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Import cubicvr2 math; implement for GLPanel

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This commit is contained in:
Charles J. Cliffe 2015-06-26 22:04:16 -04:00
parent f2601edaa1
commit 8753be05e7
19 changed files with 1565 additions and 39 deletions
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16
CMakeLists.txt
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@ -264,6 +264,7 @@ SET (cubicsdr_sources
external/tinyxml/tinystr.cpp
external/tinyxml/tinyxmlparser.cpp
external/tinyxml/tinyxmlerror.cpp
external/cubicvr2/math/cubic_math.cpp
)
SET (cubicsdr_headers
@ -312,6 +313,20 @@ SET (cubicsdr_headers
external/lodepng/lodepng.h
external/tinyxml/tinyxml.h
external/tinyxml/tinystr.h
external/cubicvr2/math/aabb.h
external/cubicvr2/math/cubic_math.h
external/cubicvr2/math/cubic_types.h
external/cubicvr2/math/frustum.h
external/cubicvr2/math/mat3.h
external/cubicvr2/math/mat4.h
external/cubicvr2/math/plane.h
external/cubicvr2/math/quaternion.h
external/cubicvr2/math/sphere.h
external/cubicvr2/math/transform.h
external/cubicvr2/math/triangle.h
external/cubicvr2/math/vec2.h
external/cubicvr2/math/vec3.h
external/cubicvr2/math/vec4.h
)
include_directories (
@ -325,6 +340,7 @@ include_directories (
${PROJECT_SOURCE_DIR}/external/rtaudio
${PROJECT_SOURCE_DIR}/external/lodepng
${PROJECT_SOURCE_DIR}/external/tinyxml
${PROJECT_SOURCE_DIR}/external/cubicvr2/math
)
IF (MSVC)

110
external/cubicvr2/math/aabb.h vendored Normal file
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//
// aabb.h
// CubicVR2
//
// Created by Charles J. Cliffe on 2013-02-22.
// Copyright (c) 2013 Charles J. Cliffe. All rights reserved.
//
#ifndef __CubicVR2__aabb__
#define __CubicVR2__aabb__
#include <iostream>
#include "vec3.h"
namespace CubicVR {
enum aabb_enum { AABB_DISJOINT, AABB_A_INSIDE_B, AABB_B_INSIDE_A, AABB_INTERSECT };
struct aabb {
vec3 min, max;
aabb(vec3 min_in, vec3 max_in) {
min=min_in;
max=max_in;
}
aabb() {
min=max=vec3(0,0,0);
}
aabb engulf(aabb aabb, vec3 point) {
if (aabb.min[0] > point[0]) {
aabb.min[0] = point[0];
}
if (aabb.min[1] > point[1]) {
aabb.min[1] = point[1];
}
if (aabb.min[2] > point[2]) {
aabb.min[2] = point[2];
}
if (aabb.max[0] < point[0]) {
aabb.max[0] = point[0];
}
if (aabb.max[1] < point[1]) {
aabb.max[1] = point[1];
}
if (aabb.max[2] < point[2]) {
aabb.max[2] = point[2];
}
return aabb;
};
static aabb reset(aabb aabb, vec3 point=vec3(0.0f,0.0f,0.0f)) {
aabb.min[0] = point[0];
aabb.min[1] = point[1];
aabb.min[2] = point[2];
aabb.max[0] = point[0];
aabb.max[1] = point[1];
aabb.max[2] = point[2];
return aabb;
};
static vec3 size(aabb aabb) {
__float x = aabb.min[0] < aabb.max[0] ? aabb.max[0] - aabb.min[0] : aabb.min[0] - aabb.max[0];
__float y = aabb.min[1] < aabb.max[1] ? aabb.max[1] - aabb.min[1] : aabb.min[1] - aabb.max[1];
__float z = aabb.min[2] < aabb.max[2] ? aabb.max[2] - aabb.min[2] : aabb.min[2] - aabb.max[2];
return vec3(x,y,z);
};
/**
Returns positive integer if intersect between A and B, 0 otherwise.
For more detailed intersect result check value:
CubicVR.enums.aabb.INTERSECT if AABBs intersect
CubicVR.enums.aabb.A_INSIDE_B if boxA is inside boxB
CubicVR.enums.aabb.B_INSIDE_A if boxB is inside boxA
CubicVR.enums.aabb.DISJOINT if AABBs are disjoint (do not intersect)
*/
aabb_enum intersects(aabb boxA, aabb boxB) {
// Disjoint
if( boxA.min[0] > boxB.max[0] || boxA.max[0] < boxB.min[0] ){
return AABB_DISJOINT;
}
if( boxA.min[1] > boxB.max[1] || boxA.max[1] < boxB.min[1] ){
return AABB_DISJOINT;
}
if( boxA.min[2] > boxB.max[2] || boxA.max[2] < boxB.min[2] ){
return AABB_DISJOINT;
}
// boxA is inside boxB.
if( boxA.min[0] >= boxB.min[0] && boxA.max[0] <= boxB.max[0] &&
boxA.min[1] >= boxB.min[1] && boxA.max[1] <= boxB.max[1] &&
boxA.min[2] >= boxB.min[2] && boxA.max[2] <= boxB.max[2]) {
return AABB_A_INSIDE_B;
}
// boxB is inside boxA.
if( boxB.min[0] >= boxA.min[0] && boxB.max[0] <= boxA.max[0] &&
boxB.min[1] >= boxA.min[1] && boxB.max[1] <= boxA.max[1] &&
boxB.min[2] >= boxA.min[2] && boxB.max[2] <= boxA.max[2]) {
return AABB_B_INSIDE_A;
}
// Otherwise AABB's intersect.
return AABB_INTERSECT;
}
};
};
#endif /* defined(__CubicVR2__aabb__) */

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external/cubicvr2/math/cubic_math.cpp vendored Normal file
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//
// math.cpp
// CubicVR2
//
// Created by Charles J. Cliffe on 2013-02-22.
// Copyright (c) 2013 Charles J. Cliffe. All rights reserved.
//
#include "cubic_math.h"
namespace CubicVR {
std::ostream& operator<<(std::ostream &strm, const vec4 &v) {
return strm << "{" << v.x << ", " << v.y << ", " << v.z << ", " << v.w << "}";
}
std::ostream& operator<<(std::ostream &strm, const vec3 &v) {
return strm << "{" << v.x << ", " << v.y << ", " << v.z << "}";
}
std::ostream& operator<<(std::ostream &strm, const vec2 &v) {
return strm << "{" << v.x << ", " << v.y << "}";
}
std::ostream& operator<<(std::ostream &strm, const mat4 &m) {
return strm << "{ " << m[0] << ", " << m[1] << ", " << m[2] << ", " << m[3] << endl
<< " " << m[4] << ", " << m[5] << ", " << m[6] << ", " << m[7] << endl
<< " " << m[8] << ", " << m[9] << ", " << m[10] << ", " << m[11] << endl
<< " " << m[12] << ", " << m[13] << ", " << m[14] << ", " << m[15] << " }" << endl;
}
}

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external/cubicvr2/math/cubic_math.h vendored Normal file
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//
// math.h
// CubicVR2
//
// Created by Charles J. Cliffe on 2013-02-22.
// Copyright (c) 2013 Charles J. Cliffe. All rights reserved.
//
#ifndef __CubicVR2__math__
#define __CubicVR2__math__
#include <iostream>
#include "aabb.h"
#include "mat3.h"
#include "mat4.h"
#include "quaternion.h"
#include "transform.h"
#include "triangle.h"
#include "vec2.h"
#include "vec3.h"
#include "vec4.h"
#include "plane.h"
#include "sphere.h"
#include "frustum.h"
namespace CubicVR {
std::ostream& operator<<(std::ostream &strm, const vec4 &v);
std::ostream& operator<<(std::ostream &strm, const vec3 &v);
std::ostream& operator<<(std::ostream &strm, const vec2 &v);
std::ostream& operator<<(std::ostream &strm, const mat4 &m);
}
#endif /* defined(__CubicVR2__math__) */

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external/cubicvr2/math/cubic_types.h vendored Normal file
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@ -0,0 +1,41 @@
//
// types.h
// CubicVR2
//
// Created by Charles J. Cliffe on 2013-02-21.
// Copyright (c) 2013 Charles J. Cliffe. All rights reserved.
//
#ifndef CubicVR2_types_h
#define CubicVR2_types_h
namespace CubicVR {
typedef double __float64;
typedef float __float32;
typedef __float32 __float;
#define COMBINE(x,y) x ## y
#define floatSG(c, x,y) \
__float COMBINE(get,x)() { return y; } \
c & COMBINE(set,x)(__float value) { y = value; return *this; }
#define intSG(c, x,y) \
int COMBINE(get,x)() { return y; } \
c & COMBINE(set,x)(int value) { y = value; return *this; }
#define uintSG(c, x,y) \
unsigned int COMBINE(get,x)() { return y; } \
c & COMBINE(set,x)(unsigned int value) { y = value; return *this; }
#define boolSG(c,x,y) \
bool COMBINE(get,x)() { return y; } \
c & COMBINE(set,x)(bool value) { y = value; return *this; }
#define stringSG(c,x,y) \
string COMBINE(get,x)() { return y; } \
c & COMBINE(set,x)(string value) { y = value; return *this; }
#define isBoolSG(c,x,y) \
bool COMBINE(is,x)() { return y; } \
c & COMBINE(set,x)(bool value) { y = value; return *this; }
}
#endif

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external/cubicvr2/math/frustum.h vendored Normal file
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//
// frustum.h
// CubicVR2
//
// Created by Charles J. Cliffe on 2013-02-22.
// Copyright (c) 2013 Charles J. Cliffe. All rights reserved.
//
#ifndef CubicVR2_frustum_h
#define CubicVR2_frustum_h
#include <vector>
#include "mat4.h"
#include "vec3.h"
#include "vec4.h"
#include "plane.h"
namespace CubicVR {
enum frustum_plane { PLANE_LEFT, PLANE_RIGHT, PLANE_TOP, PLANE_BOTTOM, PLANE_NEAR, PLANE_FAR };
struct frustum {
std::vector<vec4> planes;
vec4 sphere;
frustum() {
planes.resize(6);
for (int i = 0; i < 6; ++i) {
planes[i] = vec4(0, 0, 0, 0);
} //for
} //Frustum::Constructor
void extract(vec3 position, mat4 mvMatrix, mat4 pMatrix) {
mat4 comboMatrix = mat4::multiply(pMatrix, mvMatrix, true);
// Left clipping plane
planes[PLANE_LEFT][0] = comboMatrix[3] + comboMatrix[0];
planes[PLANE_LEFT][1] = comboMatrix[7] + comboMatrix[4];
planes[PLANE_LEFT][2] = comboMatrix[11] + comboMatrix[8];
planes[PLANE_LEFT][3] = comboMatrix[15] + comboMatrix[12];
// Right clipping plane
planes[PLANE_RIGHT][0] = comboMatrix[3] - comboMatrix[0];
planes[PLANE_RIGHT][1] = comboMatrix[7] - comboMatrix[4];
planes[PLANE_RIGHT][2] = comboMatrix[11] - comboMatrix[8];
planes[PLANE_RIGHT][3] = comboMatrix[15] - comboMatrix[12];
// Top clipping plane
planes[PLANE_TOP][0] = comboMatrix[3] - comboMatrix[1];
planes[PLANE_TOP][1] = comboMatrix[7] - comboMatrix[5];
planes[PLANE_TOP][2] = comboMatrix[11] - comboMatrix[9];
planes[PLANE_TOP][3] = comboMatrix[15] - comboMatrix[13];
// Bottom clipping plane
planes[PLANE_BOTTOM][0] = comboMatrix[3] + comboMatrix[1];
planes[PLANE_BOTTOM][1] = comboMatrix[7] + comboMatrix[5];
planes[PLANE_BOTTOM][2] = comboMatrix[11] + comboMatrix[9];
planes[PLANE_BOTTOM][3] = comboMatrix[15] + comboMatrix[13];
// Near clipping plane
planes[PLANE_NEAR][0] = comboMatrix[3] + comboMatrix[2];
planes[PLANE_NEAR][1] = comboMatrix[7] + comboMatrix[6];
planes[PLANE_NEAR][2] = comboMatrix[11] + comboMatrix[10];
planes[PLANE_NEAR][3] = comboMatrix[15] + comboMatrix[14];
// Far clipping plane
planes[PLANE_FAR][0] = comboMatrix[3] - comboMatrix[2];
planes[PLANE_FAR][1] = comboMatrix[7] - comboMatrix[6];
planes[PLANE_FAR][2] = comboMatrix[11] - comboMatrix[10];
planes[PLANE_FAR][3] = comboMatrix[15] - comboMatrix[14];
for (unsigned int i = 0; i < 6; ++i) {
planes[i] = vec4::normalize(planes[i]);
}
//Sphere
__float fov = 1 / pMatrix[5];
__float near = -planes[PLANE_NEAR][3];
__float far = planes[PLANE_FAR][3];
__float view_length = far - near;
__float height = view_length * fov;
__float width = height;
vec3 P(0, 0, near + view_length * 0.5f);
vec3 Q(width, height, near + view_length);
vec3 diff = vec3::subtract(P, Q);
__float diff_mag = vec3::length(diff);
vec3 look_v = vec3(comboMatrix[3], comboMatrix[9], comboMatrix[10]);
__float look_mag = vec3::length(look_v);
look_v = vec3::multiply(look_v, 1 / look_mag);
vec3 pos = vec3(position[0], position[1], position[2]);
pos = vec3::add(pos, vec3::multiply(look_v, view_length * 0.5f));
pos = vec3::add(pos, vec3::multiply(look_v, 1));
sphere = vec4(pos[0], pos[1], pos[2], diff_mag);
}; //Frustum::extract
int contains_sphere(vec4 sphere) {
for (unsigned int i = 0; i < 6; ++i) {
vec4 &p = planes[i];
vec3 normal = vec3(p[0], p[1], p[2]);
__float distance = vec3::dot(normal, vec3(sphere[0],sphere[1],sphere[2])) + p[3];
//OUT
if (distance < -sphere[3]) {
return -1;
}
//INTERSECT
if (fabs(distance) < sphere[3]) {
return 0;
}
} //for
//IN
return 1;
}; //Frustum::contains_sphere
int contains_box(aabb bbox) {
int total_in = 0;
vec3 points[8];
points[0] = bbox.min;
points[1] = vec3(bbox.min[0], bbox.min[1], bbox.max[2]);
points[2] = vec3(bbox.min[0], bbox.max[1], bbox.min[2]);
points[3] = vec3(bbox.min[0], bbox.max[1], bbox.max[2]);
points[4] = vec3(bbox.max[0], bbox.min[1], bbox.min[2]);
points[5] = vec3(bbox.max[0], bbox.min[1], bbox.max[2]);
points[6] = vec3(bbox.max[0], bbox.max[1], bbox.min[2]);
points[7] = bbox.max;
for (unsigned int i = 0; i < 6; ++i) {
unsigned int in_count = 8;
unsigned int point_in = 1;
for (unsigned int j = 0; j < 8; ++j) {
if (plane::classifyPoint(planes[i], points[j]) == -1) {
point_in = 0;
--in_count;
} //if
} //for j
//OUT
if (in_count == 0) {
return -1;
}
total_in += point_in;
} //for i
//IN
if (total_in == 6) {
return 1;
}
return 0;
}; //Frustum::contains_box
};
}
#endif

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//
// mat3.h
// CubicVR2
//
// Created by Charles J. Cliffe on 2013-02-22.
// Copyright (c) 2013 Charles J. Cliffe. All rights reserved.
//
#ifndef __CubicVR2__mat3__
#define __CubicVR2__mat3__
#include <iostream>
#include "vec3.h"
namespace CubicVR {
#define mat3SG(c,x,y) \
mat3 COMBINE(get,x)() { return y; } \
c & COMBINE(set,x)(mat3 value) { y = value; return *this; }
struct mat3 {
__float a,b,c,d,e,f,g,h,i;
// __float operator [] (unsigned i) const { return ((__float *)this)[i]; }
__float& operator [] (unsigned i) { return ((__float *)this)[i]; }
operator __float*() const { return (__float *)this; }
mat3(__float ai,__float bi,__float ci,__float di,__float ei,__float fi,__float gi,__float hi,__float ii) {
a = ai; b = bi; c = ci; d = di; e = ei; f = fi; g = gi; h = hi; i = ii;
};
mat3() { memset((__float *)this, 0, sizeof(mat3)); }
// mat3 operator* (mat4 m) { return mat3::multiply(*this,m); };
// void operator*= (mat4 m) { *this = mat3::multiply(*this,m); };
static mat3 identity() {
return mat3(1.0f, 0.0f, 0.0f,
0.0f, 1.0f, 0.0f,
0.0f, 0.0f, 1.0f);
}
static void transpose_inline(mat3 &mat) {
__float a01 = mat[1], a02 = mat[2], a12 = mat[5];
mat[1] = mat[3];
mat[2] = mat[6];
mat[3] = a01;
mat[5] = mat[7];
mat[6] = a02;
mat[7] = a12;
};
static mat3 transpose(mat3 mat_in) {
__float a01 = mat_in[1], a02 = mat_in[2], a12 = mat_in[5];
mat3 mat;
mat[1] = mat_in[3];
mat[2] = mat_in[6];
mat[3] = a01;
mat[5] = mat_in[7];
mat[6] = a02;
mat[7] = a12;
return mat;
};
static vec3 multiply(mat3 m1, vec3 m2) {
vec3 mOut;
mOut[0] = m2[0] * m1[0] + m2[3] * m1[1] + m2[6] * m1[2] ;
mOut[1] = m2[1] * m1[0] + m2[4] * m1[1] + m2[7] * m1[2] ;
mOut[2] = m2[2] * m1[0] + m2[5] * m1[1] + m2[8] * m1[2];
return mOut;
};
};
}
#endif /* defined(__CubicVR2__mat3__) */

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//
// mat4.h
// CubicVR2
//
// Created by Charles J. Cliffe on 2013-02-21.
// Copyright (c) 2013 Charles J. Cliffe. All rights reserved.
//
#ifndef __CubicVR2__mat4__
#define __CubicVR2__mat4__
#include <iostream>
#include "cubic_types.h"
#include "vec3.h"
#include "vec4.h"
#include "mat3.h"
#include <cmath>
namespace CubicVR {
using namespace std;
#define mat4SG(c,x,y) \
mat4 COMBINE(get,x)() { return y; } \
c & COMBINE(set,x)(mat4 value) { y = value; return *this; }
struct mat4 {
__float a,b,c,d,e,f,g,h,i,j,k,l,m,n,o,p;
// __float operator [] (unsigned i) const { return ((__float *)this)[i]; }
__float& operator [] (unsigned i) { return ((__float *)this)[i]; }
operator __float*() const { return (__float *)this; }
mat4(__float ai,__float bi,__float ci,__float di,__float ei,__float fi,__float gi,__float hi,__float ii,__float ji,__float ki,__float li,__float mi,__float ni,__float oi,__float pi) {
a = ai; b = bi; c = ci; d = di; e = ei; f = fi; g = gi; h = hi; i = ii; j = ji; k = ki; l = li; m = mi; n = ni; o = oi; p = pi;
}
mat4() { memset(this,0,sizeof(mat4)); }
mat4 operator* (mat4 m) { return mat4::multiply(*this, m, true); };
void operator*= (mat4 m) { *this = mat4::multiply(*this, m, true); };
// mat4 &operator= (const mat4 &m) { memcpy(this,(__float *)m,sizeof(__float)*16); return *this; };
static mat4 identity() {
return mat4(1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f);
}
static mat4 multiply(mat4 mLeft, mat4 mRight, bool updated) {
mat4 mOut;
mOut[0] = mLeft[0] * mRight[0] + mLeft[4] * mRight[1] + mLeft[8] * mRight[2] + mLeft[12] * mRight[3];
mOut[1] = mLeft[1] * mRight[0] + mLeft[5] * mRight[1] + mLeft[9] * mRight[2] + mLeft[13] * mRight[3];
mOut[2] = mLeft[2] * mRight[0] + mLeft[6] * mRight[1] + mLeft[10] * mRight[2] + mLeft[14] * mRight[3];
mOut[3] = mLeft[3] * mRight[0] + mLeft[7] * mRight[1] + mLeft[11] * mRight[2] + mLeft[15] * mRight[3];
mOut[4] = mLeft[0] * mRight[4] + mLeft[4] * mRight[5] + mLeft[8] * mRight[6] + mLeft[12] * mRight[7];
mOut[5] = mLeft[1] * mRight[4] + mLeft[5] * mRight[5] + mLeft[9] * mRight[6] + mLeft[13] * mRight[7];
mOut[6] = mLeft[2] * mRight[4] + mLeft[6] * mRight[5] + mLeft[10] * mRight[6] + mLeft[14] * mRight[7];
mOut[7] = mLeft[3] * mRight[4] + mLeft[7] * mRight[5] + mLeft[11] * mRight[6] + mLeft[15] * mRight[7];
mOut[8] = mLeft[0] * mRight[8] + mLeft[4] * mRight[9] + mLeft[8] * mRight[10] + mLeft[12] * mRight[11];
mOut[9] = mLeft[1] * mRight[8] + mLeft[5] * mRight[9] + mLeft[9] * mRight[10] + mLeft[13] * mRight[11];
mOut[10] = mLeft[2] * mRight[8] + mLeft[6] * mRight[9] + mLeft[10] * mRight[10] + mLeft[14] * mRight[11];
mOut[11] = mLeft[3] * mRight[8] + mLeft[7] * mRight[9] + mLeft[11] * mRight[10] + mLeft[15] * mRight[11];
mOut[12] = mLeft[0] * mRight[12] + mLeft[4] * mRight[13] + mLeft[8] * mRight[14] + mLeft[12] * mRight[15];
mOut[13] = mLeft[1] * mRight[12] + mLeft[5] * mRight[13] + mLeft[9] * mRight[14] + mLeft[13] * mRight[15];
mOut[14] = mLeft[2] * mRight[12] + mLeft[6] * mRight[13] + mLeft[10] * mRight[14] + mLeft[14] * mRight[15];
mOut[15] = mLeft[3] * mRight[12] + mLeft[7] * mRight[13] + mLeft[11] * mRight[14] + mLeft[15] * mRight[15];
return mOut;
};
static vec3 multiply(mat4 m1, vec3 m2, bool updated) {
vec3 mOut;
mOut[0] = m1[0] * m2[0] + m1[4] * m2[1] + m1[8] * m2[2] + m1[12];
mOut[1] = m1[1] * m2[0] + m1[5] * m2[1] + m1[9] * m2[2] + m1[13];
mOut[2] = m1[2] * m2[0] + m1[6] * m2[1] + m1[10] * m2[2] + m1[14];
return mOut;
}
static mat4 perspective(__float fovy, __float aspect, __float near, __float far) {
__float yFac = tan(fovy * (float)M_PI / 360.0f);
__float xFac = yFac * aspect;
return mat4(
1.0f / xFac, 0, 0, 0, 0, 1.0f / yFac, 0, 0, 0, 0, -(far + near) / (far - near), -1, 0, 0, -(2.0f * far * near) / (far - near), 0);
};
static mat4 ortho(__float left,__float right,__float bottom,__float top,__float near,__float far) {
return mat4(2.0f / (right - left), 0, 0, 0, 0, 2.0f / (top - bottom), 0, 0, 0, 0, -2.0f / (far - near), 0, -(left + right) / (right - left), -(top + bottom) / (top - bottom), -(far + near) / (far - near), 1);
};
static __float determinant(mat4 m) {
__float a0 = m[0] * m[5] - m[1] * m[4];
__float a1 = m[0] * m[6] - m[2] * m[4];
__float a2 = m[0] * m[7] - m[3] * m[4];
__float a3 = m[1] * m[6] - m[2] * m[5];
__float a4 = m[1] * m[7] - m[3] * m[5];
__float a5 = m[2] * m[7] - m[3] * m[6];
__float b0 = m[8] * m[13] - m[9] * m[12];
__float b1 = m[8] * m[14] - m[10] * m[12];
__float b2 = m[8] * m[15] - m[11] * m[12];
__float b3 = m[9] * m[14] - m[10] * m[13];
__float b4 = m[9] * m[15] - m[11] * m[13];
__float b5 = m[10] * m[15] - m[11] * m[14];
__float det = a0 * b5 - a1 * b4 + a2 * b3 + a3 * b2 - a4 * b1 + a5 * b0;
return det;
};
// coFactor: function (m, n, out) {
// // .. todo..
// },
static mat4 transpose(mat4 m) {
return mat4(m[0], m[4], m[8], m[12], m[1], m[5], m[9], m[13], m[2], m[6], m[10], m[14], m[3], m[7], m[11], m[15]);
};
static mat3 inverse_mat3(mat4 mat) {
mat3 dest;
__float a00 = mat[0], a01 = mat[1], a02 = mat[2],
a10 = mat[4], a11 = mat[5], a12 = mat[6],
a20 = mat[8], a21 = mat[9], a22 = mat[10];
__float b01 = a22*a11-a12*a21,
b11 = -a22*a10+a12*a20,
b21 = a21*a10-a11*a20;
__float d = a00*b01 + a01*b11 + a02*b21;
if (!d) { return dest; }
__float id = 1/d;
dest[0] = b01*id;
dest[1] = (-a22*a01 + a02*a21)*id;
dest[2] = (a12*a01 - a02*a11)*id;
dest[3] = b11*id;
dest[4] = (a22*a00 - a02*a20)*id;
dest[5] = (-a12*a00 + a02*a10)*id;
dest[6] = b21*id;
dest[7] = (-a21*a00 + a01*a20)*id;
dest[8] = (a11*a00 - a01*a10)*id;
return dest;
};
static mat4 inverse(mat4 m) {
mat4 m_inv;
__float a0 = m[0] * m[5] - m[1] * m[4];
__float a1 = m[0] * m[6] - m[2] * m[4];
__float a2 = m[0] * m[7] - m[3] * m[4];
__float a3 = m[1] * m[6] - m[2] * m[5];
__float a4 = m[1] * m[7] - m[3] * m[5];
__float a5 = m[2] * m[7] - m[3] * m[6];
__float b0 = m[8] * m[13] - m[9] * m[12];
__float b1 = m[8] * m[14] - m[10] * m[12];
__float b2 = m[8] * m[15] - m[11] * m[12];
__float b3 = m[9] * m[14] - m[10] * m[13];
__float b4 = m[9] * m[15] - m[11] * m[13];
__float b5 = m[10] * m[15] - m[11] * m[14];
__float determinant = a0 * b5 - a1 * b4 + a2 * b3 + a3 * b2 - a4 * b1 + a5 * b0;
if (determinant != 0) {
m_inv[0] = 0 + m[5] * b5 - m[6] * b4 + m[7] * b3;
m_inv[4] = 0 - m[4] * b5 + m[6] * b2 - m[7] * b1;
m_inv[8] = 0 + m[4] * b4 - m[5] * b2 + m[7] * b0;
m_inv[12] = 0 - m[4] * b3 + m[5] * b1 - m[6] * b0;
m_inv[1] = 0 - m[1] * b5 + m[2] * b4 - m[3] * b3;
m_inv[5] = 0 + m[0] * b5 - m[2] * b2 + m[3] * b1;
m_inv[9] = 0 - m[0] * b4 + m[1] * b2 - m[3] * b0;
m_inv[13] = 0 + m[0] * b3 - m[1] * b1 + m[2] * b0;
m_inv[2] = 0 + m[13] * a5 - m[14] * a4 + m[15] * a3;
m_inv[6] = 0 - m[12] * a5 + m[14] * a2 - m[15] * a1;
m_inv[10] = 0 + m[12] * a4 - m[13] * a2 + m[15] * a0;
m_inv[14] = 0 - m[12] * a3 + m[13] * a1 - m[14] * a0;
m_inv[3] = 0 - m[9] * a5 + m[10] * a4 - m[11] * a3;
m_inv[7] = 0 + m[8] * a5 - m[10] * a2 + m[11] * a1;
m_inv[11] = 0 - m[8] * a4 + m[9] * a2 - m[11] * a0;
m_inv[15] = 0 + m[8] * a3 - m[9] * a1 + m[10] * a0;
__float inverse_det = 1.0f / determinant;
m_inv[0] *= inverse_det;
m_inv[1] *= inverse_det;
m_inv[2] *= inverse_det;
m_inv[3] *= inverse_det;
m_inv[4] *= inverse_det;
m_inv[5] *= inverse_det;
m_inv[6] *= inverse_det;
m_inv[7] *= inverse_det;
m_inv[8] *= inverse_det;
m_inv[9] *= inverse_det;
m_inv[10] *= inverse_det;
m_inv[11] *= inverse_det;
m_inv[12] *= inverse_det;
m_inv[13] *= inverse_det;
m_inv[14] *= inverse_det;
m_inv[15] *= inverse_det;
return m_inv;
}
return mat4::identity();
};
static mat4 translate(__float x, __float y, __float z) {
mat4 m = mat4(1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, x, y, z, 1.0f);
return m;
};
static mat4 rotateAxis(__float r, __float x, __float y, __float z) { // rotate r about axis x,y,z
__float sAng = sinf(r*((float)M_PI/180.0f));
__float cAng = cosf(r*((float)M_PI/180.0f));
return mat4( cAng+(x*x)*(1.0f-cAng), x*y*(1.0f-cAng) - z*sAng, x*z*(1.0f-cAng) + y*sAng, 0,
y*x*(1.0f-cAng)+z*sAng, cAng + y*y*(1.0f-cAng), y*z*(1.0f-cAng)-x*sAng, 0,
z*x*(1.0f-cAng)-y*sAng, z*y*(1.0f-cAng)+x*sAng, cAng+(z*z)*(1.0f-cAng), 0,
0, 0, 0, 1 );
};
static mat4 rotate(__float x, __float y, __float z) { // rotate each axis, angles x, y, z in turn
__float sAng,cAng;
mat4 mOut = mat4(1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f);
if (z!=0) {
sAng = sinf(z*((float)M_PI/180.0f));
cAng = cosf(z*((float)M_PI/180.0f));
mOut *= mat4(cAng, sAng, 0.0f, 0.0f, -sAng, cAng, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f);
}
if (y!=0) {
sAng = sinf(y*((float)M_PI/180.0f));
cAng = cosf(y*((float)M_PI/180.0f));
mOut *= mat4(cAng, 0.0f, -sAng, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, sAng, 0.0f, cAng, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f);
}
if (x!=0) {
sAng = sinf(x*((float)M_PI/180.0f));
cAng = cosf(x*((float)M_PI/180.0f));
mOut *= mat4(1.0f, 0.0f, 0.0f, 0.0f, 0.0f, cAng, sAng, 0.0f, 0.0f, -sAng, cAng, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f);
}
return mOut;
};
static mat4 scale(__float x, __float y, __float z) {
return mat4(x, 0.0f, 0.0f, 0.0f, 0.0f, y, 0.0f, 0.0f, 0.0f, 0.0f, z, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f);
};
static mat4 transform(vec3 position, vec3 rotation, vec3 scale) {
mat4 m = mat4::identity();
if (position!=NULL) {
m *= mat4::translate(position[0],position[1],position[2]);
}
if (rotation!=NULL) {
if (!(rotation[0] == 0 && rotation[1] == 0 && rotation[2] == 0)) {
m *= mat4::rotate(rotation[0],rotation[1],rotation[2]);
}
}
if (scale!=NULL) {
if (!(scale[0] == 1 && scale[1] == 1 && scale[2] == 1)) {
m *= mat4::scale(scale[0],scale[1],scale[2]);
}
}
return m;
};
static vec4 vec4_multiply(vec4 m1, mat4 m2) {
vec4 mOut;
mOut[0] = m2[0] * m1[0] + m2[4] * m1[1] + m2[8] * m1[2] + m2[12] * m1[3];
mOut[1] = m2[1] * m1[0] + m2[5] * m1[1] + m2[9] * m1[2] + m2[13] * m1[3];
mOut[2] = m2[2] * m1[0] + m2[6] * m1[1] + m2[10] * m1[2] + m2[14] * m1[3];
mOut[3] = m2[3] * m1[0] + m2[7] * m1[1] + m2[11] * m1[2] + m2[15] * m1[3];
return mOut;
};
static mat4 lookat(__float eyex, __float eyey, __float eyez, __float centerx, __float centery, __float centerz, __float upx, __float upy, __float upz) {
vec3 forward, side, up;
forward[0] = centerx - eyex;
forward[1] = centery - eyey;
forward[2] = centerz - eyez;
up[0] = upx;
up[1] = upy;
up[2] = upz;
forward = vec3::normalize(forward);
/* Side = forward x up */
side = vec3::cross(forward, up);
side = vec3::normalize(side);
/* Recompute up as: up = side x forward */
up = vec3::cross(side, forward);
return mat4::translate(-eyex,-eyey,-eyez) * mat4( side[0], up[0], -forward[0], 0, side[1], up[1], -forward[1], 0, side[2], up[2], -forward[2], 0, 0, 0, 0, 1);
};
};
}
#endif /* defined(__CubicVR2__mat4__) */

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//
// plane.h
// CubicVR2
//
// Created by Charles J. Cliffe on 2013-02-22.
// Copyright (c) 2013 Charles J. Cliffe. All rights reserved.
//
#ifndef CubicVR2_plane_h
#define CubicVR2_plane_h
#include "vec4.h"
#include "vec3.h"
namespace CubicVR {
struct plane : vec4 {
static int classifyPoint(vec4 plane, vec3 pt) {
__float dist = (plane[0] * pt[0]) + (plane[1] * pt[1]) + (plane[2] * pt[2]) + (plane[3]);
if (dist < 0) {
return -1;
}
else if (dist > 0) {
return 1;
}
return 0;
};
};
}
#endif

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//
// quaternion.h
// CubicVR2
//
// Created by Charles J. Cliffe on 2013-02-22.
// Copyright (c) 2013 Charles J. Cliffe. All rights reserved.
//
#ifndef __CubicVR2__quaternion__
#define __CubicVR2__quaternion__
#include <iostream>
#include "vec4.h"
#include "mat4.h"
namespace CubicVR {
struct quaternion : vec4 {
static vec4 fromMatrix(mat4 mat) {
__float t = 1 + mat[0] + mat[5] + mat[10];
__float S,X,Y,Z,W;
if ( t > 0.00000001 ) {
S = sqrtf(t) * 2;
X = ( mat[9] - mat[6] ) / S;
Y = ( mat[2] - mat[8] ) / S;
Z = ( mat[4] - mat[1] ) / S;
W = 0.25f * S;
} else {
if ( mat[0] > mat[5] && mat[0] > mat[10] ) { // Column 0:
S = sqrtf( 1.0f + mat[0] - mat[5] - mat[10] ) * 2.0f;
X = 0.25f * S;
Y = (mat[4] + mat[1] ) / S;
Z = (mat[2] + mat[8] ) / S;
W = (mat[9] - mat[6] ) / S;
} else if ( mat[5] > mat[10] ) { // Column 1:
S = sqrtf( 1.0f + mat[5] - mat[0] - mat[10] ) * 2.0f;
X = (mat[4] + mat[1] ) / S;
Y = 0.25f * S;
Z = (mat[9] + mat[6] ) / S;
W = (mat[2] - mat[8] ) / S;
} else { // Column 2:
S = sqrtf( 1.0f + mat[10] - mat[0] - mat[5] ) * 2.0f;
X = (mat[2] + mat[8] ) / S;
Y = (mat[9] + mat[6] ) / S;
Z = 0.25f * S;
W = (mat[4] - mat[1] ) / S;
}
}
return vec4(X,Y,Z,W);
};
static vec4 fromEuler(__float bank, __float heading, __float pitch) { // x,y,z
__float c1 = cosf(((float)M_PI / 180.0f) * heading / 2.0f);
__float s1 = sinf(((float)M_PI / 180.0f) * heading / 2.0f);
__float c2 = cosf(((float)M_PI / 180.0f) * pitch / 2.0f);
__float s2 = sinf(((float)M_PI / 180.0f) * pitch / 2.0f);
__float c3 = cosf(((float)M_PI / 180.0f) * bank / 2.0f);
__float s3 = sinf(((float)M_PI / 180.0f) * bank / 2.0f);
__float c1c2 = c1 * c2;
__float s1s2 = s1 * s2;
vec4 mOut;
mOut[0] = c1c2 * c3 - s1s2 * s3;
mOut[1] = c1c2 * s3 + s1s2 * c3;
mOut[2] = s1 * c2 * c3 + c1 * s2 * s3;
mOut[3] = c1 * s2 * c3 - s1 * c2 * s3;
return mOut;
};
static vec3 toEuler(vec4 q) {
__float sqx = q[0] * q[0];
__float sqy = q[1] * q[1];
__float sqz = q[2] * q[2];
__float sqw = q[3] * q[3];
__float x = (180.0f / (float)M_PI) * ((atan2f(2.0f * (q[1] * q[2] + q[0] * q[3]), (-sqx - sqy + sqz + sqw))));
__float y = (180.0f / (float)M_PI) * ((asinf(-2.0f * (q[0] * q[2] - q[1] * q[3]))));
__float z = (180.0f / (float)M_PI) * ((atan2f(2.0f * (q[0] * q[1] + q[2] * q[3]), (sqx - sqy - sqz + sqw))));
return vec3(x, y, z);
};
static vec4 multiply(vec4 q1, vec4 q2) {
__float x = q1[0] * q2[3] + q1[3] * q2[0] + q1[1] * q2[2] - q1[2] * q2[1];
__float y = q1[1] * q2[3] + q1[3] * q2[1] + q1[2] * q2[0] - q1[0] * q2[2];
__float z = q1[2] * q2[3] + q1[3] * q2[2] + q1[0] * q2[1] - q1[1] * q2[0];
__float w = q1[3] * q2[3] - q1[0] * q2[0] - q1[1] * q2[1] - q1[2] * q2[2];
return vec4(x,y,z,w);
};
};
}
#endif /* defined(__CubicVR2__quaternion__) */

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//
// sphere.h
// CubicVR2
//
// Created by Charles J. Cliffe on 2013-02-22.
// Copyright (c) 2013 Charles J. Cliffe. All rights reserved.
//
#ifndef CubicVR2_sphere_h
#define CubicVR2_sphere_h
#include "vec3.h"
#include "vec4.h"
namespace CubicVR {
struct sphere {
bool intersects(vec4 sphere, vec4 other) {
vec3 spherePos(sphere[0], sphere[1], sphere[2]);
vec3 otherPos(other[0], other[1], other[2]);
vec3 diff = vec3::subtract(spherePos, otherPos);
__float mag = sqrtf(diff[0] * diff[0] + diff[1] * diff[1] + diff[2] * diff[2]);
__float sum_radii = sphere[3] + other[3];
if (mag * mag < sum_radii * sum_radii) {
return true;
}
return false;
}
};
}
#endif

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//
// Transform.h
// CubicVR2
//
// Created by Charles J. Cliffe on 2013-02-22.
// Copyright (c) 2013 Charles J. Cliffe. All rights reserved.
//
#ifndef __CubicVR2__Transform__
#define __CubicVR2__Transform__
#include <iostream>
#include "cubic_types.h"
#include "mat4.h"
#include "vec3.h"
#include <vector>
namespace CubicVR {
class transform {
std::vector<mat4> m_stack;
std::vector<mat4> m_cache;
int c_stack;
int valid;
mat4 result;
transform() {
c_stack = 0;
valid = false;
result = mat4::identity();
};
transform(mat4 init_mat) {
clearStack(init_mat);
};
void setIdentity() {
m_stack[c_stack] = mat4(1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f);
if (valid == c_stack && c_stack) {
valid--;
}
}
mat4 getIdentity() {
return mat4(1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f);
}
void invalidate() {
valid = 0;
result = mat4::identity();
}
mat4 getResult() {
if (!c_stack) {
return m_stack[0];
}
mat4 m = getIdentity();
if (valid > c_stack-1) valid = c_stack-1;
for (int i = valid; i < c_stack+1; i++) {
m = mat4::multiply(m, m_stack[i], true);
m_cache[i] = m;
}
valid = c_stack-1;
result = m_cache[c_stack];
return result;
}
void pushMatrix(mat4 m) {
c_stack++;
m_stack[c_stack] = (m ? m : getIdentity());
}
void popMatrix() {
if (c_stack == 0) {
return;
}
c_stack--;
}
void clearStack(mat4 init_mat) {
m_stack.clear();
m_cache.clear();
c_stack = 0;
valid = 0;
delete result;
result = mat4::identity();
if (init_mat != NULL) {
m_stack[0] = init_mat;
} else {
setIdentity();
}
}
void translate(__float x, __float y, __float z) {
mat4 m = getIdentity();
m[12] = x;
m[13] = y;
m[14] = z;
m_stack[c_stack] = mat4::multiply(m, m_stack[c_stack], true);
if (valid == c_stack && c_stack) {
valid--;
}
}
void scale(__float x, __float y, __float z) {
mat4 m = getIdentity();
m[0] = x;
m[5] = y;
m[10] = z;
m_stack[c_stack] = mat4::multiply(m, m_stack[c_stack], true);
if (valid == c_stack && c_stack) {
valid--;
}
}
void rotate(__float ang, __float x, __float y, __float z) {
__float sAng, cAng;
if (x || y || z) {
sAng = sin(-ang * ((float)M_PI / 180.0f));
cAng = cos(-ang * ((float)M_PI / 180.0f));
}
if (x) {
mat4 X_ROT = getIdentity();
X_ROT[5] = cAng * x;
X_ROT[9] = sAng * x;
X_ROT[6] = -sAng * x;
X_ROT[10] = cAng * x;
m_stack[c_stack] = mat4::multiply(m_stack[c_stack], X_ROT, true);
}
if (y) {
mat4 Y_ROT = getIdentity();
Y_ROT[0] = cAng * y;
Y_ROT[8] = -sAng * y;
Y_ROT[2] = sAng * y;
Y_ROT[10] = cAng * y;
m_stack[c_stack] = mat4::multiply(m_stack[c_stack], Y_ROT, true);
}
if (z) {
mat4 Z_ROT = getIdentity();
Z_ROT[0] = cAng * z;
Z_ROT[4] = sAng * z;
Z_ROT[1] = -sAng * z;
Z_ROT[5] = cAng * z;
m_stack[c_stack] = mat4::multiply(m_stack[c_stack], Z_ROT, true);
}
if (valid == c_stack && c_stack) {
valid--;
}
};
};
}
#endif /* defined(__CubicVR2__Transform__) */

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//
// triangle.h
// CubicVR2
//
// Created by Charles J. Cliffe on 2013-02-22.
// Copyright (c) 2013 Charles J. Cliffe. All rights reserved.
//
#ifndef __CubicVR2__triangle__
#define __CubicVR2__triangle__
#include <iostream>
#include "vec3.h"
namespace CubicVR {
struct triangle {
static vec3 normal(vec3 pt1, vec3 pt2, vec3 pt3) {
__float v10 = pt1[0] - pt2[0];
__float v11 = pt1[1] - pt2[1];
__float v12 = pt1[2] - pt2[2];
__float v20 = pt2[0] - pt3[0];
__float v21 = pt2[1] - pt3[1];
__float v22 = pt2[2] - pt3[2];
vec3 mOut;
mOut[0] = v11 * v22 - v12 * v21;
mOut[1] = v12 * v20 - v10 * v22;
mOut[2] = v10 * v21 - v11 * v20;
return mOut;
};
};
}
#endif /* defined(__CubicVR2__triangle__) */

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//
// vec2.h
// CubicVR2
//
// Created by Charles J. Cliffe on 2013-02-22.
// Copyright (c) 2013 Charles J. Cliffe. All rights reserved.
//
#ifndef __CubicVR2__vec2__
#define __CubicVR2__vec2__
#include <iostream>
#include <cmath>
#include "cubic_types.h"
namespace CubicVR {
#define vec2SG(c,x,y) \
vec2 COMBINE(get,x)() { return y; } \
c & COMBINE(set,x)(vec2 value) { y = value; return *this; }
struct vec2 {
__float x, y;
public:
__float& u() { return x; }
__float& v() { return y; }
// __float operator [] (unsigned i) const { return ((__float *)this)[i]; }
__float& operator [] (unsigned i) { return ((__float *)this)[i]; }
vec2 (__float xi,__float yi) { x = xi; y = yi; }
vec2 () { x = y = 0.0f; }
operator __float*() const { return (__float *)this; }
vec2 operator*(__float v) { return vec2( x*v, y*v ); }
// vec2 operator*(vec2 v) { return vec2::cross(*this,v); }
vec2 operator+(vec2 v) { return vec2::add(*this,v); }
vec2 operator-(vec2 v) { return vec2::subtract(*this,v); }
static bool equal(vec2 a, vec2 b, __float epsilon = 0.00000001) {
return (fabs(a[0] - b[0]) < epsilon && fabs(a[1] - b[1]) < epsilon);
};
static bool onLine(vec2 a, vec2 b,vec2 c) {
__float minx = (a[0]<b[0])?a[0]:b[0];
__float miny = (a[1]<b[1])?a[1]:b[1];
__float maxx = (a[0]>b[0])?a[0]:b[0];
__float maxy = (a[1]>b[1])?a[1]:b[1];
if ((minx <= c[0] && c[0] <= maxx) && (miny <= c[1] && c[1] <= maxy)) {
return true;
} else {
return false;
}
};
static vec2 lineIntersect(vec2 a1, vec2 a2, vec2 b1, vec2 b2) {
__float x1 = a1[0], y1 = a1[1], x2 = a2[0], y2 = a2[1];
__float x3 = b1[0], y3 = b1[1], x4 = b2[0], y4 = b2[1];
__float d = ((x1-x2) * (y3-y4)) - ((y1-y2) * (x3-x4));
if (d == 0) return vec2(INFINITY,INFINITY);
__float xi = (((x3-x4) * ((x1*y2)-(y1*x2))) - ((x1-x2) *((x3*y4)-(y3*x4))))/d;
__float yi = (((y3-y4) * ((x1*y2)-(y1*x2))) - ((y1-y2) *((x3*y4)-(y3*x4))))/d;
return vec2( xi,yi );
};
static vec2 add(vec2 a,vec2 b) {
return vec2(a[0]+b[0],a[1]+b[1]);
};
static vec2 subtract(vec2 a, vec2 b) {
return vec2(a[0]-b[0],a[1]-b[1]);
};
static __float length(vec2 a,vec2 b) {
vec2 s(a[0]-b[0],a[1]-b[1]);
return sqrtf(s[0]*s[0]+s[1]*s[1]);
};
static __float length(vec2 a) {
return sqrtf(a[0]*a[0]+a[1]*a[1]);
};
};
}
#endif /* defined(__CubicVR2__vec2__) */

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external/cubicvr2/math/vec3.h vendored Normal file
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//
// vec3.h
// CubicVR2
//
// Created by Charles J. Cliffe on 2013-02-21.
// Copyright (c) 2013 Charles J. Cliffe. All rights reserved.
//
#ifndef __CubicVR2__vec3__
#define __CubicVR2__vec3__
#include <iostream>
#include "cubic_types.h"
#include <cmath>
namespace CubicVR {
#define vec3SG(c,x,y) \
vec3 COMBINE(get,x)() { return y; } \
c & COMBINE(set,x)(vec3 value) { y = value; return *this; }
struct vec3 {
__float x,y,z;
operator __float*() const { return (__float *)this; }
__float& r() { return x; }
__float& g() { return y; }
__float& b() { return z; }
__float& operator [] (unsigned i) { return ((__float *)this)[i]; }
vec3 (__float xi,__float yi,__float zi) { x = xi; y = yi; z = zi; }
vec3 () { x = y = z = 0.0f; }
vec3 operator*(__float v) { return vec3(x*v, y*v, z*v); }
vec3 operator*(vec3 v) { return vec3::cross(*this,v); }
vec3 operator+(vec3 v) { return vec3::add(*this,v); }
vec3 operator-(vec3 v) { return vec3::subtract(*this,v); }
static __float length(vec3 pta, vec3 ptb) {
__float a,b,c;
a = ptb[0]-pta[0];
b = ptb[1]-pta[1];
c = ptb[2]-pta[2];
return sqrtf((a*a) + (b*b) + (c*c));
};
static __float length(vec3 pta) {
__float a,b,c;
a = pta[0];
b = pta[1];
c = pta[2];
return sqrtf((a*a) + (b*b) + (c*c));
};
static vec3 normalize(vec3 pt) {
__float a = pt[0], b = pt[1], c = pt[2],
d = sqrtf((a*a) + (b*b) + (c*c));
if (d) {
pt[0] = pt[0]/d;
pt[1] = pt[1]/d;
pt[2] = pt[2]/d;
return pt;
}
pt = vec3(0.0f,0.0f,0.0f);
return pt;
};
static __float dot(vec3 v1, vec3 v2) {
return v1[0] * v2[0] + v1[1] * v2[1] + v1[2] * v2[2];
};
static __float angle(vec3 v1, vec3 v2) {
__float a = acosf((v1[0] * v2[0] + v1[1] * v2[1] + v1[2] * v2[2]) / (sqrtf(v1[0] * v1[0] + v1[1] * v1[1] + v1[2] * v1[2]) * sqrtf(v2[0] * v2[0] + v2[1] * v2[1] + v2[2] * v2[2])));
return a;
};
static vec3 cross(vec3 vectA, vec3 vectB) {
return vec3(
vectA[1] * vectB[2] - vectB[1] * vectA[2], vectA[2] * vectB[0] - vectB[2] * vectA[0], vectA[0] * vectB[1] - vectB[0] * vectA[1]
);
};
static vec3 multiply(vec3 vectA, __float constB) {
return vec3(vectA[0] * constB, vectA[1] * constB, vectA[2] * constB);
};
static vec3 add(vec3 vectA, vec3 vectB) {
return vec3(vectA[0] + vectB[0], vectA[1] + vectB[1], vectA[2] + vectB[2]);
};
static vec3 subtract(vec3 vectA, vec3 vectB) {
return vec3(vectA[0] - vectB[0], vectA[1] - vectB[1], vectA[2] - vectB[2]);
};
static bool equal(vec3 a, vec3 b, __float epsilon = 0.0000001f) {
return ((fabs(a[0] - b[0]) < epsilon) && (fabs(a[1] - b[1]) < epsilon) && (fabs(a[2] - b[2]) < epsilon));
};
static vec3 moveViewRelative(vec3 position, vec3 target, __float xdelta, __float zdelta) {
__float ang = atan2f(zdelta, xdelta);
__float cam_ang = atan2f(target[2] - position[2], target[0] - position[0]);
__float mag = sqrtf(xdelta * xdelta + zdelta * zdelta);
__float move_ang = cam_ang + ang + (float)M_PI/2.0f;
// if (typeof(alt_source) === 'object') {
// return [alt_source[0] + mag * Math.cos(move_ang), alt_source[1], alt_source[2] + mag * Math.sin(move_ang)];
// }
return vec3(position[0] + mag * cosf(move_ang), position[1], position[2] + mag * sinf(move_ang));
};
static vec3 trackTarget(vec3 position, vec3 target, __float trackingSpeed, __float safeDistance) {
vec3 camv = vec3::subtract(target, position);
vec3 dist = camv;
__float fdist = vec3::length(dist);
vec3 motionv = camv;
motionv = vec3::normalize(motionv);
motionv = vec3::multiply(motionv, trackingSpeed * (1.0f / (1.0f / (fdist - safeDistance))));
vec3 ret_pos;
if (fdist > safeDistance) {
ret_pos = vec3::add(position, motionv);
} else if (fdist < safeDistance) {
motionv = camv;
motionv = vec3::normalize(motionv);
motionv = vec3::multiply(motionv, trackingSpeed * (1.0f / (1.0f / (fabsf(fdist - safeDistance)))));
ret_pos = vec3::subtract(position, motionv);
} else {
ret_pos = vec3(position[0], position[1] + motionv[2], position[2]);
}
return ret_pos;
};
static vec3 getClosestTo(vec3 ptA, vec3 ptB, vec3 ptTest) {
vec3 S, T, U;
S = vec3::subtract(ptB, ptA);
T = vec3::subtract(ptTest, ptA);
U = vec3::add(vec3::multiply(S, vec3::dot(S, T) / vec3::dot(S, S)), ptA);
return U;
};
// linePlaneIntersect: function(normal, point_on_plane, segment_start, segment_end)
// {
// // form a plane from normal and point_on_plane and test segment start->end to find intersect point
// var denom,mu;
//
// var d = - normal[0] * point_on_plane[0] - normal[1] * point_on_plane[1] - normal[2] * point_on_plane[2];
//
// // calculate position where the plane intersects the segment
// denom = normal[0] * (segment_end[0] - segment_start[0]) + normal[1] * (segment_end[1] - segment_start[1]) + normal[2] * (segment_end[2] - segment_start[2]);
// if (Math.fabs(denom) < 0.001) return false;
//
// mu = - (d + normal[0] * segment_start[0] + normal[1] * segment_start[1] + normal[2] * segment_start[2]) / denom;
// return [
// (segment_start[0] + mu * (segment_end[0] - segment_start[0])),
// (segment_start[1] + mu * (segment_end[1] - segment_start[1])),
// (segment_start[2] + mu * (segment_end[2] - segment_start[2]))
// ];
// }
};
}
#endif /* defined(__CubicVR2__vec3__) */

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external/cubicvr2/math/vec4.h vendored Normal file
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//
// vec4.h
// CubicVR2
//
// Created by Charles J. Cliffe on 2013-02-22.
// Copyright (c) 2013 Charles J. Cliffe. All rights reserved.
//
#ifndef __CubicVR2__vec4__
#define __CubicVR2__vec4__
#include <iostream>
#include "cubic_types.h"
#include <cmath>
namespace CubicVR {
#define vec4SG(c,x,y) \
vec3 COMBINE(get,x)() { return y; } \
c & COMBINE(set,x)(vec3 value) { y = value; return *this; }
struct vec4 {
__float x,y,z,w;
public:
__float& r() { return x; }
__float& g() { return y; }
__float& b() { return z; }
__float& a() { return w; }
// __float operator [] (unsigned i) const { return ((__float *)this)[i]; }
__float& operator [] (unsigned i) { return ((__float *)this)[i]; }
vec4 (__float xi,__float yi,__float zi,__float wi) { x = xi; y = yi; z = zi; w = wi; }
vec4 () { x = y = z = w = 0.0f; }
operator __float*() const { return (__float *)this; }
vec4 operator*(__float v) { return vec4(x*v, y*v, z*v, w*v); }
// vec4 operator*(vec4 v) { return vec4::cross(*this,v); }
// vec4 operator+(vec4 v) { return vec4::add(*this,v); }
// vec4 operator-(vec4 v) { return vec4::subtract(*this,v); }
static __float length(vec4 a, vec4 b) {
__float v[4] = {a[0]-b[0],a[1]-b[1],a[2]-b[2],a[3]-b[3]};
return sqrtf(v[0] * v[0] + v[1] * v[1] + v[2] * v[2] + v[3] * v[3]);
};
static __float length(vec4 v) {
return sqrtf(v[0] * v[0] + v[1] * v[1] + v[2] * v[2] + v[3] * v[3]);
};
static vec4 normalize(vec4 v) {
__float n = sqrtf(vec4::length(v));
v[0] /= n;
v[1] /= n;
v[2] /= n;
v[3] /= n;
return v;
};
static __float dot(vec4 v1, vec4 v2) {
return v1[0] * v2[0] + v1[1] * v2[1] + v1[2] * v2[2] + v1[3] * v2[3];
};
};
}
#endif /* defined(__CubicVR2__vec4__) */

93
src/ui/GLPanel.cpp
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@ -1,8 +1,8 @@
#include "GLPanel.h"
#include "cubic_math.h"
GLPanel::GLPanel() : fillType(GLPANEL_FILL_SOLID), coord(GLPANEL_Y_DOWN_ZERO_ONE), contentsVisible(true) {
GLPanel::GLPanel() : fillType(GLPANEL_FILL_SOLID), contentsVisible(true), transform(CubicVR::mat4::identity()) {
pos[0] = 0.0f;
pos[1] = 0.0f;
size[0] = 1.0f;
@ -10,7 +10,7 @@ GLPanel::GLPanel() : fillType(GLPANEL_FILL_SOLID), coord(GLPANEL_Y_DOWN_ZERO_ONE
fill[0] = RGB(0.5,0.5,0.5);
fill[1] = RGB(0.1,0.1,0.1);
borderColor = RGB(0.8, 0.8, 0.8);
genArrays();
setCoordinateSystem(GLPANEL_Y_DOWN_ZERO_ONE);
}
void GLPanel::genArrays() {
@ -125,6 +125,7 @@ void GLPanel::genArrays() {
}
}
void GLPanel::setViewport() {
GLint vp[4];
glGetIntegerv(GL_VIEWPORT, vp);
@ -151,6 +152,23 @@ float GLPanel::getHeightPx() {
return size[1]*view[0];
}
void GLPanel::setCoordinateSystem(GLPanelCoordinateSystem coord_in) {
coord = coord_in;
if (coord == GLPANEL_Y_DOWN || coord == GLPANEL_Y_UP) {
min = -1;
mid = 0;
max = 1;
} else {
min = 0;
mid = 0.5;
max = 1;
}
genArrays();
}
void GLPanel::setFill(GLPanelFillType fill_mode) {
fillType = fill_mode;
genArrays();
@ -202,7 +220,7 @@ void GLPanel::drawChildren() {
std::vector<GLPanel *>::iterator panel_i;
for (panel_i = children.begin(); panel_i != children.end(); panel_i++) {
(*panel_i)->draw(this);
(*panel_i)->draw(transform, this);
}
}
}
@ -211,41 +229,53 @@ void GLPanel::drawPanelContents() {
drawChildren();
}
void GLPanel::draw(GLPanel *parent) {
float min, mid, max;
void GLPanel::draw(CubicVR::mat4 transform_in, GLPanel *parent) {
using namespace CubicVR;
if (coord == GLPANEL_Y_DOWN || coord == GLPANEL_Y_UP) {
min = -1;
mid = 0;
max = 1;
} else {
min = 0;
mid = 0.5;
max = 1;
}
mat4 mCoord = mat4::identity();
if (!parent) {
if (coord == GLPANEL_Y_DOWN_ZERO_ONE) {
glPushMatrix();
glTranslatef(-1.0f, 1.0f, 0.0f);
glScalef(2.0f, -2.0f, 2.0f);
mCoord *= mat4::translate(-1.0f, 1.0f, 0.0f) * mat4::scale(2.0f, -2.0f, 2.0f);
}
if (coord == GLPANEL_Y_UP_ZERO_ONE) {
glPushMatrix();
glTranslatef(-1.0f, -1.0f, 0.0f);
glScalef(2.0f, 2.0f, 2.0f);
mCoord = mat4::translate(-1.0f, -1.0f, 0.0f) * mat4::scale(2.0f, 2.0f, 2.0f);
}
if (coord == GLPANEL_Y_DOWN) {
glPushMatrix();
glScalef(1.0f, -1.0f, 1.0f);
}
if (coord == GLPANEL_Y_UP) {
glPushMatrix();
mCoord = mat4::scale(2.0f, 2.0f, 2.0f);
}
// if (coord == GLPANEL_Y_UP) {
// }
}
glPushMatrix();
glTranslatef(pos[0]+margin.left, pos[1]+margin.top, 0);
glScalef(size[0]-(margin.left+margin.right), size[1]-(margin.top+margin.bottom), 0);
// compute local transform
localTransform = mCoord * mat4::translate(pos[0]+margin.left, pos[1]+margin.top, 0) *
mat4::scale(size[0]-(margin.left+margin.right), size[1]-(margin.top+margin.bottom), 0);
// compute global transform
transform = transform_in * localTransform;
glLoadMatrixf(transform);
// init view[]
setViewport();
// get min/max transform
vec4 vmin_t = mat4::vec4_multiply(vec4(min, min, 0, 1), transform);
vec4 vmax_t = mat4::vec4_multiply(vec4(max, max, 0, 1), transform);
// screen dimensions
vec2 vmin((vmin_t.x>vmax_t.x)?vmax_t.x:vmin_t.x, vmin.y = (vmin_t.y>vmax_t.y)?vmax_t.y:vmin_t.y);
vec2 vmax((vmin_t.y>vmax_t.y)?vmin_t.y:vmax_t.y, vmax.y = (vmin_t.y>vmax_t.y)?vmin_t.y:vmax_t.y);
// unit dimensions
vec2 umin = (vmin * 0.5) + vec2(1,1);
vec2 umax = (vmax * 0.5) + vec2(1,1);
// pixel dimensions
vec2 pdim((umax.x - umin.x) * view[0], (umax.y - umin.y) * view[1]);
std::cout << umin << " :: " << umax << " :: " << pdim << std::endl;
if (fillType != GLPANEL_FILL_NONE) {
glEnableClientState(GL_VERTEX_ARRAY);
@ -303,11 +333,6 @@ void GLPanel::draw(GLPanel *parent) {
drawPanelContents();
glPopMatrix();
}
glPopMatrix();
if (!parent) {
glPopMatrix();
}
}

13
src/ui/GLPanel.h
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@ -3,6 +3,7 @@
#include <vector>
#include "GLExt.h"
#include "ColorTheme.h"
#include "cubic_math.h"
class GLPanelEdges {
public:
@ -26,8 +27,9 @@ class GLPanel {
private:
std::vector<float> glPoints;
std::vector<float> glColors;
void genArrays();
void setViewport();
public:
typedef enum GLPanelFillType { GLPANEL_FILL_NONE, GLPANEL_FILL_SOLID, GLPANEL_FILL_GRAD_X, GLPANEL_FILL_GRAD_Y, GLPANEL_FILL_GRAD_BAR_X, GLPANEL_FILL_GRAD_BAR_Y } GLPanelFillType;
@ -42,16 +44,19 @@ public:
RGB fill[2];
RGB borderColor;
bool contentsVisible;
CubicVR::mat4 transform;
CubicVR::mat4 localTransform;
float min, mid, max;
std::vector<GLPanel *> children;
GLPanel();
void setViewport();
void setPosition(float x, float y);
void setSize(float w, float h);
float getWidthPx();
float getHeightPx();
void setCoordinateSystem(GLPanelCoordinateSystem coord);
void setFill(GLPanelFillType fill_mode);
void setFillColor(RGB color1);
@ -67,7 +72,7 @@ public:
void drawChildren();
virtual void drawPanelContents();
void draw(GLPanel *parent=NULL);
void draw(CubicVR::mat4 transform, GLPanel *parent=NULL);
};

2
src/ui/UITestContext.cpp
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@ -44,7 +44,7 @@ void UITestContext::DrawBegin() {
}
void UITestContext::Draw() {
testPanel.draw();
testPanel.draw(CubicVR::mat4::identity());
}
void UITestContext::DrawEnd() {