,
const double ray_start[3], const double ray_dir[3],
const GdkEventButton *event)
{
RendererGoal *self = (RendererGoal*) ehandler->user;
double xy[2];
geom_ray_z_plane_intersect_3d(POINT3D (ray_start), POINT3D (ray_dir),
0, POINT2D (xy));
int consumed = 0;
int control = event->state & GDK_CONTROL_MASK;
pthread_mutex_lock (&self->mutex);
// select a previously selected goal?
if (event->button == 1 && ehandler->picking) {
self->edit_goal = find_goal(self, xy);
consumed = 1;
}
if (event->button == 1 && control && ehandler->picking &&
self->edit_goal == NULL) {
// create a new goal
lcmtypes_goal_t g = {
.pos = { xy[0], xy[1] },
.size = { 1, 1 },
.theta = 0,
static double pick_query(Viewer *viewer, EventHandler *ehandler, const double ray_start[3], const double ray_dir[3])
{
RendererCar *self = (RendererCar*) ehandler->user;
lcmtypes_pose_t pose;
if (ctrans_local_pose (self->ctrans, &pose) < 0)
return -1;
double ray_start_body[3];
vector_subtract_3d (ray_start, pose.pos, ray_start_body);
rot_quat_rotate_rev (pose.orientation, ray_start_body);
double ray_dir_body[3] = { ray_dir[0], ray_dir[1], ray_dir[2] };
rot_quat_rotate_rev (pose.orientation, ray_dir_body);
vector_normalize_3d (ray_dir_body);
point3d_t car_pos_body = { 1.3, 0, 1 };
point3d_t box_size = { 4.6, 2, 1.4 };
double t = geom_ray_axis_aligned_box_intersect_3d (POINT3D(ray_start_body),
POINT3D (ray_dir_body), &car_pos_body, &box_size, NULL);
if (isfinite (t)) return t;
self->ehandler.hovering = 0;
return -1;
}
point3d_t Object::calculate(const point3d_t point) const {
boost::numeric::ublas::vector<double> v(4);
v(0) = point.x; v(1) = point.y; v(2) = point.z; v(3) = 1.0;
v = prod(t, v);
if(parent)
return parent->calculate(POINT3D(v(0),v(1),v(2)));
return POINT3D(v(0),v(1),v(2));
}
static int
mouse_release(Viewer *viewer, EventHandler *ehandler,
const double ray_start[3], const double ray_dir[3],
const GdkEventButton *event)
{
RendererSimTraffic *self = (RendererSimTraffic*) ehandler->user;
if (self->ehandler.picking) {
if (!ctrans_have_pose (self->ctrans) ||
!ctrans_have_gps_to_local (self->ctrans)) {
self->ehandler.picking = 0;
return 0;
}
double car_pos[3];
ctrans_local_pos (self->ctrans, car_pos);
geom_ray_z_plane_intersect_3d(POINT3D(ray_start),
POINT3D(ray_dir), car_pos[2], POINT2D(self->last_xy));
lcmtypes_track_t msg = {
.id = self->selected_vehicle_id,
.pos = { self->last_xy[0], self->last_xy[1] },
.vel = { 0, 0 },
.size = { 0, 0 },
.size_good = TRUE,
.theta = 0,
.confidence = 3,
};
lcmtypes_track_t_publish (self->lc, "TSIM_MOVE", &msg);
}
self->ehandler.picking = 0;
return 0;
}
static int
mouse_motion (Viewer *viewer, EventHandler *ehandler,
const double ray_start[3], const double ray_dir[3],
const GdkEventMotion *event)
{
RendererSimTraffic *self = (RendererSimTraffic*) ehandler->user;
if (!self->ehandler.picking ||
!event->state & GDK_BUTTON1_MASK) return 0;
if (!ctrans_have_pose (self->ctrans) ||
!ctrans_have_gps_to_local (self->ctrans)) {
return 0;
}
double car_pos[3];
ctrans_local_pos (self->ctrans, car_pos);
geom_ray_z_plane_intersect_3d (POINT3D(ray_start),
POINT3D(ray_dir), car_pos[2], POINT2D(self->last_xy));
return 1;
}
static double
pick_query(Viewer *viewer, EventHandler *ehandler, const double ray_start[3],
const double ray_dir[3])
{
RendererSimTraffic *self = (RendererSimTraffic*) ehandler->user;
if (!ctrans_have_pose (self->ctrans)) return -1;
if (!self->tracks) return -1;
double car_pos[3];
ctrans_local_pos (self->ctrans, car_pos);
vec3d_t rd = { ray_dir[0], ray_dir[1], ray_dir[2] };
geom_vec_normalize_3d (&rd);
double tmin = INFINITY;
for (int i=0; i<self->tracks->ntracks; i++) {
lcmtypes_track_t *vd = &self->tracks->tracks[i];
point3d_t box_size = { vd->size[0], vd->size[1], VEHICLE_HEIGHT };
// transform the ray into object frame
double rs_obj[3] = {
ray_start[0] - vd->pos[0],
ray_start[1] - vd->pos[1],
ray_start[2] - (car_pos[2] + VEHICLE_HEIGHT / 2)
};
double rquat[4];
double zaxis[3] = { 0, 0, 1 };
rot_angle_axis_to_quat (vd->theta, zaxis, rquat);
rot_quat_rotate_rev (rquat, rs_obj);
double rd_obj[3] = { rd.x, rd.y, rd.z };
rot_quat_rotate_rev (rquat, rd_obj);
point3d_t pos = { 0, 0, 0 };
// in object frame, intersection test is easy
double t = geom_ray_axis_aligned_box_intersect_3d (POINT3D(rs_obj),
POINT3D(rd_obj), &pos, &box_size, NULL);
if (isfinite (t) && isless (t, tmin)) {
tmin = t;
self->selected_vehicle_id = vd->id;
}
}
if (isfinite (tmin)) {
return tmin;
}
self->ehandler.hovering = 0;
return -1;
}
int main(int argc, char** argv) {
if(argc!=2) {
std::cerr << "Usage: " << argv[0] << " <file-name>" << std::endl;
return -1;
}
World world; //(COLOR(0.3, 0.3, 1.0));
Light light1(&world, POINT3D(2.0, 3.0, 2.0));
//Light light2(&world, POINT3D(-4.0, 5.0, 5.0), LIGHT(COLOR_YELLOW));
//Light light3(&world, POINT3D(2.0, 0.0, 5.0));
material_t blue_ball_mat = MATERIAL_DEFAULT, green_ball_mat = MATERIAL_DEFAULT;
blue_ball_mat.color = COLOR_WHITE;
green_ball_mat.color = COLOR(0.7,0.7,0.7);
blue_ball_mat.specular = green_ball_mat.specular = COLOR_WHITE;
blue_ball_mat.ka = 0.075; green_ball_mat.ka = 0.15;
blue_ball_mat.kd = 0.075; green_ball_mat.kd = 0.25;
blue_ball_mat.ks = 0.2; green_ball_mat.ks = 1.0;
blue_ball_mat.ke = green_ball_mat.ke = 20.0;
blue_ball_mat.kr = 0.05; green_ball_mat.kr = 0.75;
blue_ball_mat.kt = 0.85;
blue_ball_mat.n = 0.95;
blue_ball_mat.texture = green_ball_mat.texture = 0;
Sphere blue(&world, blue_ball_mat, 0.15, POINT3D(0.45, 0.3, 0.75));
Sphere green(&world, green_ball_mat, 0.15, POINT3D(0.3, 0.2, 0.5));
Object floor(&world);
material_t floor_mat = MATERIAL_DEFAULT;
floor_mat.color = COLOR_RED;
floor_mat.specular = COLOR_WHITE;
floor_mat.ka = 0.7;
floor_mat.kd = 0.2;
floor_mat.ks = 0.2;
floor_mat.ke = 10.0;
floor_mat.texture = floor_texture1;
Triangle floor1(&floor, floor_mat, POINT3D(-0.7, 0.0, 1.0), POINT3D(1.05, 0.0, 1.0), POINT3D(1.05, 0.0, -1.5));
Triangle floor2(&floor, floor_mat, POINT3D(-0.7, 0.0, 1.0), POINT3D(1.05, 0.0, -1.5), POINT3D(-0.7, 0.0, -1.5));
//Cube cube(&world, MATERIAL(COLOR_YELLOW), POINT3D(0.4, 0.4, 0.4), POINT3D(1.0, 0.5, -0.5), POINT3D(M_PI/4.0, -M_PI / 4.0, M_PI/4.0));
//Cone cone(&world, MATERIAL(COLOR_YELLOW), 1.0, 5, 0.5, 20, POINT3D(0.0, 0.5, -0.5), POINT3D(-M_PI/16.0,0.0,0.0));
Camera cam(&world, POINT3D(0.5, 0.3, 1.5), POINT3D(0.5, 0.3, 0.0), POINT3D(0.0, 1.0, 0.0), 45.0, 0.01, 10.0, 10);
Image img(1024,768);
cam.snap(&img);
Image::save(&img, argv[1]);
return 0;
}
static int mouse_motion (Viewer *viewer, EventHandler *ehandler,
const double ray_start[3], const double ray_dir[3],
const GdkEventMotion *event)
{
RendererCar *self = (RendererCar*) ehandler->user;
if (!viewer->simulation_flag||!self->teleport_car)
return 0;
if (!self->ehandler.picking)
return 0;
lcmtypes_pose_t p;
if (ctrans_local_pose (self->ctrans, &p) < 0)
return 0;
double xy[2];
geom_ray_z_plane_intersect_3d(POINT3D(ray_start),
POINT3D(ray_dir), p.pos[2], POINT2D(xy));
int shift = event->state & GDK_SHIFT_MASK;
if (shift) {
// rotate!
double theta1 = atan2(xy[1] - p.pos[1], xy[0] - p.pos[0]);
// local
double dq[4] = { cos (theta1/2), 0, 0, sin(theta1/2) };
memcpy(p.orientation, dq, 4 * sizeof(double));
} else {
// translate
p.pos[0] = xy[0];
p.pos[1] = xy[1];
}
self->last_xy[0] = xy[0];
self->last_xy[1] = xy[1];
lcmtypes_pose_t_publish(self->lc, "SIM_TELEPORT", &p);
return 1;
}
static int mouse_press (Viewer *viewer, EventHandler *ehandler,
const double ray_start[3], const double ray_dir[3],
const GdkEventButton *event)
{
RendererCar *self = (RendererCar*) ehandler->user;
// only handle mouse button 1.
if (self->teleport_car_request&&(event->button == 1)) {
self->teleport_car = 1;
}
if (event->type == GDK_2BUTTON_PRESS) {
self->display_detail = (self->display_detail + 1) % NUM_DETAILS;
viewer_request_redraw(self->viewer);
}
double carpos[3] = { 0, 0, 0 };
ctrans_local_pos (self->ctrans, carpos);
geom_ray_z_plane_intersect_3d(POINT3D(ray_start),
POINT3D(ray_dir), carpos[2], POINT2D(self->last_xy));
return 0;
}
static void point3d_get_property (GObject *obj,
guint prop_id,
GValue *value,
GParamSpec *pspec) {
Point3D *point3d = POINT3D(obj);
g_print("point3d_get_property(obj=%p, %s)\n",
obj, g_param_spec_get_name(pspec));
switch (prop_id) {
case PROP_Z:
g_value_set_int(value, point3d->z);
break;
default:
G_OBJECT_WARN_INVALID_PROPERTY_ID(obj, prop_id, pspec);
break;
}
}
static void point3d_set_property (GObject *obj,
guint prop_id,
const GValue *value,
GParamSpec *pspec) {
Point3D *point3d = POINT3D(obj);
{
gchar *contents = g_strdup_value_contents(value);
g_print("point3d_set_property(obj=%p, %s => %s)\n",
obj, g_param_spec_get_name(pspec), contents);
g_free(contents);
}
switch (prop_id) {
case PROP_Z: {
gint new_z = g_value_get_int(value);
point3d->z = new_z;
break;
}
default:
G_OBJECT_WARN_INVALID_PROPERTY_ID(obj, prop_id, pspec);
break;
}
}
void Init()
{
//
::SetTimer(g_hwnd,100,1000,NULL);
bool bret = LoadBitmapFile(&bitmap,"wall.bmp");
int bitmapwidth = bitmap.bitmapinfoheader.biWidth;
int bitmapheight = bitmap.bitmapinfoheader.biHeight;
CRenderObject *pobj = new CRenderObject;
std::vector<Vertex> pointlist;
pointlist.push_back(Vertex(POINT3D(10,10,10) ));
pointlist.push_back(Vertex(POINT3D(10,10,-10)));
pointlist.push_back(Vertex(POINT3D(-10,10,-10)));
pointlist.push_back(Vertex(POINT3D(-10,10,10)));
pointlist.push_back(Vertex(POINT3D(10,-10,10)));
pointlist.push_back(Vertex(POINT3D(-10,-10,10)));
pointlist.push_back(Vertex(POINT3D(-10,-10,-10)));
pointlist.push_back(Vertex(POINT3D(10,-10,-10)));
pobj->m_translateverticesList = pointlist;
pobj->m_verticesList = pointlist;
//Set texture pointlist
std::vector<POINT2D> texturelist;
texturelist.push_back(POINT2D(0,0));
texturelist.push_back(POINT2D(bitmapwidth-1,0));
texturelist.push_back(POINT2D(bitmapwidth-1,bitmapheight-1));
texturelist.push_back(POINT2D(0,bitmapheight-1));
pobj->m_texturecoordinatesList = texturelist;
int tempindices[36]=
{
0,1,2, 0,2,3,
0,7,1, 0,4,7,
1,7,6, 1,6,2,
2,6,5, 2,3,5,
0,5,4, 0,3,5,
5,6,7, 4,5,7
};
int textindices[36] =
{
2,1,0, 2,0,3,
2,0,1, 2,3,0,
1,0,3, 1,3,0,
0,1,2, 2,3,0,
2,0,1, 2,3,0,
2,1,0, 3,2,0
};
for(int i =0; i <12;++i)
{
POLYGON temp ;
temp.v[0] = tempindices[i*3+0];
temp.v[1] = tempindices[i*3+1];
temp.v[2] = tempindices[i*3 +2];
temp.text[0] = textindices[i*3+0];
temp.text[1] = textindices[i*3+1];
temp.text[2] = textindices[i*3+2];
temp.state |= OBJECT_HAS_TEXTURE|SHADE_MODEL_CONSTANT;
temp.color = RGBA(RGB(128,123,140));
temp.texture = &bitmap;
temp.pointlist = &pobj->m_verticesList;
temp.texturecoordinatelist = &pobj->m_texturecoordinatesList;
pobj->m_PolyGonList.push_back(temp);
}
pobj->world_pos = POINT3D(-10,0,50);
CRenderObject *pobj2 = new CRenderObject(*pobj);
pobj2->world_pos = POINT3D(15,0,50);
CRenderObject* pobj3 =new CRenderObject(*pobj);
pobj3->world_pos = POINT3D(0,10,80);
CRenderObject *pobj4 = new CRenderObject(*pobj);
pobj4->world_pos = POINT3D(20,-10,100);
g_RenderManager.Add(pobj);
g_RenderManager.Add(pobj2);
g_RenderManager.Add(pobj3);
g_RenderManager.Add(pobj4);
//Set lights
CLight *pLight = new CLight;
pLight->InitLight(CLight::kAmbientLight,RGBA(RGB(255,0,0)),Black_Color,Black_Color);
g_lights.AddLight(pLight);
CLight *pLight2 = new CLight;
pLight2->InitLight(CLight::kInfiniteLigtht,Black_Color,RGBA(255,0,0),Black_Color,ZeroVector,
Vector4D(-1.0,0.0,1.0));
g_lights.AddLight(pLight2);
CLight *pLight3 = new CLight;
pLight3->InitLight(CLight::kPointLight,Black_Color,RGBA(0,255,0),Black_Color,Vector4D(0,10,0),
ZeroVector,1.0,2.0,4.0);
g_lights.AddLight(pLight3);
CLight *pLight4 = new CLight;
pLight4->InitLight(CLight::kSpotLight,Black_Color,RGBA(255,255,255),Black_Color,Vector4D(0,20,10),
Vector4D(0.0,0.0,1.0),0.0,0.01,0.0,30.0,60.0,1.0);
g_lights.AddLight(pLight4);
g_RenderManager.SetCamera(&g_cam);
g_RenderManager.SetLightManager(&g_lights);
}
Cube::Cube(Object *parent, const material_t material, const point3d_t dim, const point3d_t p, const point3d_t d) :
Shape(parent, material, p, d), dim(dim),
top1(this, MATERIAL(COLOR_RED),
POINT3D(dim.x/2.0, dim.y/2.0, dim.z/2.0), // (x, y, z)
POINT3D(dim.x/2.0, dim.y/2.0, -dim.z/2.0), // (x, y, -z)
POINT3D(-dim.x/2.0, dim.y/2.0, dim.z/2.0)), // (-x, y, z)
top2(this, MATERIAL(COLOR_RED),
POINT3D(-dim.x/2.0, dim.y/2.0, dim.z/2.0), // (-x, y, z)
POINT3D(dim.x/2.0, dim.y/2.0, -dim.z/2.0), // (x, y, -z)
POINT3D(-dim.x/2.0, dim.y/2.0, -dim.z/2.0)), // (-x, y, -z)
bottom1(this, MATERIAL(COLOR_RED),
POINT3D(-dim.x/2.0, -dim.y/2.0, dim.z/2.0), // (-x, -y, z)
POINT3D(dim.x/2.0, -dim.y/2.0, -dim.z/2.0), // (x, -y, -z)
POINT3D(dim.x/2.0, -dim.y/2.0, dim.z/2.0)), // (x, -y, z)
bottom2(this, MATERIAL(COLOR_RED),
POINT3D(-dim.x/2.0, -dim.y/2.0, -dim.z/2.0), // (-x, -y, -z)
POINT3D(dim.x/2.0, -dim.y/2.0, -dim.z/2.0), // (x, -y, -z)
POINT3D(-dim.x/2.0, -dim.y/2.0, dim.z/2.0)), // (-x. -y. z)
left1(this, MATERIAL(COLOR_BLUE),
POINT3D(-dim.x/2.0, dim.y/2.0, dim.z/2.0), // (-x, y, z)
POINT3D(-dim.x/2.0, dim.y/2.0, -dim.z/2.0), // (-x, y, -z)
POINT3D(-dim.x/2.0, -dim.y/2.0, dim.z/2.0)), // (-x, -y, z)
left2(this, MATERIAL(COLOR_BLUE),
POINT3D(-dim.x/2.0, dim.y/2.0, -dim.z/2.0), // (-x, y, -z)
POINT3D(-dim.x/2.0, -dim.y/2.0, -dim.z/2.0), // (-x, -y, -z)
POINT3D(-dim.x/2.0, -dim.y/2.0, dim.z/2.0)), // (-x, -y, z)
right1(this, MATERIAL(COLOR_BLUE),
POINT3D(dim.x/2.0, -dim.y/2.0, dim.z/2.0), // (x, -y, z)
POINT3D(dim.x/2.0, -dim.y/2.0, -dim.z/2.0), // (x, -y, -z)
POINT3D(dim.x/2.0, dim.y/2.0, -dim.z/2.0)), // (x, y, -z)
right2(this, MATERIAL(COLOR_BLUE),
POINT3D(dim.x/2.0, -dim.y/2.0, dim.z/2.0), // (x, -y, z)
POINT3D(dim.x/2.0, dim.y/2.0, -dim.z/2.0), // (x, y, -z)
POINT3D(dim.x/2.0, dim.y/2.0, dim.z/2.0)), // (x, y, z)
front1(this, MATERIAL(COLOR_GREEN),
POINT3D(dim.x/2.0, dim.y/2.0, dim.z/2.0), // (x, y, z)
POINT3D(-dim.x/2.0, -dim.y/2.0, dim.z/2.0), // (-x, -y ,z)
POINT3D(dim.x/2.0, -dim.y/2.0, dim.z/2.0)), // (x, -y, z)
front2(this, MATERIAL(COLOR_GREEN),
POINT3D(dim.x/2.0, dim.y/2.0, dim.z/2.0), // (x, y, z)
POINT3D(-dim.x/2.0, dim.y/2.0, dim.z/2.0), // (-x, y, z)
POINT3D(-dim.x/2.0, -dim.y/2.0, dim.z/2.0)), // (-x, -y, z)
back1(this, MATERIAL(COLOR_GREEN),
POINT3D(dim.x/2.0, -dim.y/2.0, -dim.z/2.0), // (x, -y, -z)
POINT3D(-dim.x/2.0, -dim.y/2.0, -dim.z/2.0), // (-x, -y, -z)
POINT3D(dim.x/2.0, dim.y/2.0, -dim.z/2.0)), // (x, y, -z)
back2(this, MATERIAL(COLOR_GREEN),
POINT3D(-dim.x/2.0, -dim.y/2.0, -dim.z/2.0), // (-x, -y, -z)
POINT3D(-dim.x/2.0, dim.y/2.0, -dim.z/2.0), // (-x, y, -z)
POINT3D(dim.x/2.0, dim.y/2.0, -dim.z/2.0)) // (x, y, -z)
{
}
color_t Shape::phong(const point3d_t p, const point2d_t tc, const point3d_t n, const ray_t *ray) const {
const World *world = this->world();
color_t texture = material.texture == 0 ? material.color : material.texture(tc);
if(!world) return texture;
boost::numeric::ublas::vector<double> color = vector3d(0.0, 0.0, 0.0);
boost::numeric::ublas::vector<double> vn = vector3d(n.x, n.y, n.z);
boost::numeric::ublas::vector<double> vv = vector3d(-ray->d.x, -ray->d.y, -ray->d.z);
double dvn = dot_prod(vv, vn);
double nit = 1.0 / material.n;
if (dvn < 0.0) {
nit = material.n / 1.0;
vn = -vn;
dvn = dot_prod(vv, vn);
}
boost::numeric::ublas::vector<double> texture_color = vector3d(texture.r, texture.g, texture.b);
boost::numeric::ublas::vector<double> specular_color = vector3d(material.specular.r, material.specular.g, material.specular.b);
boost::numeric::ublas::vector<double> ambient_color = vector3d(world->ambient.r, world->ambient.g, world->ambient.b);
// ambient
color += material.ka * vector3d(ambient_color(0) * texture_color(0),
ambient_color(1) * texture_color(1),
ambient_color(2) * texture_color(2));
double kr = material.kr;
// transmission
if(ray->ttl > 0 && material.kt > 0.0 && material.n > 0.0) {
double l = 1.0 + nit*nit*(dvn*dvn - 1.0);
if(l >= 0.0) {
boost::numeric::ublas::vector<double> d = -nit * vv;
d += (nit*dvn - sqrt(l)) * vn;
d = normalize(d);
ray_t transmission_ray;
transmission_ray.p = p;
transmission_ray.d = POINT3D(d(0), d(1), d(2));
transmission_ray.near = 0.000000001;
transmission_ray.far = DOUBLE_INF;
transmission_ray.ttl = ray->ttl-1;
color_t transmission_color = world->trace(&transmission_ray);
color += material.kt * vector3d(transmission_color.r, transmission_color.g, transmission_color.b);
} else
kr += material.kt;
}
// reflection
if(ray->ttl > 0 && kr > 0.0) {
boost::numeric::ublas::vector<double> vr = 2.0 * dot_prod(vv, vn) * vn - vv;
ray_t reflection_ray;
reflection_ray.p = p;
reflection_ray.d = POINT3D(vr(0), vr(1), vr(2));
reflection_ray.near = 0.000001;
reflection_ray.far = DOUBLE_INF;
reflection_ray.ttl = ray->ttl-1;
color_t reflection_color = world->trace(&reflection_ray);
color += kr * vector3d(reflection_color.r, reflection_color.g, reflection_color.b);
}
// lights
for(std::vector<Light*>::const_iterator i = world->lights.begin(); i != world->lights.end(); i++) {
// shadow ray
point3d_t s = (*i)->getSource();
boost::numeric::ublas::vector<double> vs = vector3d(s.x - p.x, s.y - p.y, s.z - p.z);
double light_distance = sqrt(dot_prod(vs, vs));
vs = normalize(vs);
ray_t shadow_ray;
shadow_ray.p = p;
shadow_ray.d = POINT3D(vs(0), vs(1), vs(2));
shadow_ray.near = 0.00000001;
shadow_ray.far = DOUBLE_INF;
shadow_ray.ttl = 1;
if(world->hit(&shadow_ray).t < light_distance) continue;
light_t light = (*i)->getLight();
boost::numeric::ublas::vector<double> light_color = vector3d(light.color.r, light.color.g, light.color.b);
// diffuse
color += material.kd * dot_prod(vs, vn) * vector3d(light_color(0) * texture_color(0),
light_color(1) * texture_color(1),
light_color(2) * texture_color(2));
// specular
boost::numeric::ublas::vector<double> vr = 2.0 * dot_prod(vs, vn) * vn - vs;
double vra = dot_prod(vr, vv);
if(vra >= 0.0) color += material.ks * pow(vra, material.ke) * vector3d(light_color(0) * specular_color(0),
light_color(1) * specular_color(1),
light_color(2) * specular_color(2));
}
// keep color in range
if(color(0) > 1.0) color(0) = 1.0;
if(color(0) < 0.0) color(0) = 0.0;
if(color(1) > 1.0) color(1) = 1.0;
if(color(1) < 0.0) color(1) = 0.0;
if(color(2) > 1.0) color(2) = 1.0;
if(color(2) < 0.0) color(2) = 0.0;
return COLOR(color(0), color(1), color(2));
}
inline POINT3D operator -(POINT3D a,POINT3D b){
return POINT3D(a.x-b.x,a.y-b.y,a.z-b.z);
}
inline POINT3D operator ^(POINT3D a,POINT3D b){
return POINT3D(a.y*b.z-a.z*b.y, a.z*b.x-a.x*b.z, a.x*b.y-a.y*b.x);
}