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https://github.com/OpenSpace/OpenSpace.git
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97 lines
4.5 KiB
C++
97 lines
4.5 KiB
C++
/*****************************************************************************************
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* *
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* OpenSpace *
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* *
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* Copyright (c) 2014-2019 *
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* *
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* Permission is hereby granted, free of charge, to any person obtaining a copy of this *
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* software and associated documentation files (the "Software"), to deal in the Software *
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* without restriction, including without limitation the rights to use, copy, modify, *
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* merge, publish, distribute, sublicense, and/or sell copies of the Software, and to *
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* permit persons to whom the Software is furnished to do so, subject to the following *
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* conditions: *
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* *
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* The above copyright notice and this permission notice shall be included in all copies *
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* or substantial portions of the Software. *
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* *
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, *
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* INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A *
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* PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT *
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF *
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* CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE *
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* OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. *
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****************************************************************************************/
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#include <modules/autonavigation/helperfunctions.h>
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namespace openspace::autonavigation::helpers {
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// Shift and scale to a subinterval [start,end]
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double shiftAndScale(double t, double start, double end) {
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ghoul_assert(0.0 < start && start < end&& end < 1.0,
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"Values must be 0.0 < start < end < 1.0!");
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double tScaled = t / (end - start) - start;
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return std::max(0.0, std::min(tScaled, 1.0));
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}
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glm::dquat getLookAtQuaternion(glm::dvec3 eye, glm::dvec3 center, glm::dvec3 up) {
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glm::dmat4 lookAtMat = glm::lookAt(eye, center, up);
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return glm::normalize(glm::inverse(glm::quat_cast(lookAtMat)));
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}
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} // helpers
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namespace openspace::autonavigation::interpolation {
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// Based on implementation by Mika Rantanen https://qroph.github.io/2018/07/30/smooth-paths-using-catmull-rom-splines.html
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glm::dvec3 catmullRom(double t, const glm::dvec3& p0, const glm::dvec3& p1,
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const glm::dvec3& p2, const glm::dvec3& p3, double alpha)
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{
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const double Epsilon = 1E-7;
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glm::dvec3 m01, m02, m23, m13;
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double t01 = pow(glm::distance(p0, p1), alpha);
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double t12 = pow(glm::distance(p1, p2), alpha);
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double t23 = pow(glm::distance(p2, p3), alpha);
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// Prevent zero division
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(t01 < Epsilon) ?
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m01 = glm::dvec3{} : m01 = (p1 - p0) / t01;
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(t23 < Epsilon) ?
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m23 = glm::dvec3{} : m23 = (p3 - p2) / t23;
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(t01 + t12 < Epsilon) ?
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m02 = glm::dvec3{} : m02 = (p2 - p0) / (t01 + t12);
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(t12 + t23 < Epsilon) ?
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m13 = glm::dvec3{} : m13 = (p3 - p1) / (t12 + t23);
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glm::dvec3 m1 = p2 - p1 + t12 * (m01 - m02);
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glm::dvec3 m2 = p2 - p1 + t12 * (m23 - m13);
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glm::dvec3 a = 2.0 * (p1 - p2) + m1 + m2;
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glm::dvec3 b = -3.0 * (p1 - p2) - m1 - m1 - m2;
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glm::dvec3 c = m1;
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glm::dvec3 d = p1;
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return
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a * t * t * t +
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b * t * t +
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c * t +
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d;
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}
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glm::dvec3 cubicBezier(double t, const glm::dvec3& cp1, const glm::dvec3& cp2,
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const glm::dvec3& cp3, const glm::dvec3& cp4)
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{
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double a = 1.0 - t;
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return cp1 * a * a * a
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+ cp2 * t * a * a * 3.0
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+ cp3 * t * t * a * 3.0
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+ cp4 * t * t * t;
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}
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glm::dvec3 linear(double t, const glm::dvec3& cp1, const glm::dvec3& cp2) {
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return cp1 * (1.0 - t) + cp2 * t;
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}
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} // interpolation
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