VoxRaytracer::RayData VoxRaytracer::TraceBetweenPoints(const Vector4f &in,
const Vector4f &out)
const
{
RayData ray;
Vector4f pt1 = m_Image->GetLocalPoint(in);
Vector4f pt2 = m_Image->GetLocalPoint(out);
Vector4f s = pt2 - pt1;
Vector3f scale; // FIXXX
scale << (m_Image->GetWorldMatrix() * Vector4f(1,0,0,0)).norm(),
(m_Image->GetWorldMatrix() * Vector4f(0,1,0,0)).norm(),
(m_Image->GetWorldMatrix() * Vector4f(0,0,1,0)).norm();
float l = s.head(3).norm();
Vector3f L(l/s(0), l/s(1), l/s(2));
Vector3f offset;
for(int i=0;i<3;++i)
offset(i) = (s(i)>=0) - (pt1(i)-floor(pt1(i))) ;
offset = offset.cwiseProduct(L).cwiseAbs();
L = L.cwiseAbs();
int id; float d;
Vector3i vid = m_Image->Find(in);
while(l>0)
{
d = offset.minCoeff(&id);
if(m_Image->IsInsideGrid(vid))
ray.AddElement(m_Image->Map(vid), d * scale(id) );
// nan check //
// if(unlikely(!isFinite(d * scale(id)))) {
// std:: cout << "NAN in raytracer\n";
// exit(1);
// }
vid(id) += (int)fast_sign(s(id));
l -= d;
offset.array() -= d;
offset(id) = fmin(L(id),l);
}
return ray;
}
/**
* @brief Updates the position and rotation every time step dt.
*
* @param dt The steptime, the time since the last drawn frame.
*
* @return void
*/
void Camera::update(float dt)
{
glm::vec4 dir = glm::vec4(0,0,1,0);
glm::mat4x4 mDir = glm::rotate(glm::mat4(),-_rotation[0],glm::vec3(0.0f,1.0f,0.0f));
glm::mat4x4 mSide = glm::rotate(glm::mat4(),90.0f,glm::vec3(0.0f,1.0f,0.0f));
dir = mDir * dir;
glm::vec4 side = mSide * dir;
glm::vec3 force;
if(_movingForward && !_movingBackward)
{
force -= glm::vec3(dir[0],dir[1],dir[2]);
}
if(!_movingForward && _movingBackward)
{
force += glm::vec3(dir[0],dir[1],dir[2]);
}
if(_movingLeft && !_movingRight)
{
force -= glm::vec3(side[0],side[1],side[2]);
}
if(!_movingLeft && _movingRight)
{
force += glm::vec3(side[0],side[1],side[2]);
}
if(!_movingUp && _movingDown)
{
force += glm::vec3(0,1,0);
}
if(_movingUp && !_movingDown)
{
force -= glm::vec3(0,1,0);
}
_velocity += force*(dt*_acceleration);
_position += _velocity*dt;
float m = glm::length(_velocity);
if(m!=0){
glm::vec3 velDir = glm::normalize(_velocity);
_velocity -= velDir*dt*_deacceleration;
}
if(m<0.001)
_velocity = glm::vec3(0,0,0);
if(m>_speed)
_velocity *= _speed/m;
float sign;
_rotVelocityV += _rotForceV*(dt*_rotationAcceleration);
sign = fast_sign(_rotVelocityV);
_rotVelocityV -= sign*dt*_rotationDeacceleration;
if(fabs(_rotVelocityV)>_rotationSpeed)
_rotVelocityV = sign*_rotationSpeed;
if(fabs(_rotVelocityV)<0.1){
_rotVelocityV = 0;
}
_rotation.y += _rotVelocityV*dt;
_rotForceV = 0;
_rotVelocityH += _rotForceH*(dt*_rotationAcceleration);
sign = fast_sign(_rotVelocityH);
_rotVelocityH -= sign*dt*_rotationDeacceleration;
if(fabs(_rotVelocityH)>_rotationSpeed)
_rotVelocityH = sign*_rotationSpeed;
if(fabs(_rotVelocityH)<0.1){
_rotVelocityH = 0;
}
_rotation.x += _rotVelocityH*dt;
_rotForceH = 0;
glm::vec3 headPos = sgct::Engine::getUserPtr()->getPos();
if(_rotation[1]<-89)
{
_rotation[1] = -89;
}
if(_rotation[1]>89)
{
_rotation[1] = 89;
}
//glm::vec4 worldRect = ImmersiveKidz::getInstance()->getWorldRect();
if(_position.x+headPos.x < _limitsX.x) _position.x = _limitsX.x-headPos.x;
if(_position.x+headPos.x > _limitsX.y) _position.x = _limitsX.y-headPos.x;
if(_position.y+headPos.y < _limitsY.x) _position.y = _limitsY.x-headPos.y;
if(_position.y+headPos.y > _limitsY.y) _position.y = _limitsY.y-headPos.y;
if(_position.z+headPos.z < _limitsZ.x) _position.z = _limitsZ.x-headPos.z;
if(_position.z+headPos.z > _limitsZ.y) _position.z = _limitsZ.y-headPos.z;
_viewMatrix = glm::mat4();
_viewMatrix = glm::translate(_viewMatrix,headPos);
_viewMatrix = glm::rotate(_viewMatrix,_rotation[1],glm::vec3(1.0f,0.0f,0.0f));
_viewMatrix = glm::rotate(_viewMatrix,_rotation[0],glm::vec3(0.0f,1.0f,0.0f));
_viewMatrix = glm::translate(_viewMatrix,-_position);
_viewMatrix = glm::translate(_viewMatrix,-headPos);
}
