source: nanovis/branches/1.1/vrmath/Projection.cpp @ 4906

/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*- */
/*
 * Copyright (c) 2004-2013  HUBzero Foundation, LLC
 *
 * Author: Insoo Woo <iwoo@purdue.edu>
 */

#include <math.h>
#include <memory.h>

using namespace vrmath;

#if 0
Vector3f calcNormal(const Vector3f& v1, const Vector3f& v2, const Vector3f& v3)
{
    Vector3f temp;

    float a[3], b[3];

    a[0] = v2.x - v1.x;
    a[1] = v2.y - v1.y;
    a[2] = v2.z - v1.z;
    b[0] = v3.x - v1.x;
    b[1] = v3.y - v1.y;
    b[2] = v3.z - v1.z;

    temp.x = a[1] * b[2] - a[2] * b[1];
    temp.y = a[2] * b[0] - a[0] * b[2];
    temp.z = a[0] * b[1] - a[1] * b[0];

    float leng = (float)sqrt(temp.x * temp.x + temp.y * temp.y + temp.z * temp.z);

    if (leng != 0.0f) {
        temp.x /= leng;
        temp.y /= leng;
        temp.z /= leng;
    }
    else temp.set(-1.0f, 0.0f, 0.0f);

    return temp;
}
#endif

static void __gluMakeIdentityd(float m[16])
{
    m[0+4*0] = 1; m[0+4*1] = 0; m[0+4*2] = 0; m[0+4*3] = 0;
    m[1+4*0] = 0; m[1+4*1] = 1; m[1+4*2] = 0; m[1+4*3] = 0;
    m[2+4*0] = 0; m[2+4*1] = 0; m[2+4*2] = 1; m[2+4*3] = 0;
    m[3+4*0] = 0; m[3+4*1] = 0; m[3+4*2] = 0; m[3+4*3] = 1;
}

static int __gluInvertMatrixd(const float m[16], float invOut[16])
{
    float inv[16], det;
    int i;

    inv[0] =   m[5]*m[10]*m[15] - m[5]*m[11]*m[14] - m[9]*m[6]*m[15]
             + m[9]*m[7]*m[14] + m[13]*m[6]*m[11] - m[13]*m[7]*m[10];
    inv[4] =  -m[4]*m[10]*m[15] + m[4]*m[11]*m[14] + m[8]*m[6]*m[15]
             - m[8]*m[7]*m[14] - m[12]*m[6]*m[11] + m[12]*m[7]*m[10];
    inv[8] =   m[4]*m[9]*m[15] - m[4]*m[11]*m[13] - m[8]*m[5]*m[15]
             + m[8]*m[7]*m[13] + m[12]*m[5]*m[11] - m[12]*m[7]*m[9];
    inv[12] = -m[4]*m[9]*m[14] + m[4]*m[10]*m[13] + m[8]*m[5]*m[14]
             - m[8]*m[6]*m[13] - m[12]*m[5]*m[10] + m[12]*m[6]*m[9];
    inv[1] =  -m[1]*m[10]*m[15] + m[1]*m[11]*m[14] + m[9]*m[2]*m[15]
             - m[9]*m[3]*m[14] - m[13]*m[2]*m[11] + m[13]*m[3]*m[10];
    inv[5] =   m[0]*m[10]*m[15] - m[0]*m[11]*m[14] - m[8]*m[2]*m[15]
             + m[8]*m[3]*m[14] + m[12]*m[2]*m[11] - m[12]*m[3]*m[10];
    inv[9] =  -m[0]*m[9]*m[15] + m[0]*m[11]*m[13] + m[8]*m[1]*m[15]
             - m[8]*m[3]*m[13] - m[12]*m[1]*m[11] + m[12]*m[3]*m[9];
    inv[13] =  m[0]*m[9]*m[14] - m[0]*m[10]*m[13] - m[8]*m[1]*m[14]
             + m[8]*m[2]*m[13] + m[12]*m[1]*m[10] - m[12]*m[2]*m[9];
    inv[2] =   m[1]*m[6]*m[15] - m[1]*m[7]*m[14] - m[5]*m[2]*m[15]
             + m[5]*m[3]*m[14] + m[13]*m[2]*m[7] - m[13]*m[3]*m[6];
    inv[6] =  -m[0]*m[6]*m[15] + m[0]*m[7]*m[14] + m[4]*m[2]*m[15]
             - m[4]*m[3]*m[14] - m[12]*m[2]*m[7] + m[12]*m[3]*m[6];
    inv[10] =  m[0]*m[5]*m[15] - m[0]*m[7]*m[13] - m[4]*m[1]*m[15]
             + m[4]*m[3]*m[13] + m[12]*m[1]*m[7] - m[12]*m[3]*m[5];
    inv[14] = -m[0]*m[5]*m[14] + m[0]*m[6]*m[13] + m[4]*m[1]*m[14]
             - m[4]*m[2]*m[13] - m[12]*m[1]*m[6] + m[12]*m[2]*m[5];
    inv[3] =  -m[1]*m[6]*m[11] + m[1]*m[7]*m[10] + m[5]*m[2]*m[11]
             - m[5]*m[3]*m[10] - m[9]*m[2]*m[7] + m[9]*m[3]*m[6];
    inv[7] =   m[0]*m[6]*m[11] - m[0]*m[7]*m[10] - m[4]*m[2]*m[11]
             + m[4]*m[3]*m[10] + m[8]*m[2]*m[7] - m[8]*m[3]*m[6];
    inv[11] = -m[0]*m[5]*m[11] + m[0]*m[7]*m[9] + m[4]*m[1]*m[11]
             - m[4]*m[3]*m[9] - m[8]*m[1]*m[7] + m[8]*m[3]*m[5];
    inv[15] =  m[0]*m[5]*m[10] - m[0]*m[6]*m[9] - m[4]*m[1]*m[10]
             + m[4]*m[2]*m[9] + m[8]*m[1]*m[6] - m[8]*m[2]*m[5];

    det = m[0]*inv[0] + m[1]*inv[4] + m[2]*inv[8] + m[3]*inv[12];

    if (det == 0)
        return 0;

    det = 1.0f / det;

    for (i = 0; i < 16; i++)
        invOut[i] = inv[i] * det;

    return 1;
}

static void __gluMultMatrixVecd(const float matrix[16], const float in[4],
                                float out[4])
{
    int i;

    for (i=0; i<4; i++) {
        out[i] =
            in[0] * matrix[0*4+i] +
            in[1] * matrix[1*4+i] +
            in[2] * matrix[2*4+i] +
            in[3] * matrix[3*4+i];
    }
}

static void __gluMultMatricesd(const float a[16], const float b[16],
                               float r[16])
{
    int i, j;

    for (i = 0; i < 4; i++) {
        for (j = 0; j < 4; j++) {
            r[i*4+j] =
                a[i*4+0]*b[0*4+j] +
                a[i*4+1]*b[1*4+j] +
                a[i*4+2]*b[2*4+j] +
                a[i*4+3]*b[3*4+j];
        }
    }
}

int unproject(float winx, float winy, float winz,
              const float modelMatrix[16],
              const float projMatrix[16],
              const int viewport[4],
              float *objx, float *objy, float *objz)
{
    float finalMatrix[16];
    float in[4];
    float out[4];

    __gluMultMatricesd(modelMatrix, projMatrix, finalMatrix);
    if (!__gluInvertMatrixd(finalMatrix, finalMatrix)) return(0);

    in[0]=winx;
    in[1]=winy;
    in[2]=winz;
    in[3]=1.0;

    // Map x and y from window coordinates 
    in[0] = (in[0] - viewport[0]) / viewport[2];
    in[1] = (in[1] - viewport[1]) / viewport[3];

    // Map to range -1 to 1 
    in[0] = in[0] * 2 - 1;
    in[1] = in[1] * 2 - 1;
    in[2] = in[2] * 2 - 1;

    __gluMultMatrixVecd(finalMatrix, in, out);
    if (out[3] == 0.0) return(0);
    out[0] /= out[3];
    out[1] /= out[3];
    out[2] /= out[3];
    *objx = out[0];
    *objy = out[1];
    *objz = out[2];
    return(1);
}

#define __glPi 3.14159265358979323846

void perspective(float fovy, float aspect, float zNear, float zFar, float* matrix)
{
    float m[4][4];
    float sine, cotangent, deltaZ;
    float radians = (float) (fovy / 2.0 * __glPi / 180.0);

    deltaZ = zFar - zNear;
    sine = sin(radians);
    if ((deltaZ == 0) || (sine == 0) || (aspect == 0)) {
        return;
    }
    cotangent = cos(radians) / sine;

    __gluMakeIdentityd(&m[0][0]);
    m[0][0] = cotangent / aspect;
    m[1][1] = cotangent;
    m[2][2] = -(zFar + zNear) / deltaZ;
    m[2][3] = -1;
    m[3][2] = -2 * zNear * zFar / deltaZ;
    m[3][3] = 0;
    //glMultMatrixd(&m[0][0]);
    memcpy(matrix, &m[0][0], sizeof(float) * 16);
}