public static Vector3d RotationRodriguesMethod(Vector3d spinAxis, Vector3d v, double cost)
{
//double cost = Math.Cos(angle);
double sint = Math.Pow(1 - cost * cost, 0.5);
spinAxis = spinAxis.Normalize();
return(v * cost +
spinAxis.Cross(v) * sint +
spinAxis * spinAxis.Dot(v) * (1 - cost));
}
public Plane(Vector3d p, Vector3d n)
{
pt = p;
nv = n.Normalize();
}
/*s is the \sigma*/
private void FilterFaceNormals(double s, int iterations)
{
// -- precompute normals based on NII, as a smoothing step --
int n = mesh.FaceCount; double denominator = s*s*2;
old_normals = mesh.FaceNormal.Clone() as double[];
new_normals = new double[n*3];
for (int k = 0; k < iterations; ++k)
{
for (int i = 0; i < n; ++i)
{
// -- get two-ring neighbors
Set<int> nbrs = this.neighbors[i]; nbrs.Remove(i);
int count = nbrs.Count, b = i * 3;
Vector3d ni = new Vector3d(mesh.FaceNormal, b);
Vector3d nn = new Vector3d();
foreach (int f in nbrs)
{
Vector3d nj = new Vector3d(mesh.FaceNormal, f * 3);
double d = (ni - nj).Length();
double w = Math.Exp(-d * d / denominator);
nn = nn + w * nj;
}
nn = nn.Normalize();
new_normals[b] = nn.x;
new_normals[b + 1] = nn.y;
new_normals[b + 2] = nn.z;
}
//mesh.FaceNormal = new_normals.Clone() as double[];
}
}
public void ComputeVertexNormal()
{
Array.Clear(vertexNormal, 0, vertexNormal.Length);
for (int i=0,j=0; i<faceCount; i++,j+=3)
{
int c1 = faceIndex[j] * 3;
int c2 = faceIndex[j+1] * 3;
int c3 = faceIndex[j+2] * 3;
vertexNormal[c1] += faceNormal[j];
vertexNormal[c2] += faceNormal[j];
vertexNormal[c3] += faceNormal[j];
vertexNormal[c1+1] += faceNormal[j+1];
vertexNormal[c2+1] += faceNormal[j+1];
vertexNormal[c3+1] += faceNormal[j+1];
vertexNormal[c1+2] += faceNormal[j+2];
vertexNormal[c2+2] += faceNormal[j+2];
vertexNormal[c3+2] += faceNormal[j+2];
}
for (int i=0,j=0; i<vertexCount; i++,j+=3)
{
Vector3d n = new Vector3d(vertexNormal, j);
n = n.Normalize();
vertexNormal[j] = n.x;
vertexNormal[j+1] = n.y;
vertexNormal[j+2] = n.z;
}
}