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Split up path helper functions to separate, more specific, files

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Some in Ghoul and some in OpenSpace core util
This commit is contained in:
Emma Broman
2021-07-14 10:10:04 +02:00
parent 18a0a89030
commit de8005be4d
15 changed files with 276 additions and 368 deletions
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8
include/openspace/navigation/pathcurve.h
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@@ -40,7 +40,7 @@ public:
/*
* Compute and rteturn the position along the path at the specified relative
* distance. The input parameter should be in range [0, 1], where 1 correspond to
* distance. The input parameter should be in range [0, 1], where 1 correspond to
* the full length of the path
*/
glm::dvec3 positionAt(double relativeDistance);
@@ -58,7 +58,7 @@ public:
protected:
/*
* Precompute information related to the spline parameters, that are
* needed for arc length reparameterization. Must be called after
* needed for arc length reparameterization. Must be called after
* control point creation
*/
void initializeParameterData();
@@ -75,11 +75,11 @@ protected:
double arcLength(double lowerLimit, double upperLimit);
std::vector<glm::dvec3> _points;
unsigned int _nSegments;
unsigned int _nSegments = 0;
std::vector<double> _curveParameterSteps; // per segment
std::vector<double> _lengthSums; // per segment
double _totalLength;
double _totalLength = 0.0;
struct ParameterPair {
double u; // curve parameter

110
include/openspace/navigation/pathhelperfunctions.h
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@@ -1,110 +0,0 @@
/*****************************************************************************************
* *
* OpenSpace *
* *
* Copyright (c) 2014-2021 *
* *
* Permission is hereby granted, free of charge, to any person obtaining a copy of this *
* software and associated documentation files (the "Software"), to deal in the Software *
* without restriction, including without limitation the rights to use, copy, modify, *
* merge, publish, distribute, sublicense, and/or sell copies of the Software, and to *
* permit persons to whom the Software is furnished to do so, subject to the following *
* conditions: *
* *
* The above copyright notice and this permission notice shall be included in all copies *
* or substantial portions of the Software. *
* *
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, *
* INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A *
* PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT *
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF *
* CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE *
* OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. *
****************************************************************************************/
#ifndef __OPENSPACE_CORE___PATHHELPERFUNCTIONS___H__
#define __OPENSPACE_CORE___PATHHELPERFUNCTIONS___H__
#include <ghoul/glm.h>
#include <ghoul/logging/logmanager.h>
#include <ghoul/misc/assert.h>
#include <algorithm>
#include <cmath>
#include <functional>
#include <vector>
namespace openspace::helpers {
// Make interpolator parameter t [0,1] progress only inside a subinterval
double shiftAndScale(double t, double newStart, double newEnd);
/*
* Compute a quaternion that represents the rotation looking from \p eye to
* \p center, with the specified \p up direction
*/
glm::dquat lookAtQuaternion(glm::dvec3 eye, glm::dvec3 center, glm::dvec3 up);
/*
* Compute a view direction vector from a quaternion representing a rotation
*/
glm::dvec3 viewDirection(const glm::dquat& q);
/*
* Calculate the intersection of a line and a sphere.
* The line segment is defined from \p p1 to \p p2.
* The sphere is defined by the radius \p r and center point \p center.
* The resulting intersection point is stored in the \p intersectionPoint parameter.
*
* In the case of two intersection points, only care anout the first one.
*
* \return True if the line between \p p1 and \p p2 intersects the sphere given by
* \p r and \p center, and false otherwise
*/
bool lineSphereIntersection(glm::dvec3 p1, glm::dvec3 p2, glm::dvec3 center,
double r, glm::dvec3& intersectionPoint);
/*
* Check if the point p is inside of the sphere defined by radius r and center
* point c
*/
bool isPointInsideSphere(const glm::dvec3& p, const glm::dvec3& c, double r);
/*
* Approximate integral of function f over inteval [t0, t1] using Simpson's rule.
* The integer n is the number of partitions and must be an even number.
*/
double simpsonsRule(double t0, double t1, int n, std::function<double(double)> f);
/*
* Approximate integral of function f over inteval [t0, t1] using
* 5-point Gauss-Legendre quadrature
* https://en.wikipedia.org/wiki/Gaussian_quadrature
*/
double fivePointGaussianQuadrature(double t0, double t1,
std::function<double(double)> f);
} // namespace openspace::helpers
namespace openspace::splines {
// TODO: Move these to ghoul's interpolator file (and make template versions)
/*
* Catmull-Rom curve interpolation based on implementation by Mika Rantanen
* https://qroph.github.io/2018/07/30/smooth-paths-using-catmull-rom-splines.html
* Centripetal version alpha = 0, uniform for alpha = 0.5 and chordal for alpha = 1
*/
glm::dvec3 catmullRom(double t, const glm::dvec3& p0, const glm::dvec3& p1,
const glm::dvec3& p2, const glm::dvec3& p3, double alpha = 0.5);
/*
* Compute the interpolation along the cubic Bézier curve defined by the points p0,
* p1, p2, and p3. The curve will pass through p0 and p3
*/
glm::dvec3 cubicBezier(double t, const glm::dvec3& p0, const glm::dvec3& p1,
const glm::dvec3& p2, const glm::dvec3& p3);
glm::dvec3 linear(double t, const glm::dvec3& cp1, const glm::dvec3& cp2);
} // namespace openspace::splines
#endif // __OPENSPACE_CORE___PATHHELPERFUNCTIONS___H__

59
include/openspace/util/collisionhelper.h Normal file
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@@ -0,0 +1,59 @@
/*****************************************************************************************
* *
* OpenSpace *
* *
* Copyright (c) 2014-2021 *
* *
* Permission is hereby granted, free of charge, to any person obtaining a copy of this *
* software and associated documentation files (the "Software"), to deal in the Software *
* without restriction, including without limitation the rights to use, copy, modify, *
* merge, publish, distribute, sublicense, and/or sell copies of the Software, and to *
* permit persons to whom the Software is furnished to do so, subject to the following *
* conditions: *
* *
* The above copyright notice and this permission notice shall be included in all copies *
* or substantial portions of the Software. *
* *
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, *
* INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A *
* PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT *
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF *
* CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE *
* OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. *
****************************************************************************************/
#ifndef __OPENSPACE_CORE___COLLISIONHELPER___H__
#define __OPENSPACE_CORE___COLLISIONHELPER___H__
#include <ghoul/glm.h>
namespace openspace::collision {
/*
* Calculate the intersection of a line segment and a sphere.
* The line segment is defined from \p p1 to \p p2.
* The sphere is defined by the radius \p r and center point \p center.
* The resulting intersection point is stored in the \p intersectionPoint parameter.
*
* In the case of two intersection points, only care about the first one.
*
* \param p1 The start point for the line segment
* \param p2 The end point for the line segment
* \param center The center point for the sphere
* \param r The radius of the sphere
* \param intersectionPoint A variable to store the resulting intersection point in
* \return True if the line between \p p1 and \p p2 intersects the sphere given by
* \p r and \p center, and false otherwise
*/
bool lineSphereIntersection(glm::dvec3 p1, glm::dvec3 p2, glm::dvec3 center,
double r, glm::dvec3& intersectionPoint);
/*
* Check if the point \p p is inside of the sphere defined by radius \p r and center
* point \p c
*/
bool isPointInsideSphere(const glm::dvec3& p, const glm::dvec3& c, double r);
} // namespace openspace::collision
#endif // __OPENSPACE_CORE___COLLISIONHELPER___H__

48
include/openspace/util/universalhelpers.h Normal file
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@@ -0,0 +1,48 @@
/*****************************************************************************************
* *
* OpenSpace *
* *
* Copyright (c) 2014-2021 *
* *
* Permission is hereby granted, free of charge, to any person obtaining a copy of this *
* software and associated documentation files (the "Software"), to deal in the Software *
* without restriction, including without limitation the rights to use, copy, modify, *
* merge, publish, distribute, sublicense, and/or sell copies of the Software, and to *
* permit persons to whom the Software is furnished to do so, subject to the following *
* conditions: *
* *
* The above copyright notice and this permission notice shall be included in all copies *
* or substantial portions of the Software. *
* *
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, *
* INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A *
* PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT *
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF *
* CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE *
* OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. *
****************************************************************************************/
#ifndef __OPENSPACE_CORE___UNIVERSALHELPERS___H__
#define __OPENSPACE_CORE___UNIVERSALHELPERS___H__
/*
* This file is meant to contain generally useful functions that is used a bit all over
* the place but that do not belong in any other, more specific, file.
*
* If you implement a function that can be useful in several other situations, feel free
* to document it and put it this file
*/
namespace openspace::helpers {
/*
* Remap a parameter t in [0,1] to a subinterval [start, end], by shifting and scaling
* the value to match the interval. If \p t is smaller than \p start, the return value
* will be 0 and if bigger than \p end it will be 1. Other values will be linearly
* interpolated within the range [start, end]
*/
double shiftAndScale(double t, double start, double end);
} // namespace openspace::helpers
#endif // __OPENSPACE_CORE___UNIVERSALHELPERS___H__