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From: Philip L. <phi...@us...> - 2006-08-20 21:48:42
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Update of /cvsroot/artoolkit/artoolkit/examples/paddleDemo In directory sc8-pr-cvs11.sourceforge.net:/tmp/cvs-serv1569 Modified Files: util.h util.c paddle.h Log Message: Change line endings from CR to LF. Index: util.h =================================================================== RCS file: /cvsroot/artoolkit/artoolkit/examples/paddleDemo/util.h,v retrieving revision 1.1 retrieving revision 1.2 diff -C2 -d -r1.1 -r1.2 *** util.h 22 Nov 2004 03:37:35 -0000 1.1 --- util.h 20 Aug 2006 21:48:38 -0000 1.2 *************** *** 1,12 **** ! #ifndef UTIL_H ! #define UTIL_H ! ! void get_rot( double a, double b , double c, double trans[3][4] ); ! int get_angle( double trans[3][4], double *wa, double *wb, double *wc ); ! double get_height( double x, double y, double trans[3][4], double boundary[3][2] ); ! ! /* RJS */ ! int ! wrappedDropOntoMap(char *where, float *inPt, float *outPt); ! ! #endif --- 1,12 ---- ! #ifndef UTIL_H ! #define UTIL_H ! ! void get_rot( double a, double b , double c, double trans[3][4] ); ! int get_angle( double trans[3][4], double *wa, double *wb, double *wc ); ! double get_height( double x, double y, double trans[3][4], double boundary[3][2] ); ! ! /* RJS */ ! int ! wrappedDropOntoMap(char *where, float *inPt, float *outPt); ! ! #endif Index: paddle.h =================================================================== RCS file: /cvsroot/artoolkit/artoolkit/examples/paddleDemo/paddle.h,v retrieving revision 1.1 retrieving revision 1.2 diff -C2 -d -r1.1 -r1.2 *** paddle.h 22 Nov 2004 03:37:35 -0000 1.1 --- paddle.h 20 Aug 2006 21:48:38 -0000 1.2 *************** *** 1,33 **** ! #ifndef PADDLE_H ! #define PADDLE_H ! ! #include <AR/ar.h> ! ! #define PADDLE_RADIUS 41.0 ! ! typedef struct { ! char name[256]; ! int marker_id; ! double width; ! double center[2]; ! ! double trans[3][4]; ! double transL[3][4]; ! double transR[3][4]; ! int active; ! ! ARMarkerInfo prevInfo; ! ARMarkerInfo prevInfoL; ! ARMarkerInfo prevInfoR; ! ! int pcount; ! int pcountL; ! int pcountR; ! } ARPaddleInfo; ! ! ARPaddleInfo *paddleInit( char *name ); ! ! int paddleGetTrans( ARPaddleInfo *paddleInfo, ARMarkerInfo *markerInfo, ! int *flagL, int marker_num, ARParam *cparam ); ! ! #endif --- 1,33 ---- ! #ifndef PADDLE_H ! #define PADDLE_H ! ! #include <AR/ar.h> ! ! #define PADDLE_RADIUS 41.0 ! ! typedef struct { ! char name[256]; ! int marker_id; ! double width; ! double center[2]; ! ! double trans[3][4]; ! double transL[3][4]; ! double transR[3][4]; ! int active; ! ! ARMarkerInfo prevInfo; ! ARMarkerInfo prevInfoL; ! ARMarkerInfo prevInfoR; ! ! int pcount; ! int pcountL; ! int pcountR; ! } ARPaddleInfo; ! ! ARPaddleInfo *paddleInit( char *name ); ! ! int paddleGetTrans( ARPaddleInfo *paddleInfo, ARMarkerInfo *markerInfo, ! int *flagL, int marker_num, ARParam *cparam ); ! ! #endif Index: util.c =================================================================== RCS file: /cvsroot/artoolkit/artoolkit/examples/paddleDemo/util.c,v retrieving revision 1.1 retrieving revision 1.2 diff -C2 -d -r1.1 -r1.2 *** util.c 22 Nov 2004 03:37:35 -0000 1.1 --- util.c 20 Aug 2006 21:48:38 -0000 1.2 *************** *** 1,171 **** ! #include <stdio.h> ! #include <math.h> ! #include "util.h" ! ! void get_rot( double a, double b , double c, double trans[3][4] ) ! { ! double sina, sinb, sinc, cosa, cosb, cosc; ! ! sina = sin(a); cosa = cos(a); ! sinb = sin(b); cosb = cos(b); ! sinc = sin(c); cosc = cos(c); ! trans[0][0] = cosa*cosa*cosb*cosc+sina*sina*cosc+sina*cosa*cosb*sinc-sina*cosa*sinc; ! trans[0][1] = -cosa*cosa*cosb*sinc-sina*sina*sinc+sina*cosa*cosb*cosc-sina*cosa*cosc; ! trans[0][2] = cosa*sinb; ! trans[1][0] = sina*cosa*cosb*cosc-sina*cosa*cosc+sina*sina*cosb*sinc+cosa*cosa*sinc; ! trans[1][1] = -sina*cosa*cosb*sinc+sina*cosa*sinc+sina*sina*cosb*cosc+cosa*cosa*cosc; ! trans[1][2] = sina*sinb; ! trans[2][0] = -cosa*sinb*cosc-sina*sinb*sinc; ! trans[2][1] = cosa*sinb*sinc-sina*sinb*cosc; ! trans[2][2] = cosb; ! ! return; ! } ! ! int get_angle( double trans[3][4], double *wa, double *wb, double *wc ) ! { ! double a, b, c; ! double sina, cosa, sinb, cosb, sinc, cosc; ! ! if( trans[2][2] > 1.0 ) { ! printf("cos(beta) = %f\n", trans[2][2]); ! trans[2][2] = -1.0; ! } ! else if( trans[2][2] < -1.0 ) { ! printf("cos(beta) = %f\n", trans[2][2]); ! trans[2][2] = -1.0; ! } ! cosb = trans[2][2]; ! b = acos( cosb ); ! sinb = sin( b ); ! if( b >= 0.000001 || b <= -0.000001) { ! cosa = trans[0][2] / sinb; ! sina = trans[1][2] / sinb; ! if( cosa > 1.0 ) { ! printf("cos(alph) = %f\n", cosa); ! cosa = 1.0; ! sina = 0.0; ! } ! if( cosa < -1.0 ) { ! printf("cos(alph) = %f\n", cosa); ! cosa = -1.0; ! sina = 0.0; ! } ! if( sina > 1.0 ) { ! printf("sin(alph) = %f\n", sina); ! sina = 1.0; ! cosa = 0.0; ! } ! if( sina < -1.0 ) { ! printf("sin(alph) = %f\n", sina); ! sina = -1.0; ! cosa = 0.0; ! } ! a = acos( cosa ); ! if( sina < 0 ) a = -a; ! ! sinc = (trans[2][1]*trans[0][2]-trans[2][0]*trans[1][2]) ! / (trans[0][2]*trans[0][2]+trans[1][2]*trans[1][2]); ! cosc = -(trans[0][2]*trans[2][0]+trans[1][2]*trans[2][1]) ! / (trans[0][2]*trans[0][2]+trans[1][2]*trans[1][2]); ! if( cosc > 1.0 ) { ! printf("cos(r) = %f\n", cosc); ! cosc = 1.0; ! sinc = 0.0; ! } ! if( cosc < -1.0 ) { ! printf("cos(r) = %f\n", cosc); ! cosc = -1.0; ! sinc = 0.0; ! } ! if( sinc > 1.0 ) { ! printf("sin(r) = %f\n", sinc); ! sinc = 1.0; ! cosc = 0.0; ! } ! if( sinc < -1.0 ) { ! printf("sin(r) = %f\n", sinc); ! sinc = -1.0; ! cosc = 0.0; ! } ! c = acos( cosc ); ! if( sinc < 0 ) c = -c; ! } ! else { ! a = b = 0.0; ! cosa = cosb = 1.0; ! sina = sinb = 0.0; ! cosc = trans[0][0]; ! sinc = trans[1][0]; ! if( cosc > 1.0 ) { ! printf("cos(r) = %f\n", cosc); ! cosc = 1.0; ! sinc = 0.0; ! } ! if( cosc < -1.0 ) { ! printf("cos(r) = %f\n", cosc); ! cosc = -1.0; ! sinc = 0.0; ! } ! if( sinc > 1.0 ) { ! printf("sin(r) = %f\n", sinc); ! sinc = 1.0; ! cosc = 0.0; ! } ! if( sinc < -1.0 ) { ! printf("sin(r) = %f\n", sinc); ! sinc = -1.0; ! cosc = 0.0; ! } ! c = acos( cosc ); ! if( sinc < 0 ) c = -c; ! } ! ! *wa = a; ! *wb = b; ! *wc = c; ! ! return(0); ! } ! ! double get_height( double px, double py, double trans[3][4], double boundary[3][2] ) ! { ! double x, x0, x1, x2; ! double y, y0, y1, y2; ! double d, m00, m01, m10, m11; ! double rx, ry; ! ! x = boundary[0][0]; ! y = boundary[1][0]; ! x0 = trans[0][0]*x + trans[0][1]*y + trans[0][3]; ! y0 = trans[1][0]*x + trans[1][1]*y + trans[1][3]; ! x = boundary[0][1]; ! y = boundary[1][0]; ! x1 = trans[0][0]*x + trans[0][1]*y + trans[0][3]; ! y1 = trans[1][0]*x + trans[1][1]*y + trans[1][3]; ! x = boundary[0][0]; ! y = boundary[1][1]; ! x2 = trans[0][0]*x + trans[0][1]*y + trans[0][3]; ! y2 = trans[1][0]*x + trans[1][1]*y + trans[1][3]; ! ! x1 -= x0; y1 -= y0; ! x2 -= x0; y2 -= y0; ! x0 = px - x0; ! y0 = py - y0; ! ! d = x1*y2 - x2*y1; ! if( d == 0.0 ) return 0.0; ! m00 = y2 / d; ! m01 = -x2 / d; ! m10 = -y1 / d; ! m11 = x1 / d; ! ! rx = m00*x0 + m01*y0; ! ry = m10*x0 + m11*y0; ! ! if( rx >= 0.0 && rx <= 1.0 && ry >= 0.0 && ry <= 1.0 ) { ! return trans[2][3] + boundary[2][1]; ! } ! ! return 0.0; ! } --- 1,171 ---- ! #include <stdio.h> ! #include <math.h> ! #include "util.h" ! ! void get_rot( double a, double b , double c, double trans[3][4] ) ! { ! double sina, sinb, sinc, cosa, cosb, cosc; ! ! sina = sin(a); cosa = cos(a); ! sinb = sin(b); cosb = cos(b); ! sinc = sin(c); cosc = cos(c); ! trans[0][0] = cosa*cosa*cosb*cosc+sina*sina*cosc+sina*cosa*cosb*sinc-sina*cosa*sinc; ! trans[0][1] = -cosa*cosa*cosb*sinc-sina*sina*sinc+sina*cosa*cosb*cosc-sina*cosa*cosc; ! trans[0][2] = cosa*sinb; ! trans[1][0] = sina*cosa*cosb*cosc-sina*cosa*cosc+sina*sina*cosb*sinc+cosa*cosa*sinc; ! trans[1][1] = -sina*cosa*cosb*sinc+sina*cosa*sinc+sina*sina*cosb*cosc+cosa*cosa*cosc; ! trans[1][2] = sina*sinb; ! trans[2][0] = -cosa*sinb*cosc-sina*sinb*sinc; ! trans[2][1] = cosa*sinb*sinc-sina*sinb*cosc; ! trans[2][2] = cosb; ! ! return; ! } ! ! int get_angle( double trans[3][4], double *wa, double *wb, double *wc ) ! { ! double a, b, c; ! double sina, cosa, sinb, cosb, sinc, cosc; ! ! if( trans[2][2] > 1.0 ) { ! printf("cos(beta) = %f\n", trans[2][2]); ! trans[2][2] = -1.0; ! } ! else if( trans[2][2] < -1.0 ) { ! printf("cos(beta) = %f\n", trans[2][2]); ! trans[2][2] = -1.0; ! } ! cosb = trans[2][2]; ! b = acos( cosb ); ! sinb = sin( b ); ! if( b >= 0.000001 || b <= -0.000001) { ! cosa = trans[0][2] / sinb; ! sina = trans[1][2] / sinb; ! if( cosa > 1.0 ) { ! printf("cos(alph) = %f\n", cosa); ! cosa = 1.0; ! sina = 0.0; ! } ! if( cosa < -1.0 ) { ! printf("cos(alph) = %f\n", cosa); ! cosa = -1.0; ! sina = 0.0; ! } ! if( sina > 1.0 ) { ! printf("sin(alph) = %f\n", sina); ! sina = 1.0; ! cosa = 0.0; ! } ! if( sina < -1.0 ) { ! printf("sin(alph) = %f\n", sina); ! sina = -1.0; ! cosa = 0.0; ! } ! a = acos( cosa ); ! if( sina < 0 ) a = -a; ! ! sinc = (trans[2][1]*trans[0][2]-trans[2][0]*trans[1][2]) ! / (trans[0][2]*trans[0][2]+trans[1][2]*trans[1][2]); ! cosc = -(trans[0][2]*trans[2][0]+trans[1][2]*trans[2][1]) ! / (trans[0][2]*trans[0][2]+trans[1][2]*trans[1][2]); ! if( cosc > 1.0 ) { ! printf("cos(r) = %f\n", cosc); ! cosc = 1.0; ! sinc = 0.0; ! } ! if( cosc < -1.0 ) { ! printf("cos(r) = %f\n", cosc); ! cosc = -1.0; ! sinc = 0.0; ! } ! if( sinc > 1.0 ) { ! printf("sin(r) = %f\n", sinc); ! sinc = 1.0; ! cosc = 0.0; ! } ! if( sinc < -1.0 ) { ! printf("sin(r) = %f\n", sinc); ! sinc = -1.0; ! cosc = 0.0; ! } ! c = acos( cosc ); ! if( sinc < 0 ) c = -c; ! } ! else { ! a = b = 0.0; ! cosa = cosb = 1.0; ! sina = sinb = 0.0; ! cosc = trans[0][0]; ! sinc = trans[1][0]; ! if( cosc > 1.0 ) { ! printf("cos(r) = %f\n", cosc); ! cosc = 1.0; ! sinc = 0.0; ! } ! if( cosc < -1.0 ) { ! printf("cos(r) = %f\n", cosc); ! cosc = -1.0; ! sinc = 0.0; ! } ! if( sinc > 1.0 ) { ! printf("sin(r) = %f\n", sinc); ! sinc = 1.0; ! cosc = 0.0; ! } ! if( sinc < -1.0 ) { ! printf("sin(r) = %f\n", sinc); ! sinc = -1.0; ! cosc = 0.0; ! } ! c = acos( cosc ); ! if( sinc < 0 ) c = -c; ! } ! ! *wa = a; ! *wb = b; ! *wc = c; ! ! return(0); ! } ! ! double get_height( double px, double py, double trans[3][4], double boundary[3][2] ) ! { ! double x, x0, x1, x2; ! double y, y0, y1, y2; ! double d, m00, m01, m10, m11; ! double rx, ry; ! ! x = boundary[0][0]; ! y = boundary[1][0]; ! x0 = trans[0][0]*x + trans[0][1]*y + trans[0][3]; ! y0 = trans[1][0]*x + trans[1][1]*y + trans[1][3]; ! x = boundary[0][1]; ! y = boundary[1][0]; ! x1 = trans[0][0]*x + trans[0][1]*y + trans[0][3]; ! y1 = trans[1][0]*x + trans[1][1]*y + trans[1][3]; ! x = boundary[0][0]; ! y = boundary[1][1]; ! x2 = trans[0][0]*x + trans[0][1]*y + trans[0][3]; ! y2 = trans[1][0]*x + trans[1][1]*y + trans[1][3]; ! ! x1 -= x0; y1 -= y0; ! x2 -= x0; y2 -= y0; ! x0 = px - x0; ! y0 = py - y0; ! ! d = x1*y2 - x2*y1; ! if( d == 0.0 ) return 0.0; ! m00 = y2 / d; ! m01 = -x2 / d; ! m10 = -y1 / d; ! m11 = x1 / d; ! ! rx = m00*x0 + m01*y0; ! ry = m10*x0 + m11*y0; ! ! if( rx >= 0.0 && rx <= 1.0 && ry >= 0.0 && ry <= 1.0 ) { ! return trans[2][3] + boundary[2][1]; ! } ! ! return 0.0; ! } |
