mirror of
https://github.com/OpenSpace/OpenSpace.git
synced 2026-05-02 08:49:20 -05:00
Emma Broman
84 lines
4.4 KiB
C++
84 lines
4.4 KiB
C++
/*****************************************************************************************
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* *
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* OpenSpace *
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* *
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* Copyright (c) 2014-2021 *
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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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#ifndef __OPENSPACE_MODULE_AUTONAVIGATION___HELPERFUNCTIONS___H__
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#define __OPENSPACE_MODULE_AUTONAVIGATION___HELPERFUNCTIONS___H__
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#include <ghoul/glm.h>
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#include <ghoul/logging/logmanager.h>
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#include <ghoul/misc/assert.h>
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#include <algorithm>
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#include <cmath>
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#include <functional>
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#include <vector>
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namespace openspace::autonavigation::helpers {
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// Make interpolator parameter t [0,1] progress only inside a subinterval
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double shiftAndScale(double t, double newStart, double newEnd);
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glm::dquat lookAtQuaternion(glm::dvec3 eye, glm::dvec3 center, glm::dvec3 up);
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glm::dvec3 viewDirection(const glm::dquat& q);
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bool lineSphereIntersection(glm::dvec3 linePoint1, glm::dvec3 linePoint2,
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glm::dvec3 sphereCenter, double spehereRadius, glm::dvec3& intersectionPoint);
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bool isPointInsideSphere(const glm::dvec3& p, const glm::dvec3& c, double r);
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double simpsonsRule(double t0, double t1, int n, std::function<double(double)> f);
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double fivePointGaussianQuadrature(double t0, double t1,
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std::function<double(double)> f);
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} // namespace openspace::autonavigation::helpers
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namespace openspace::autonavigation::interpolation {
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glm::dquat easedSlerp(const glm::dquat q1, const glm::dquat q2, double t);
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// TODO: make all these into template functions.
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// Alternatively, add cubicBezier interpolation in ghoul and only use
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// ghoul's interpolator methods
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// Centripetal version alpha = 0, uniform for alpha = 0.5 and chordal for alpha = 1
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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 = 0.5);
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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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glm::dvec3 linear(double t, const glm::dvec3& cp1, const glm::dvec3& cp2);
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glm::dvec3 hermite(double t, const glm::dvec3 &cp1, const glm::dvec3 &cp2,
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const glm::dvec3 &tangent1, const glm::dvec3 &tangent2);
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glm::dvec3 piecewiseCubicBezier(double t, const std::vector<glm::dvec3>& points,
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const std::vector<double>& tKnots);
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glm::dvec3 piecewiseLinear(double t, const std::vector<glm::dvec3>& points,
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const std::vector<double>& tKnots);
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} // namespace openspace::autonavigation::interpolation
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#endif // __OPENSPACE_MODULE_AUTONAVIGATION___HELPERFUNCTIONS___H__
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