void Camera::move(int direction){// direction = 1 to front, direction = -1 to backwards
i[0] += speed * direction * getCos();
i[1] += speed * direction * d[1];
i[2] += speed * direction * getSin();
refreshDirection();
refreshLookAt();
}
Vector3r Cell::shearAlignedExtents(const Vector3r& perpExtent) const{
if(!hasShear()) return perpExtent;
Vector3r ret(perpExtent);
const Vector3r& cos=getCos();
for(short ax:{0,1,2}){
short ax1=(ax+1)%3, ax2=(ax+2)%3;
ret[ax1]+=.5*perpExtent[ax1]*(1/cos[ax]-1);
ret[ax2]+=.5*perpExtent[ax2]*(1/cos[ax]-1);
}
return ret;
}
void Body::applyForce(Vec2 f, Point p) {
if (length(f) == 0)
return;
if (p != getMassCenter() && !fixedAngle) {
Vec2 n = getMassCenter()-p;
force += getOrientedVec(n, length(f)*getCos(f, n));
momentium += getSin(f,n)*length(f)*distance(p, getMassCenter());
} else {
force += f;
}
}
void update() {
position[3][0] = distance * getCos();
position[3][2] = distance * getSin();
rotation = rotate(glm::mat4(), (float)(-glutGet(GLUT_ELAPSED_TIME) * 0.025f * orbitRadians * SPEED), glm::vec3(0.0f, 1.0f, 0.0f));
orientation = position * rotation;
return;
}
bool PathCorrector::isLine(QList<QPoint> const & path)
{
const int minDifference = 8;
const double minCos = 0.8;
int difference = path.size();
while(difference >= minDifference)
{
for (int i = 0; i < path.size() / difference; i++)
{
double cos = getCos(path[i * difference], path[((2 * i + 1) * difference - 1) / 2],
path[(i + 1) * difference - 1]);
if (cos < minCos)
return false;
}
difference /= 2;
}
return true;
}
int getCurrentSinValue(void){
static uint8_t state = GETXSIN;
int sinval;
switch(state){
case GETXSIN:
slopepos_current = slopepos[sinindex];
sinval = (int)getSin(sinpos_current = sinpos[sinindex])+xoffs;
break;
case GETYSIN:
sinval = (int)getCos(sinpos_current)+yoffs;
default: break;
}
/*if (NOSINSTATE == ++state){
state = GETXSIN;
}*/
//only two states. toggle them
state ^= 1;
return sinval;
}
double getAngle(Vec2 a, Vec2 b) {
if (det(a,b) > 0)
return acos(getCos(a,b));
return M_PI+acos(getCos(a,b));
}
Vector3d getRayColor(Vector3d p0, Vector3d ray, int rec) {
ray.normalize();
if (rec == 0) {
return Vector3d(0,0,0);
}
// 最小のt
double tmin = -1;
Vector3d P, N, color;
// レイを飛ばして球と交差するか求める
for(int i = 0; i < sphere_n; i++) {
double t_sphere = sphere[i].getIntersec(p0, ray);
if( (t_sphere > 0) && (t_sphere < tmin || tmin == -1) ) { // 球との交点がある
tmin = t_sphere;
// ★前回の課題を参考に、球体の表面の色を計算で求め、colorVecに設定する
double Is = 0; // 鏡面反射光
double Id = 0; // 拡散反射光
//
// 拡散反射光を計算する
//
// 球と視点ベクトルの交点座標 P
P = p0 + ray * t_sphere;
// 球の中心座標 C
Vector3d C = sphere[i].center;
// 法線ベクトル N = P - C
N = P - C;
// Nを正規化する
N.normalize();
// Lambertの反射(拡散反射光)
Id = -Iin * Kd * getCos(N, lightDirection);
Id = Id > 0 ? Id : 0;
//
// 鏡面反射光を計算する
//
// 反射光 R=2(L・N)N-L
Vector3d R = reflect(-lightDirection, N);
// Phongの反射(鏡面反射光)
Is = Iin * Ks * pow2(getCos(R, ray), Ns);
Is = Is > 0 ? Is : 0;
double I = Id + Is + Ia;
double r = I * sphere[i].cR;
double g = I * sphere[i].cG;
double b = I * sphere[i].cB;
color.set(r,g,b);
}
}
// レイを飛ばして床と交差するか求める
double t_board = board.getIntersec(p0, ray);
if( (t_board > 0) && (t_board < tmin || tmin == -1) ) { // 床との交点がある
tmin = t_board;
// ★床の表面の色を設定する
P = p0 + ray * t_board;
color = board.getColorVec(P.x, P.z);
// ★球の影になる場合は、RGBの値をそれぞれ0.5倍する
Vector3d ray2 = -lightDirection;
for(int i = 0; i < sphere_n; i++) {
double t = sphere[i].getIntersec(P, ray2);
if(t>0) {
color = color * 0.5;
}
}
N.set(0,1,0);
}
if (tmin != -1) {
return color + getRayColor(P, reflect(ray,N), rec-1) * 0.5;
} else {
// 何とも交差しない
return Vector3d(0,0,0);
}
}
// 反射ベクトルを求める
Vector3d reflect(Vector3d L, Vector3d N) {
//return N * getCos(L, N) * 2 - L;
return L - N * getCos(L, N) * 2;
}
void Camera::refreshDirection(){
d[0] = getCos() + i[0];
d[2] = getSin() + i[2];
}
