void PointSolver2::projectLines()
{
visibleLines.clear();
for (int lid=0; lid<model.size(); lid++) {
ModelLine &line = model[lid];
ProjectedPoint P1, P2;
projectLine (line.p1, line.p2, currentViewMatrix, projectionMatrix, P1.coord, P2.coord, P1.inCam, P2.inCam);
LineSegment2D vLine (P1, P2, lid);
computeProjectionJacobian (
position0,
orientation0,
line.p1,
vLine.A.inCam,
vLine.A.coord,
projectionMatrix.matrix,
vLine.A.jacobian);
computeProjectionJacobian (
position0,
orientation0,
line.p2,
vLine.B.inCam,
vLine.B.coord,
projectionMatrix.matrix,
vLine.B.jacobian);
visibleLines.push_back (vLine);
}
}
SbVec3f
SbSphereSectionProjector::project(const SbVec2f &point)
//
////////////////////////////////////////////////////////////////////////
{
SbVec3f result;
SbLine workingLine = getWorkingLine(point);
if (needSetup)
setupTolerance();
SbVec3f planeIntersection;
SbVec3f sphereIntersection, dontCare;
SbBool hitSphere;
// Depending on whether we are intersecting front or rear, we care
// about different arguments returned from intersect
if ( intersectFront )
hitSphere = sphere.intersect(workingLine, sphereIntersection, dontCare);
else
hitSphere = sphere.intersect(workingLine, dontCare, sphereIntersection);
if (hitSphere) {
// drop the sphere intersection onto the tolerance plane
SbLine projectLine(sphereIntersection, sphereIntersection + planeDir);
if (! tolPlane.intersect(projectLine, planeIntersection))
#ifdef DEBUG
SoDebugError::post("SbSphereSectionProjector::project",
"Couldn't intersect working line with plane");
#else
/* Do nothing */;
#endif
}
else if (! tolPlane.intersect(workingLine, planeIntersection))
#ifdef DEBUG
SoDebugError::post("SbSphereSectionProjector::project",
"Couldn't intersect working line with plane");
#else
/* Do nothing */;
#endif
float dist = (planeIntersection - planePoint).length();
if (dist < tolDist) {
#ifdef DEBUG
if (! hitSphere)
SoDebugError::post("SbSphereSectionProjector::project",
"Couldn't intersect with sphere");
#endif
result = sphereIntersection;
}
else {
result = planeIntersection;
}
lastPoint = result;
return result;
}
