/// <summary>
/// Creates a view tranformation from the given vectors.
/// Transformation from world- into view-space.
/// </summary>
/// <param name="location">Origin of the view</param>
/// <param name="right">Right vector of the view-plane</param>
/// <param name="up">Up vector of the view-plane</param>
/// <param name="normal">Normal vector of the view-plane. This vector is suppsoed to point in view-direction for a left-handed view transformation and in opposit direction in the right-handed case.</param>
/// <returns>The view transformation</returns>
public static M44f ViewTrafo(V3f location, V3f right, V3f up, V3f normal)
{
return(new M44f(
right.X, right.Y, right.Z, -location.Dot(right),
up.X, up.Y, up.Z, -location.Dot(up),
normal.X, normal.Y, normal.Z, -location.Dot(normal),
0, 0, 0, 1
));
}
// https://stackoverflow.com/questions/1171849/finding-quaternion-representing-the-rotation-from-one-vector-to-another
public static Rot3f HalfWayVec(V3f from, V3f into)
{
if (from.Dot(into).ApproximateEquals(-1))
{
return(new Rot3f(0, from.AxisAlignedNormal()));
}
else
{
V3f half = Vec.Normalized(from + into);
QuaternionF q = new QuaternionF(Vec.Dot(from, half), Vec.Cross(from, half));
return(new Rot3f(q.Normalized));
}
}
public void RasterTest(uint raster)
{
int iraster = (int)raster;
V3fCoder coder = new V3fCoder(raster);
uint step = 1;
bool large = false;
if (iraster > 52)
{
step = 7; large = true;
}
if (iraster > 591)
{
step = 63;
}
if (iraster > 6688)
{
step = 2039;
}
int bits = (int)Fun.Ceiling(Fun.Log2(coder.Count));
Test.Begin("normal coder raster {0} ({1} bits)", iraster, bits);
/*
* Console.WriteLine(" raster = {0}", m_raster);
* Console.WriteLine(" rasterMul2Sub1 = {0}", m_r2Sub1);
* Console.WriteLine(" doubleRaster = {0}", m_doubleRaster);
* Console.WriteLine(" invDoubleRaster = {0}", m_invDoubleRaster);
* Console.WriteLine(" edgeBasis = {0}", m_edgeBasis);
* Console.WriteLine(" cornerBasis = {0}", m_cornerBasis);
*/
Test.Begin("testing {0} of {1} codes", 1 + ((long)coder.Count - 1) / (long)step, coder.Count);
for (uint code = 0; code < coder.Count; code += step)
{
V3f dir = coder.Decode(code);
uint newCode = coder.Encode(dir);
Test.IsTrue(code == newCode);
}
Test.End();
double minDot = 1.0;
float eps = Constant <float> .PositiveTinyValue;
float[] factorTable = { 1.0f - eps, 1.0f, 1.0f + eps };
for (int sign = -1; sign < 2; sign += 2)
{
for (int axis = 0; axis < 3; axis++)
{
float factor = factorTable[axis];
for (int xi = -2 * iraster; xi <= 2 * iraster; xi++)
{
if (large && (xi > 3 - 2 * iraster) && (xi < -3))
{
continue;
}
if (large && (xi < 2 * iraster - 3) && (xi > +3))
{
continue;
}
double x = (double)xi * factor / (2 * iraster);
#if (!V3FCODER_NO_WARP)
x = V3fCoder.SphericalOfBox(x);
#endif
for (int yi = -2 * iraster; yi <= 2 * iraster; yi++)
{
if (large && (yi > 3 - 2 * iraster) && (yi < -3))
{
continue;
}
if (large && (yi < 2 * iraster - 3) && (yi > +3))
{
continue;
}
double y = (double)yi * factor / (2 * iraster);
#if (!V3FCODER_NO_WARP)
y = V3fCoder.SphericalOfBox(y);
#endif
V3f n = new V3f(0, 0, 0); // init to make compiler h.
n[axis] = sign;
n[(axis + 1) % 3] = (float)x;
n[(axis + 2) % 3] = (float)y;
n.Normalize();
uint code = coder.Encode(n);
V3f newN = coder.Decode(code);
double newDot = V3f.Dot(n, newN);
if (newDot < minDot)
{
minDot = newDot;
}
}
}
}
}
double maxErr = System.Math.Acos(minDot) * 180.0 / System.Math.PI;
Report.Line("maximal error {0:g4} degrees", maxErr);
Test.End();
}