/*
* M A K E _ N T S C _ X Y Z 2 R G B
*
* Create the map from
* CIE XYZ perceptual space into
* an idealized RGB space assuming NTSC primaries with D6500 white.
* Only high-quality television-studio monitors are like this, but...
*/
void
make_ntsc_xyz2rgb(fastf_t *xyz2rgb)
{
mat_t rgb2xyz;
point_t tst, newpt;
if (rt_clr__cspace_to_xyz(rgb_NTSC, rgb2xyz) == 0)
bu_exit(EXIT_FAILURE, "make_ntsc_xyz2rgb() can't initialize color space\n");
bn_mat_inv(xyz2rgb, rgb2xyz);
#if 1
/* Verify that it really works, I'm a skeptic */
VSET(tst, 1, 1, 1);
MAT3X3VEC(newpt, rgb2xyz, tst);
VPRINT("white_rgb (i)", tst);
VPRINT("white_xyz (o)", newpt);
VSET(tst, 0.313, 0.329, 0.358);
MAT3X3VEC(newpt, xyz2rgb, tst);
VPRINT("white_xyz (i)", tst);
VPRINT("white_rgb (o)", newpt);
VSET(tst, 1, 0, 0);
MAT3X3VEC(newpt, rgb2xyz, tst);
VPRINT("red_rgb (i)", tst);
VPRINT("red_xyz (o)", newpt);
VSET(tst, 0.670, 0.330, 0.000);
MAT3X3VEC(newpt, xyz2rgb, tst);
VPRINT("red_xyz (i)", tst);
VPRINT("red_rgb (o)", newpt);
VSET(tst, 0, 1, 0);
MAT3X3VEC(newpt, rgb2xyz, tst);
VPRINT("grn_rgb (i)", tst);
VPRINT("grn_xyz (o)", newpt);
VSET(tst, 0.210, 0.710, 0.080);
MAT3X3VEC(newpt, xyz2rgb, tst);
VPRINT("grn_xyz (i)", tst);
VPRINT("grn_rgb (o)", newpt);
VSET(tst, 0, 0, 1);
MAT3X3VEC(newpt, rgb2xyz, tst);
VPRINT("blu_rgb (i)", tst);
VPRINT("blu_xyz (o)", newpt);
VSET(tst, 0.140, 0.080, 0.780);
MAT3X3VEC(newpt, xyz2rgb, tst);
VPRINT("blu_xyz (i)", tst);
VPRINT("blu_rgb (o)", newpt);
#endif
}
int
main(int ac, char **av)
{
unsigned char rgb[4];
float src[3];
point_t dest;
point_t xyz;
size_t ret;
if (ac > 1)
bu_log("Usage: %s\n", av[0]);
spectrum = bn_table_make_uniform(nsamp, min_nm, max_nm);
BN_GET_TABDATA(curve, spectrum);
rt_spect_make_CIE_XYZ(&cie_x, &cie_y, &cie_z, spectrum);
make_ntsc_xyz2rgb(xyz2rgb);
for (;;) {
if (fread(rgb, 1, 3, stdin) != 3) break;
if (feof(stdin)) break;
VSET(src, rgb[0]/255., rgb[1]/255., rgb[2]/255.);
rt_spect_reflectance_rgb(curve, src);
spect_curve_to_xyz(xyz, curve, cie_x, cie_y, cie_z);
MAT3X3VEC(dest, xyz2rgb, xyz);
if (dest[0] > 1 || dest[1] > 1 || dest[2] > 1 ||
dest[0] < 0 || dest[1] < 0 || dest[2] < 0) {
VPRINT("src ", src);
VPRINT("dest", dest);
}
if (dest[0] > 1) dest[0] = 1;
if (dest[1] > 1) dest[1] = 1;
if (dest[2] > 1) dest[2] = 1;
if (dest[0] < 0) dest[0] = 0;
if (dest[1] < 0) dest[1] = 0;
if (dest[2] < 0) dest[2] = 0;
VSCALE(rgb, dest, 255.0);
ret = fwrite(rgb, 1, 3, stdout);
if (ret != 3)
perror("fwrite");
}
return 0;
}
int
main(int argc, char **argv)
{
void anim_dir2mat(fastf_t *, const fastf_t *, const fastf_t *), anim_y_p_r2mat(fastf_t *, double, double, double), anim_add_trans(fastf_t *, const fastf_t *, const fastf_t *), anim_mat_print(FILE *, const fastf_t *, int);
int get_args(int argc, char **argv), track_prep(void), val, frame, go, i, count;
fastf_t y_rot, distance, yaw, pitch, roll;
vect_t p1, p2, p3, dir, dir2, wheel_now, wheel_prev;
vect_t zero, position, vdelta, temp, to_track, to_front;
mat_t mat_v, wmat, mat_x;
FILE *stream;
int last_frame;
VSETALL(zero, 0.0);
VSETALL(to_track, 0.0);
VSETALL(centroid, 0.0);
VSETALL(rcentroid, 0.0);
init_dist = y_rot = radius= 0.0;
first_frame = num_wheels = steer = axes = cent = links_placed=0;
num_wheels = num_links = last_frame = 0;
MAT_IDN(mat_v);
MAT_IDN(mat_x);
MAT_IDN(wmat);
MAT_IDN(m_axes);
MAT_IDN(m_rev_axes);
if (!get_args(argc, argv)) {
fprintf(stderr, "anim_hardtrack: argument error.");
return(-1);
}
if (axes || cent ) {
/* vehicle has own reference frame */
anim_add_trans(m_axes, centroid, zero);
anim_add_trans(m_rev_axes, zero, rcentroid);
}
/* get track information from specified file */
if (!(stream = fopen(*(argv+bu_optind), "rb"))) {
fprintf(stderr, "Anim_hardtrack: Could not open file %s.\n", *(argv+bu_optind));
return(0);
}
num_wheels = -1;
if (radius) {
while (!feof(stream)) {
fscanf(stream, "%*f %*f %*f");
num_wheels++;
}
} else {
while (!feof(stream)) {
fscanf(stream, "%*f %*f %*f %*f");
num_wheels++;
}
}
rewind(stream);
/*allocate memory for track information*/
x = (struct all *) bu_calloc(num_wheels, sizeof(struct all), "struct all");
/*read rest of track info */
for (i=0;i<NW;i++) {
fscanf(stream, "%lf %lf %lf", temp, temp+1, temp+2);
if (radius)
x[i].w.rad = radius;
else
fscanf(stream, "%lf", & x[i].w.rad);
MAT4X3PNT(x[i].w.pos, m_rev_axes, temp);
if (i==0)
track_y = x[0].w.pos[1];
else
x[i].w.pos[1] = track_y;
}
(void) fclose(stream);
(void) track_prep();
if (get_circumf) {
printf("%.10g\n", tracklen);
return(0);
}
/* initialize to_track */
VSET(to_track, 0.0, track_y, 0.0);
VSET(to_front, 1.0, 0.0, 0.0);
if ((!print_link)&&(!print_wheel)) {
fprintf(stderr, "anim_hardtrack: no ouput requested. Use -l or -w.\n");
bu_exit(0, NULL);
}
/* main loop */
distance = 0.0;
if (!steer)
frame = first_frame;
else
frame = first_frame-1;
for (val = 3; val > 2; frame++) {
go = 1;
/*p2 is current position. p3 is next;p1 is previous*/
VMOVE(p1, p2);
VMOVE(p2, p3);
scanf("%*f");/*time stamp*/
val = scanf("%lf %lf %lf", p3, p3+1, p3 + 2);
if (!steer) {
scanf("%lf %lf %lf", &yaw, &pitch, &roll);
anim_dy_p_r2mat(mat_v, yaw, pitch, roll);
anim_add_trans(mat_v, p3, rcentroid);
}
else {
/* analyze positions for steering */
/*get useful direction unit vectors*/
if (frame == first_frame) {
/* first frame*/
VSUBUNIT(dir, p3, p2);
VMOVE(dir2, dir);
}
else if (val < 3) {
/*last frame*/
VSUBUNIT(dir, p2, p1);
VMOVE(dir2, dir);
}
else if (frame > first_frame) {
/*normal*/
VSUBUNIT(dir, p3, p1);
VSUBUNIT(dir2, p2, p1);/*needed for vertical case*/
}
else go = 0;/*first time through loop;no p2*/
/*create matrix which would move vehicle*/
anim_dir2mat(mat_v, dir, dir2);
anim_add_trans(mat_v, p2, rcentroid);
}
/*determine distance traveled*/
VMOVE(wheel_prev, wheel_now);
MAT4X3PNT(wheel_now, mat_v, to_track);
if (frame > first_frame) {
/* increment distance by distance moved */
VSUB2(vdelta, wheel_now, wheel_prev);
MAT3X3VEC(temp, mat_v, to_front);/*new front of vehicle*/
distance += VDOT(temp, vdelta);/*portion of vdelta in line with track*/
}
if (go) {
if (print_mode==TRACK_ANIM) {
printf("start %d;\nclean;\n", frame);
} else if (print_mode==TRACK_ARCED) {
if (frame != arced_frame) continue;
last_frame = 1;
}
if (print_link) {
for (count=0;count<num_links;count++) {
(void) get_link(position, &y_rot, distance+tracklen*count/num_links+init_dist);
anim_y_p_r2mat(wmat, 0.0, y_rot+r[count].ang, 0.0);
anim_add_trans(wmat, position, r[count].pos);
if ((axes || cent) && links_placed) {
/* link moved from vehicle coords */
bn_mat_mul(mat_x, wmat, m_rev_axes);
bn_mat_mul(wmat, m_axes, mat_x);
}
else if (axes || cent) {
/* link moved to vehicle coords */
MAT_MOVE(mat_x, wmat);
bn_mat_mul(wmat, m_axes, mat_x);
}
if (print_mode==TRACK_ANIM) {
printf("anim %s.%d matrix %s\n", *(argv+link_nindex), count, link_cmd);
anim_mat_printf(stdout, wmat, "%.10g ", "\n", ";\n");
} else if (print_mode==TRACK_ARCED) {
printf("arced %s.%d matrix %s ", *(argv+link_nindex), count, link_cmd);
anim_mat_printf(stdout, wmat, "%.10g ", "", "\n");
}
}
}
if (print_wheel) {
for (count = 0;count<num_wheels;count++) {
anim_y_p_r2mat(wmat, 0.0, -distance/x[count].w.rad, 0.0);
VREVERSE(temp, x[count].w.pos);
anim_add_trans(wmat, x[count].w.pos, temp);
if (axes || cent) {
bn_mat_mul(mat_x, wmat, m_rev_axes);
bn_mat_mul(wmat, m_axes, mat_x);
}
if (print_mode==TRACK_ANIM) {
printf("anim %s.%d matrix %s\n", *(argv+wheel_nindex), count, wheel_cmd);
anim_mat_printf(stdout, wmat, "%.10g ", "\n", ";\n");
} else if (print_mode==TRACK_ARCED) {
printf("arced %s.%d matrix %s ", *(argv+wheel_nindex), count, wheel_cmd);
anim_mat_printf(stdout, wmat, "%.10g ", "", "\n");
}
}
}
if (print_mode==TRACK_ANIM)
printf("end;\n");
}
if (last_frame) break;
}
if (x) {
bu_free(x, "struct all");
}
if (r) {
bu_free(r, "struct rlink");
}
return( 0 );
}
/**
* Calculate a bounding RPP for a superell
*/
int
rt_superell_bbox(struct rt_db_internal *ip, point_t *min, point_t *max, const struct bn_tol *UNUSED(tol)) {
struct rt_superell_internal *eip;
fastf_t magsq_a, magsq_b, magsq_c;
vect_t Au, Bu, Cu;
mat_t R;
vect_t w1, w2, P; /* used for bounding RPP */
fastf_t f;
eip = (struct rt_superell_internal *)ip->idb_ptr;
RT_SUPERELL_CK_MAGIC(eip);
magsq_a = MAGSQ(eip->a);
magsq_b = MAGSQ(eip->b);
magsq_c = MAGSQ(eip->c);
/* Create unit length versions of A, B, C */
f = 1.0/sqrt(magsq_a);
VSCALE(Au, eip->a, f);
f = 1.0/sqrt(magsq_b);
VSCALE(Bu, eip->b, f);
f = 1.0/sqrt(magsq_c);
VSCALE(Cu, eip->c, f);
MAT_IDN(R);
VMOVE(&R[0], Au);
VMOVE(&R[4], Bu);
VMOVE(&R[8], Cu);
/* Compute bounding RPP */
VSET(w1, magsq_a, magsq_b, magsq_c);
/* X */
VSET(P, 1.0, 0, 0); /* bounding plane normal */
MAT3X3VEC(w2, R, P); /* map plane to local coord syst */
VELMUL(w2, w2, w2); /* square each term */
f = VDOT(w1, w2);
f = sqrt(f);
(*min)[X] = eip->v[X] - f; /* V.P +/- f */
(*max)[X] = eip->v[X] + f;
/* Y */
VSET(P, 0, 1.0, 0); /* bounding plane normal */
MAT3X3VEC(w2, R, P); /* map plane to local coord syst */
VELMUL(w2, w2, w2); /* square each term */
f = VDOT(w1, w2);
f = sqrt(f);
(*min)[Y] = eip->v[Y] - f; /* V.P +/- f */
(*max)[Y] = eip->v[Y] + f;
/* Z */
VSET(P, 0, 0, 1.0); /* bounding plane normal */
MAT3X3VEC(w2, R, P); /* map plane to local coord syst */
VELMUL(w2, w2, w2); /* square each term */
f = VDOT(w1, w2);
f = sqrt(f);
(*min)[Z] = eip->v[Z] - f; /* V.P +/- f */
(*max)[Z] = eip->v[Z] + f;
return 0;
}
/**
* In theory, the grid can be specified by providing any two of
* these sets of parameters:
*
* number of pixels (width, height)
* viewsize (in model units, mm)
* number of grid cells (cell_width, cell_height)
*
* however, for now, it is required that the view size always be
* specified, and one or the other parameter be provided.
*/
void
grid_setup(void)
{
vect_t temp;
mat_t toEye;
if (viewsize <= 0.0)
bu_exit(EXIT_FAILURE, "viewsize <= 0");
/* model2view takes us to eye_model location & orientation */
MAT_IDN(toEye);
MAT_DELTAS_VEC_NEG(toEye, eye_model);
Viewrotscale[15] = 0.5*viewsize; /* Viewscale */
bn_mat_mul(model2view, Viewrotscale, toEye);
bn_mat_inv(view2model, model2view);
/* Determine grid cell size and number of pixels */
if (cell_newsize) {
if (cell_width <= 0.0) cell_width = cell_height;
if (cell_height <= 0.0) cell_height = cell_width;
width = (viewsize / cell_width) + 0.99;
height = (viewsize / (cell_height*aspect)) + 0.99;
cell_newsize = 0;
} else {
/* Chop -1.0..+1.0 range into parts */
cell_width = viewsize / width;
cell_height = viewsize / (height*aspect);
}
/*
* Optional GIFT compatibility, mostly for RTG3. Round coordinates
* of lower left corner to fall on integer- valued coordinates, in
* "gift_grid_rounding" units.
*/
if (gift_grid_rounding > 0.0) {
point_t v_ll; /* view, lower left */
point_t m_ll; /* model, lower left */
point_t hv_ll; /* hv, lower left*/
point_t hv_wanted;
vect_t hv_delta;
vect_t m_delta;
mat_t model2hv;
mat_t hv2model;
/* Build model2hv matrix, including mm2inches conversion */
MAT_COPY(model2hv, Viewrotscale);
model2hv[15] = gift_grid_rounding;
bn_mat_inv(hv2model, model2hv);
VSET(v_ll, -1, -1, 0);
MAT4X3PNT(m_ll, view2model, v_ll);
MAT4X3PNT(hv_ll, model2hv, m_ll);
VSET(hv_wanted, floor(hv_ll[X]), floor(hv_ll[Y]), floor(hv_ll[Z]));
VSUB2(hv_delta, hv_ll, hv_wanted);
MAT4X3PNT(m_delta, hv2model, hv_delta);
VSUB2(eye_model, eye_model, m_delta);
MAT_DELTAS_VEC_NEG(toEye, eye_model);
bn_mat_mul(model2view, Viewrotscale, toEye);
bn_mat_inv(view2model, model2view);
}
/* Create basis vectors dx and dy for emanation plane (grid) */
VSET(temp, 1, 0, 0);
MAT3X3VEC(dx_unit, view2model, temp); /* rotate only */
VSCALE(dx_model, dx_unit, cell_width);
VSET(temp, 0, 1, 0);
MAT3X3VEC(dy_unit, view2model, temp); /* rotate only */
VSCALE(dy_model, dy_unit, cell_height);
if (stereo) {
/* Move left 2.5 inches (63.5mm) */
VSET(temp, -63.5*2.0/viewsize, 0, 0);
bu_log("red eye: moving %f relative screen (left)\n", temp[X]);
MAT4X3VEC(left_eye_delta, view2model, temp);
VPRINT("left_eye_delta", left_eye_delta);
}
/* "Lower left" corner of viewing plane */
if (rt_perspective > 0.0) {
fastf_t zoomout;
zoomout = 1.0 / tan(DEG2RAD * rt_perspective / 2.0);
VSET(temp, -1, -1/aspect, -zoomout); /* viewing plane */
/*
* divergence is perspective angle divided by the number of
* pixels in that angle. Extra factor of 0.5 is because
* perspective is a full angle while divergence is the tangent
* (slope) of a half angle.
*/
APP.a_diverge = tan(DEG2RAD * rt_perspective * 0.5 / width);
APP.a_rbeam = 0;
} else {
/* all rays go this direction */
VSET(temp, 0, 0, -1);
MAT4X3VEC(APP.a_ray.r_dir, view2model, temp);
VUNITIZE(APP.a_ray.r_dir);
VSET(temp, -1, -1/aspect, 0); /* eye plane */
APP.a_rbeam = 0.5 * viewsize / width;
APP.a_diverge = 0;
}
if (ZERO(APP.a_rbeam) && ZERO(APP.a_diverge))
bu_exit(EXIT_FAILURE, "zero-radius beam");
MAT4X3PNT(viewbase_model, view2model, temp);
if (jitter & JITTER_FRAME) {
/* Move the frame in a smooth circular rotation in the plane */
fastf_t ang; /* radians */
fastf_t dx, dy;
ang = curframe * frame_delta_t * M_2PI / 10; /* 10 sec period */
dx = cos(ang) * 0.5; /* +/- 1/4 pixel width in amplitude */
dy = sin(ang) * 0.5;
VJOIN2(viewbase_model, viewbase_model,
dx, dx_model,
dy, dy_model);
}
if (cell_width <= 0 || cell_width >= INFINITY ||
cell_height <= 0 || cell_height >= INFINITY) {
bu_log("grid_setup: cell size ERROR (%g, %g) mm\n",
cell_width, cell_height);
bu_exit(EXIT_FAILURE, "cell size");
}
if (width <= 0 || height <= 0) {
bu_log("grid_setup: ERROR bad image size (%zu, %zu)\n",
width, height);
bu_exit(EXIT_FAILURE, "bad size");
}
}
/**
* R E C _ B B O X
*
* Calculate the RPP for an REC
*/
int
rt_rec_bbox(struct rt_db_internal *ip, point_t *min, point_t *max, const struct bn_tol *UNUSED(tol)) {
mat_t R;
vect_t P, w1;
fastf_t f, tmp, z;
double magsq_h, magsq_a, magsq_b, magsq_c, magsq_d;
double mag_h, mag_a, mag_b;
struct rt_tgc_internal *tip;
RT_CK_DB_INTERNAL(ip);
tip = (struct rt_tgc_internal *)ip->idb_ptr;
RT_TGC_CK_MAGIC(tip);
mag_h = sqrt(magsq_h = MAGSQ(tip->h));
mag_a = sqrt(magsq_a = MAGSQ(tip->a));
mag_b = sqrt(magsq_b = MAGSQ(tip->b));
magsq_c = MAGSQ(tip->c);
magsq_d = MAGSQ(tip->d);
MAT_IDN(R);
f = 1.0/mag_a;
VSCALE(&R[0], tip->a, f);
f = 1.0/mag_b;
VSCALE(&R[4], tip->b, f);
f = 1.0/mag_h;
VSCALE(&R[8], tip->h, f);
/* X */
VSET(P, 1.0, 0, 0); /* bounding plane normal */
MAT3X3VEC(w1, R, P); /* map plane into local coord syst */
/* 1st end ellipse (no Z part) */
tmp = magsq_a * w1[X] * w1[X] + magsq_b * w1[Y] * w1[Y];
if (tmp > SMALL)
f = sqrt(tmp); /* XY part */
else
f = 0;
(*min)[X] = tip->v[X] - f; /* V.P +/- f */
(*max)[X] = tip->v[X] + f;
/* 2nd end ellipse */
z = w1[Z] * mag_h; /* Z part */
tmp = magsq_c * w1[X] * w1[X] + magsq_d * w1[Y] * w1[Y];
if (tmp > SMALL)
f = sqrt(tmp); /* XY part */
else
f = 0;
if (tip->v[X] - f + z < (*min)[X])
(*min)[X] = tip->v[X] - f + z;
if (tip->v[X] + f + z > (*max)[X])
(*max)[X] = tip->v[X] + f + z;
/* Y */
VSET(P, 0, 1.0, 0); /* bounding plane normal */
MAT3X3VEC(w1, R, P); /* map plane into local coord syst */
/* 1st end ellipse (no Z part) */
tmp = magsq_a * w1[X] * w1[X] + magsq_b * w1[Y] * w1[Y];
if (tmp > SMALL)
f = sqrt(tmp); /* XY part */
else
f = 0;
(*min)[Y] = tip->v[Y] - f; /* V.P +/- f */
(*max)[Y] = tip->v[Y] + f;
/* 2nd end ellipse */
z = w1[Z] * mag_h; /* Z part */
tmp = magsq_c * w1[X] * w1[X] + magsq_d * w1[Y] * w1[Y];
if (tmp > SMALL)
f = sqrt(tmp); /* XY part */
else
f = 0;
if (tip->v[Y] - f + z < (*min)[Y])
(*min)[Y] = tip->v[Y] - f + z;
if (tip->v[Y] + f + z > (*max)[Y])
(*max)[Y] = tip->v[Y] + f + z;
/* Z */
VSET(P, 0, 0, 1.0); /* bounding plane normal */
MAT3X3VEC(w1, R, P); /* map plane into local coord syst */
/* 1st end ellipse (no Z part) */
tmp = magsq_a * w1[X] * w1[X] + magsq_b * w1[Y] * w1[Y];
if (tmp > SMALL)
f = sqrt(tmp); /* XY part */
else
f = 0;
(*min)[Z] = tip->v[Z] - f; /* V.P +/- f */
(*max)[Z] = tip->v[Z] + f;
/* 2nd end ellipse */
z = w1[Z] * mag_h; /* Z part */
tmp = magsq_c * w1[X] * w1[X] + magsq_d * w1[Y] * w1[Y];
if (tmp > SMALL)
f = sqrt(tmp); /* XY part */
else
f = 0;
if (tip->v[Z] - f + z < (*min)[Z])
(*min)[Z] = tip->v[Z] - f + z;
if (tip->v[Z] + f + z > (*max)[Z])
(*max)[Z] = tip->v[Z] + f + z;
return 0;
}
