cleanup

modules/autonavigation/avoidcollisioncurve.cpp

@@ -30,8 +30,6 @@
 #include <openspace/scene/scene.h>
 #include <openspace/query/query.h>
 #include <ghoul/logging/logmanager.h>
-#include <glm/gtx/intersect.hpp>
-#include <glm/gtx/perpendicular.hpp>
 #include <glm/gtx/projection.hpp>
 #include <algorithm>
 #include <vector>
@@ -215,18 +213,17 @@ glm::dvec3 AvoidCollisionCurve::roundedSpline(double t, const glm::dvec3 &a,
 
     // find velocities at b and c
     glm::dvec3 cb = c - b;
+    glm::dvec3 bc = -cb;
+
     if (!isNormalizable(cb)) {
         return b;
     }
 
     glm::dvec3 ab = a - b;
 
-    // a and b are the same point. try finding a substitue
+    // a and b are the same point
     if (!isNormalizable(ab)) {
-        ab = b - c;
-        if (!isNormalizable(ab)) {
-            ab = glm::dvec3(0.0, 1.0, 0.0);
-        }
+        ab = bc;
     }
 
     glm::dvec3 bVelocity = glm::normalize(cb) - glm::normalize(ab);
@@ -234,15 +231,12 @@ glm::dvec3 AvoidCollisionCurve::roundedSpline(double t, const glm::dvec3 &a,
         glm::normalize(bVelocity) : glm::dvec3(0.0, 1.0, 0.0);
 
     glm::dvec3 dc = d - c;
-    // d and c are the same point. try finding a substitue
+
+    // d and c are the same point
     if (!isNormalizable(dc)) {
-        dc = c - b;
-        if (!isNormalizable(dc)) {
-            dc = glm::dvec3(0.0, 1.0, 0.0); 
-        }
+        dc = cb;
     }
 
-    glm::dvec3 bc = (-1.0)*cb;
     glm::dvec3 cVelocity = glm::normalize(dc) - glm::normalize(bc);
     cVelocity = isNormalizable(cVelocity) ?
         glm::normalize(cVelocity) : glm::dvec3(0.0, 1.0, 0.0);
@@ -250,7 +244,7 @@ glm::dvec3 AvoidCollisionCurve::roundedSpline(double t, const glm::dvec3 &a,
     double cbDistance = glm::length(cb);
     double tangetLength = cbDistance;
 
-    // Distances in space can be extremely large, so we dont want to let the tangents have the complete length. 
+    // Distances in space can be extremely large, so we dont want the tangents to always have the full length. 
     const double tangentlengthThreshold = 1E10; // TODO: What's a good threshold?? ALSO make global
     if (tangetLength > tangentlengthThreshold)
         tangetLength = tangentlengthThreshold;

modules/autonavigation/helperfunctions.cpp

@@ -109,27 +109,6 @@ namespace openspace::autonavigation::interpolation {
         return cp1 * (1.0 - t) + cp2 * t;
     }
 
-    glm::dvec3 catmullRom(double t, const glm::dvec3 &p0, const glm::dvec3 &p1,
-                                    const glm::dvec3 &p2, const glm::dvec3 &p3)
-    {
-        ghoul_assert(t >= 0 && t <= 1.0, "Interpolation variable out of range [0, 1]");
-
-        if (t <= 0.0) return p1;
-        if (t >= 1.0) return p2;
-
-        const double t2 = t * t; 
-        const double t3 = t2 * t;
-
-        glm::dvec3 result = (
-            p0 * (-0.5 * t3 + t2 - 0.5 * t) +
-            p1 * ( 1.5 * t3 - 2.5 * t2 + 1.0) +
-            p2 * (-1.5 * t3 + 2.0 * t2 + 0.5 * t) +
-            p3 * ( 0.5 * t3 - 0.5 * t2)
-            );
-
-        return result;
-    }
-
     glm::dvec3 hermite(double t, const glm::dvec3 &p1, const glm::dvec3 &p2,
                        const glm::dvec3 &tangent1, const glm::dvec3 &tangent2)
     {

modules/autonavigation/helperfunctions.h

@@ -55,9 +55,6 @@ namespace openspace::autonavigation::interpolation {
 
     glm::dvec3 linear(double t, const glm::dvec3 &cp1, const glm::dvec3 &cp2);
 
-    glm::dvec3 catmullRom(double t, const glm::dvec3 &a, const glm::dvec3 &b,
-                                    const glm::dvec3 &c, const glm::dvec3 &d);
-
     glm::dvec3 hermite(double t, const glm::dvec3 &cp1, const glm::dvec3 &cp2,
                        const glm::dvec3 &tangent1, const glm::dvec3 &tangent2);
 

modules/autonavigation/pathcurves.cpp

@@ -25,13 +25,8 @@
 #include <modules/autonavigation/pathcurves.h>
 
 #include <modules/autonavigation/helperfunctions.h>
-#include <openspace/engine/globals.h>
-#include <openspace/rendering/renderengine.h>
-#include <openspace/scene/scene.h>
 #include <openspace/query/query.h>
 #include <ghoul/logging/logmanager.h>
-#include <glm/gtx/intersect.hpp>
-#include <glm/gtx/perpendicular.hpp>
 #include <glm/gtx/projection.hpp>
 #include <algorithm>
 #include <vector>