/* ----------------------------------------------------------------------------- This source file is part of OGRE (Object-oriented Graphics Rendering Engine) For the latest info, see http://www.ogre3d.org/ Copyright (c) 2000-2009 Torus Knot Software Ltd Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. ----------------------------------------------------------------------------- */ #include "OgreStableHeaders.h" #include "OgreSimpleSpline.h" #include "OgreVector4.h" #include "OgreMatrix4.h" namespace Ogre { //--------------------------------------------------------------------- SimpleSpline::SimpleSpline() { // Set up matrix // Hermite polynomial mCoeffs[0][0] = 2; mCoeffs[0][1] = -2; mCoeffs[0][2] = 1; mCoeffs[0][3] = 1; mCoeffs[1][0] = -3; mCoeffs[1][1] = 3; mCoeffs[1][2] = -2; mCoeffs[1][3] = -1; mCoeffs[2][0] = 0; mCoeffs[2][1] = 0; mCoeffs[2][2] = 1; mCoeffs[2][3] = 0; mCoeffs[3][0] = 1; mCoeffs[3][1] = 0; mCoeffs[3][2] = 0; mCoeffs[3][3] = 0; mAutoCalc = true; } //--------------------------------------------------------------------- SimpleSpline::~SimpleSpline() { } //--------------------------------------------------------------------- void SimpleSpline::addPoint(const Vector3& p) { mPoints.push_back(p); if (mAutoCalc) { recalcTangents(); } } //--------------------------------------------------------------------- Vector3 SimpleSpline::interpolate(Real t) const { // Currently assumes points are evenly spaced, will cause velocity // change where this is not the case // TODO: base on arclength? // Work out which segment this is in Real fSeg = t * (mPoints.size() - 1); unsigned int segIdx = (unsigned int)fSeg; // Apportion t t = fSeg - segIdx; return interpolate(segIdx, t); } //--------------------------------------------------------------------- Vector3 SimpleSpline::interpolate(unsigned int fromIndex, Real t) const { // Bounds check assert (fromIndex < mPoints.size() && "fromIndex out of bounds"); if ((fromIndex + 1) == mPoints.size()) { // Duff request, cannot blend to nothing // Just return source return mPoints[fromIndex]; } // Fast special cases if (t == 0.0f) { return mPoints[fromIndex]; } else if(t == 1.0f) { return mPoints[fromIndex + 1]; } // Real interpolation // Form a vector of powers of t Real t2, t3; t2 = t * t; t3 = t2 * t; Vector4 powers(t3, t2, t, 1); // Algorithm is ret = powers * mCoeffs * Matrix4(point1, point2, tangent1, tangent2) const Vector3& point1 = mPoints[fromIndex]; const Vector3& point2 = mPoints[fromIndex+1]; const Vector3& tan1 = mTangents[fromIndex]; const Vector3& tan2 = mTangents[fromIndex+1]; Matrix4 pt; pt[0][0] = point1.x; pt[0][1] = point1.y; pt[0][2] = point1.z; pt[0][3] = 1.0f; pt[1][0] = point2.x; pt[1][1] = point2.y; pt[1][2] = point2.z; pt[1][3] = 1.0f; pt[2][0] = tan1.x; pt[2][1] = tan1.y; pt[2][2] = tan1.z; pt[2][3] = 1.0f; pt[3][0] = tan2.x; pt[3][1] = tan2.y; pt[3][2] = tan2.z; pt[3][3] = 1.0f; Vector4 ret = powers * mCoeffs * pt; return Vector3(ret.x, ret.y, ret.z); } //--------------------------------------------------------------------- void SimpleSpline::recalcTangents(void) { // Catmull-Rom approach // // tangent[i] = 0.5 * (point[i+1] - point[i-1]) // // Assume endpoint tangents are parallel with line with neighbour size_t i, numPoints; bool isClosed; numPoints = mPoints.size(); if (numPoints < 2) { // Can't do anything yet return; } // Closed or open? if (mPoints[0] == mPoints[numPoints-1]) { isClosed = true; } else { isClosed = false; } mTangents.resize(numPoints); for(i = 0; i < numPoints; ++i) { if (i ==0) { // Special case start if (isClosed) { // Use numPoints-2 since numPoints-1 is the last point and == [0] mTangents[i] = 0.5 * (mPoints[1] - mPoints[numPoints-2]); } else { mTangents[i] = 0.5 * (mPoints[1] - mPoints[0]); } } else if (i == numPoints-1) { // Special case end if (isClosed) { // Use same tangent as already calculated for [0] mTangents[i] = mTangents[0]; } else { mTangents[i] = 0.5 * (mPoints[i] - mPoints[i-1]); } } else { mTangents[i] = 0.5 * (mPoints[i+1] - mPoints[i-1]); } } } //--------------------------------------------------------------------- const Vector3& SimpleSpline::getPoint(unsigned short index) const { assert (index < mPoints.size() && "Point index is out of bounds!!"); return mPoints[index]; } //--------------------------------------------------------------------- unsigned short SimpleSpline::getNumPoints(void) const { return (unsigned short)mPoints.size(); } //--------------------------------------------------------------------- void SimpleSpline::clear(void) { mPoints.clear(); mTangents.clear(); } //--------------------------------------------------------------------- void SimpleSpline::updatePoint(unsigned short index, const Vector3& value) { assert (index < mPoints.size() && "Point index is out of bounds!!"); mPoints[index] = value; if (mAutoCalc) { recalcTangents(); } } //--------------------------------------------------------------------- void SimpleSpline::setAutoCalculate(bool autoCalc) { mAutoCalc = autoCalc; } }