transf PositionStateEllipsoid::getCoreTran() const
{
double a = getParameter("a");
double b = getParameter("b");
double c = getParameter("c");
double beta = readVariable("beta");
double gamma = readVariable("gamma");
double tau = readVariable("tau");
double distance = readVariable("dist");
double px,py,pz;
px = a * cos(beta) * cos(gamma);
py = b * cos(beta) * sin(gamma);
pz = c * sin(beta);
//compute normal direction - for some reason this always points INSIDE the ellipsoid
vec3 n1( -a*sin(beta)*cos(gamma), -b*sin(beta)*sin(gamma), c*cos(beta) );
vec3 n2( -a*cos(beta)*sin(gamma), b*cos(beta)*cos(gamma), 0 );
vec3 normal = normalise(n1) * normalise(n2);
vec3 xdir(1,0,0);
vec3 ydir = normal * normalise(xdir);
xdir = ydir * normal;
mat3 r(xdir,ydir,normal);
transf handTran = transf(r, vec3(px,py,pz) - distance * normal);
Quaternion zrot(tau, vec3(0,0,1));
handTran = transf(zrot, vec3(0,0,0) ) * handTran;
return mHand->getApproachTran().inverse() * handTran;
//So: hand tranform is: move onto the ellipsoid and rotate z axis in normal direction
// --> hand approach transform inverted to get to hand origin
}
void EpsWriter::setRotationMatrix ( aol::FullMatrix<double> &rot, double xang_deg, double yang_deg, double zang_deg ) {
// rot is set to the rotation matrix specified by the three angles (in degrees)
aol::FullMatrix<double> xrot ( 3, 3 ), yrot ( 3, 3 ), zrot ( 3, 3 );
const double
xang = xang_deg * 0.0174329252, // pi / 180
yang = yang_deg * 0.0174329252,
zang = zang_deg * 0.0174329252;
xrot.set ( 0, 0, 1.0 ); xrot.set ( 0, 1, 0.0 ); xrot.set ( 0, 2, 0.0 );
xrot.set ( 1, 0, 0.0 ); xrot.set ( 1, 1, cos ( xang ) ); xrot.set ( 1, 2, -sin ( xang ) );
xrot.set ( 2, 0, 0.0 ); xrot.set ( 2, 1, sin ( xang ) ); xrot.set ( 2, 2, cos ( xang ) );
yrot.set ( 0, 0, cos ( yang ) ); yrot.set ( 0, 1, 0.0 ); yrot.set ( 0, 2, -sin ( yang ) );
yrot.set ( 1, 0, 0.0 ); yrot.set ( 1, 1, 1.0 ); yrot.set ( 1, 2, 0.0 );
yrot.set ( 2, 0, sin ( yang ) ); yrot.set ( 2, 1, 0.0 ); yrot.set ( 2, 2, cos ( yang ) );
zrot.set ( 0, 0, cos ( zang ) ); zrot.set ( 0, 1, -sin ( zang ) ); zrot.set ( 0, 2, 0.0 );
zrot.set ( 1, 0, sin ( zang ) ); zrot.set ( 1, 1, cos ( zang ) ); zrot.set ( 1, 2, 0.0 );
zrot.set ( 2, 0, 0.0 ); zrot.set ( 2, 1, 0.0 ); zrot.set ( 2, 2, 1.0 );
cerr << "Please ignore the following warnings. The matrices are only 3x3 ... " << endl;
rot = xrot;
rot *= yrot;
rot *= zrot;
cerr << "Thank you for your patience :-)" << endl;
}
void Camera::rotateCameraViewRelative(FLOAT x, FLOAT y, FLOAT z)
{
D3DXVECTOR3 dir(0,0,1);
D3DXVECTOR3 up(0,1,0);
D3DXVECTOR3 right;
D3DXVec3Cross(&right, &up, &dir);
D3DXQUATERNION xrot(right.x*sin(x*0.5f),right.y*sin(x*0.5f), right.z*sin(x*0.5f), cos(x*0.5f));
D3DXQUATERNION yrot(up.x*sin(y*0.5f),up.y*sin(y*0.5f), up.z*sin(y*0.5f), cos(y*0.5f));
D3DXQUATERNION zrot(dir.x*sin(z*0.5f),dir.y*sin(z*0.5f), dir.z*sin(z*0.5f), cos(z*0.5f));
m_orientation = yrot * m_orientation * xrot * zrot;
m_viewCacheValid = false;
}
static int get()
{
static int a[6];
int i, r, t, x, y, z;
for (i = 0; i < 6; i++) {
READ(t);
a[i] = t - 1;
}
for (r = 0x3FFFFFFF, x = 0; x < 4; x++, xrot(a)) {
for (y = 0; y < 4; y++, yrot(a)) {
for (z = 0; z < 4; z++, zrot(a)) {
for (t = 0, i = 0; i < 6; i++)
t = t * 6 + a[i];
if (t < r) r = t;
}
}
}
return r;
}
void mainImage( out vec4 fragColor, in vec2 fragCoord )
{
vec2 uv = fragCoord.xy / iResolution.xy;
uv = uv * 2.0 - 1.0;
uv.x *= iResolution.x / iResolution.y;
vec3 r = normalize(vec3(uv, 1.0 - dot(uv,uv) * 0.33));
vec3 o = vec3(0.5, 0.5, time);
o.xy -= vec2(sin(o.z), cos(o.z)) * 0.25;
vec3 ts = times(0.213);
r *= xrot(ts.y+ts.z) * yrot(ts.x+ts.z) * zrot(ts.x+ts.y);
float t = trace(o, r);
vec3 w = o + r * t;
vec3 sn = normal(w);
float fd = map(w);
float prod = clamp(dot(r, -sn), 0.0, 1.0);
vec3 colfar = vec3(1.0, 0.0, 0.0);
vec3 colnear = vec3(1.0, 1.0, 1.0);
float colk = 1.0 / (1.0 + t * t * 0.1);
vec3 col = mix(colfar, colnear, colk);
col *= texture(w * 0.1) * colk;
float aoc = 1.0 / (1.0 + fd * 100.0);
vec3 fc = sqrt(col) * aoc * prod;
fragColor = vec4(fc,1.0);
}
