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26 results

SmoothData.cpp

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    Trackball.cpp 8.58 KiB
    /*
     * (c) Copyright 1993, 1994, Silicon Graphics, Inc.
     * ALL RIGHTS RESERVED
     * Permission to use, copy, modify, and distribute this software for
     * any purpose and without fee is hereby granted, provided that the above
     * copyright notice appear in all copies and that both the copyright notice
     * and this permission notice appear in supporting documentation, and that
     * the name of Silicon Graphics, Inc. not be used in advertising
     * or publicity pertaining to distribution of the software without specific,
     * written prior permission.
     *
     * THE MATERIAL EMBODIED ON THIS SOFTWARE IS PROVIDED TO YOU "AS-IS"
     * AND WITHOUT WARRANTY OF ANY KIND, EXPRESS, IMPLIED OR OTHERWISE,
     * INCLUDING WITHOUT LIMITATION, ANY WARRANTY OF MERCHANTABILITY OR
     * FITNESS FOR A PARTICULAR PURPOSE.  IN NO EVENT SHALL SILICON
     * GRAPHICS, INC.  BE LIABLE TO YOU OR ANYONE ELSE FOR ANY DIRECT,
     * SPECIAL, INCIDENTAL, INDIRECT OR CONSEQUENTIAL DAMAGES OF ANY
     * KIND, OR ANY DAMAGES WHATSOEVER, INCLUDING WITHOUT LIMITATION,
     * LOSS OF PROFIT, LOSS OF USE, SAVINGS OR REVENUE, OR THE CLAIMS OF
     * THIRD PARTIES, WHETHER OR NOT SILICON GRAPHICS, INC.  HAS BEEN
     * ADVISED OF THE POSSIBILITY OF SUCH LOSS, HOWEVER CAUSED AND ON
     * ANY THEORY OF LIABILITY, ARISING OUT OF OR IN CONNECTION WITH THE
     * POSSESSION, USE OR PERFORMANCE OF THIS SOFTWARE.
     *
     * US Government Users Restricted Rights
     * Use, duplication, or disclosure by the Government is subject to
     * restrictions set forth in FAR 52.227.19(c)(2) or subparagraph
     * (c)(1)(ii) of the Rights in Technical Data and Computer Software
     * clause at DFARS 252.227-7013 and/or in similar or successor
     * clauses in the FAR or the DOD or NASA FAR Supplement.
     * Unpublished-- rights reserved under the copyright laws of the
     * United States.  Contractor/manufacturer is Silicon Graphics,
     * Inc., 2011 N.  Shoreline Blvd., Mountain View, CA 94039-7311.
     *
     * OpenGL(TM) is a trademark of Silicon Graphics, Inc.
     */
    /*
     * Trackball code:
     *
     * Implementation of a virtual trackball.
     * Implemented by Gavin Bell, lots of ideas from Thant Tessman and
     *   the August '88 issue of Siggraph's "Computer Graphics," pp. 121-129.
     *
     * Vector manip code:
     *
     * Original code from:
     * David M. Ciemiewicz, Mark Grossman, Henry Moreton, and Paul Haeberli
     *
     * Much mucking with by:
     * Gavin Bell
     */
    /*
     * Modified for inclusion in Gmsh (rotmatrix as a vector +
     * float->double + optional use of hyperbolic sheet for z-rotation)
     */
    #include <cmath>
    #include "Trackball.h"
    #include "Context.h"
    #include <iostream>
    /*
     * This size should really be based on the distance from the center of
     * rotation to the point on the object underneath the mouse.  That
     * point would then track the mouse as closely as possible.  This is a
     * simple example, though, so that is left as an Exercise for the
     * Programmer.
     */
    #define TRACKBALLSIZE  (.8)
    
    /*
     * Local function prototypes (not defined in trackball.h)
     */
    static double tb_project_to_sphere(double, double, double);
    static void normalize_quat(double [4]);
    using namespace std ;
    
    void
    vzero(double *v)
    {
        v[0] = 0.0;
        v[1] = 0.0;
        v[2] = 0.0;
    }
    
    void
    vset(double *v, double x, double y, double z)
    {
        v[0] = x;
        v[1] = y;
        v[2] = z;
    }
    
    void
    vsub(const double *src1, const double *src2, double *dst)
    {
        dst[0] = src1[0] - src2[0];
        dst[1] = src1[1] - src2[1];
        dst[2] = src1[2] - src2[2];
    }
    
    void
    vcopy(const double *v1, double *v2)
    {
        int i;
        for (i = 0 ; i < 3 ; i++)
            v2[i] = v1[i];
    }
    
    void
    vcross(const double *v1, const double *v2, double *cross)
    {
        double temp[3];
    
        temp[0] = (v1[1] * v2[2]) - (v1[2] * v2[1]);
        temp[1] = (v1[2] * v2[0]) - (v1[0] * v2[2]);
        temp[2] = (v1[0] * v2[1]) - (v1[1] * v2[0]);
        vcopy(temp, cross);
    }
    
    double
    vlength(const double *v)
    {
        return sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]);
    }
    
    void
    vscale(double *v, double div)
    {
        v[0] *= div;
        v[1] *= div;
        v[2] *= div;
    }
    
    void
    vnormal(double *v)
    {
        vscale(v,1.0/vlength(v));
    }
    
    double
    vdot(const double *v1, const double *v2)
    {
        return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2];
    }
    
    void
    vadd(const double *src1, const double *src2, double *dst)
    {
        dst[0] = src1[0] + src2[0];
        dst[1] = src1[1] + src2[1];
        dst[2] = src1[2] + src2[2];
    }
    
    /*
     * Ok, simulate a track-ball.  Project the points onto the virtual
     * trackball, then figure out the axis of rotation, which is the cross
     * product of P1 P2 and O P1 (O is the center of the ball, 0,0,0)
     * Note:  This is a deformed trackball-- is a trackball in the center,
     * but is deformed into a hyperbolic sheet of rotation away from the
     * center.  This particular function was chosen after trying out
     * several variations.
     *
     * It is assumed that the arguments to this routine are in the range
     * (-1.0 ... 1.0)
     */
    void
    trackball(double q[4], double p1x, double p1y, double p2x, double p2y)
    {
      double a[3]; /* Axis of rotation */
      double phi;  /* how much to rotate about axis */
      double p1[3], p2[3], d[3];
      double t;
    
      if (p1x == p2x && p1y == p2y) {
        /* Zero rotation */
        vzero(q);
        q[3] = 1.0;
        return;
      }
    
      /*
       * First, figure out z-coordinates for projection of P1 and P2 to
       * deformed sphere
       */
      vset(p1,p1x,p1y,tb_project_to_sphere(TRACKBALLSIZE,p1x,p1y));
      vset(p2,p2x,p2y,tb_project_to_sphere(TRACKBALLSIZE,p2x,p2y));
      /*
       *  Now, we want the cross product of P1 and P2
       */
      vcross(p2,p1,a);
    
      /*
       *  Figure out how much to rotate around that axis.
       */
      vsub(p1,p2,d);
      if (CTX::instance()->trackballHyperbolicSheet)
        t = vlength(d) / (2.0*TRACKBALLSIZE);
      else
        t = vlength(d);
    
      /*
       * Avoid problems with out-of-control values...
       */
      if (t > 1.0) t = 1.0;
      if (t < -1.0) t = -1.0;
      phi = 2.0 * asin(t);
    
      axis_to_quat(a,phi,q);
    }
    
    /*
     *  Given an axis and angle, compute quaternion.
     */
    void axis_to_quat(double a[3], double phi, double q[4])
    {
        vnormal(a);
        vcopy(a,q);
        vscale(q,sin(phi/2.0));
        q[3] = cos(phi/2.0);
    }
    
    /*
     * Project an x,y pair onto a sphere of radius r OR a hyperbolic sheet
     * if we are away from the center of the sphere.
     */
    static double
    tb_project_to_sphere(double r, double x, double y)
    {
      double d, t, z;
    
      d = sqrt(x*x + y*y);
    
      if (CTX::instance()->trackballHyperbolicSheet) {
        if (d < r * 0.70710678118654752440) {
          // Inside sphere
          z = sqrt(r*r - d*d);
        }
        else {
          // On hyperbola
          t = r / 1.41421356237309504880;
          z = t*t / d;
        }
      }
      else{
        if (d < r ) {
          z = sqrt(r*r - d*d);
        } else {
          z = 0.;
        }
      }
    
      return z;
    }
    
    /*
     * Given two rotations, e1 and e2, expressed as quaternion rotations,
     * figure out the equivalent single rotation and stuff it into dest.
     *
     * This routine also normalizes the result every RENORMCOUNT times it is
     * called, to keep error from creeping in.
     *
     * NOTE: This routine is written so that q1 or q2 may be the same
     * as dest (or each other).
     */
    
    #define RENORMCOUNT 97
    
    void
    add_quats(double q1[4], double q2[4], double dest[4])
    {
        static int count=0;
        double t1[4], t2[4], t3[4];
        double tf[4];
    
        vcopy(q1,t1);
        vscale(t1,q2[3]);
    
        vcopy(q2,t2);
        vscale(t2,q1[3]);
    
        vcross(q2,q1,t3);
        vadd(t1,t2,tf);
        vadd(t3,tf,tf);
        tf[3] = q1[3] * q2[3] - vdot(q1,q2);
    
        dest[0] = tf[0];
        dest[1] = tf[1];
        dest[2] = tf[2];
        dest[3] = tf[3];
    
        if (++count > RENORMCOUNT) {
            count = 0;
            normalize_quat(dest);
        }
    }
    
    /*
     * Quaternions always obey:  a^2 + b^2 + c^2 + d^2 = 1.0
     * If they don't add up to 1.0, dividing by their magnitued will
     * renormalize them.
     *
     * Note: See the following for more information on quaternions:
     *
     * - Shoemake, K., Animating rotation with quaternion curves, Computer
     *   Graphics 19, No 3 (Proc. SIGGRAPH'85), 245-254, 1985.
     * - Pletinckx, D., Quaternion calculus as a basic tool in computer
     *   graphics, The Visual Computer 5, 2-13, 1989.
     */
    static void
    normalize_quat(double q[4])
    {
        int i;
        double mag;
    
        mag = (q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3]);
        for (i = 0; i < 4; i++) q[i] /= mag;
    }
    
    /*
     * Build a rotation matrix, given a quaternion rotation.
     *
     */
    void
    build_rotmatrix(double m[16], double q[4])
    {
        m[0] = 1.0 - 2.0 * (q[1] * q[1] + q[2] * q[2]);
        m[1] = 2.0 * (q[0] * q[1] - q[2] * q[3]);
        m[2] = 2.0 * (q[2] * q[0] + q[1] * q[3]);
        m[3] = 0.0;
    
        m[4] = 2.0 * (q[0] * q[1] + q[2] * q[3]);
        m[5]= 1.0 - 2.0 * (q[2] * q[2] + q[0] * q[0]);
        m[6] = 2.0 * (q[1] * q[2] - q[0] * q[3]);
        m[7] = 0.0;
    
        m[8] = 2.0 * (q[2] * q[0] - q[1] * q[3]);
        m[9] = 2.0 * (q[1] * q[2] + q[0] * q[3]);
        m[10] = 1.0 - 2.0 * (q[1] * q[1] + q[0] * q[0]);
        m[11] = 0.0;
    
        m[12] = 0.0;
        m[13] = 0.0;
        m[14] = 0.0;
        m[15] = 1.0;
    }