int damier(t_vector3 eye, t_vector3 cam, t_best best)
{
double x;
double z;
translate(&eye, best.obj.p, 1);
rot_inv(&eye, best.obj.r);
rot_inv(&cam, best.obj.r);
scale(&cam, best.obj.s);
best.inter = get_vector(cam, eye, best.k);
translate(&(best.inter), best.obj.p, -1);
if (best.inter.x < 0)
best.inter.x -= 40;
if (best.inter.z < 0)
best.inter.z -= 40;
x = (int)(abs(best.inter.x) % 80);
z = (int)(abs(best.inter.z) % 80);
if ((z <= 40 && x <= 40) || (z > 40 && x > 40))
return (0xFFFFFF00);
else
return (0x00000000);
return (best.color);
}
int texture(t_vector3 eye, t_vector3 cam, t_best best)
{
unsigned int color;
int c;
double v;
double u;
double pos;
translate(&eye, best.obj.p, 1);
rot_inv(&eye, best.obj.r);
rot_inv(&cam, best.obj.r);
scale(&(cam), best.obj.s);
best.normal = unitaire(get_normal(cam, eye, best));
u = (int)(best.obj.tex.w * (0.5 + atan2(best.normal.z, best.normal.x)
/ (2 * M_PI)));
v = (int)(best.obj.tex.h * (0.5 - asin(best.normal.y) / M_PI));
pos = 4 * u + 4 * v * best.obj.tex.w;
c = (int)pos;
color = 0;
color += best.obj.tex.texture.data[c++] << 8;
color += best.obj.tex.texture.data[c++] << 16;
color += best.obj.tex.texture.data[c++] << 24;
return (color);
}
TranslationRotation3D TranslationRotation3D::inverseTransform() const {
Eigen::Map<const Eigen::Vector3d> tra(T_);
Eigen::Map<const Eigen::Matrix<double, 3, 3, Eigen::RowMajor> > rot(R_mat_);
double rot_inv_ptr[9];
Eigen::Map<Eigen::Matrix<double, 3, 3, Eigen::RowMajor> > rot_inv(
rot_inv_ptr);
rot_inv = rot.transpose();
double tra_inv_ptr[3];
Eigen::Map<Eigen::Vector3d> tra_inv(tra_inv_ptr);
tra_inv = -rot_inv * tra;
TranslationRotation3D pose_inv;
pose_inv.setT(tra_inv_ptr);
pose_inv.setR_mat(rot_inv_ptr);
pose_inv.setValid(valid_);
return (pose_inv);
}
Edge_Record Edge_Record::lnext() const {
return rot_inv().onext().rot();
}
