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imgui_orient.cpp
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imgui_orient.cpp
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#include "imgui.h"
#define IMGUI_DEFINE_MATH_OPERATORS
#include "imgui_internal.h" // ImSaturate
#include "imgui_orient.h"
#include <algorithm>
#include <cassert>
ImVector<ImVec3> ImOrient::s_SphTri;
ImVector<ImU32> ImOrient::s_SphCol;
ImVector<ImVec2> ImOrient::s_SphTriProj;
ImVector<ImU32> ImOrient::s_SphColLight;
ImVector<ImVec3> ImOrient::s_ArrowTri[4];
ImVector<ImVec2> ImOrient::s_ArrowTriProj[4];
ImVector<ImVec3> ImOrient::s_ArrowNorm[4];
ImVector<ImU32> ImOrient::s_ArrowColLight[4];
namespace ImGui
{
IMGUI_API bool QuaternionGizmo(const char* label, ImQuat& quat)
{
ImOrient orient;
orient.Qt = quat;
orient.Axis = ImVec3(1.0f, 0.0f, 0.0f);
orient.Angle = 0;
orient.Dir.x = orient.Dir.y = orient.Dir.z = 0;
orient.m_AAMode = false; // Axis & angle mode hidden
orient.m_IsDir = false;
orient.m_ShowDir = ImVec3(0.0f, 0.0f, 0.0f);
orient.m_DirColor = 0xff00ffff;
orient.ConvertToAxisAngle();
bool ret = orient.Draw(label);
if (ret)
{
quat = orient.Qt;
}
return ret;
}
IMGUI_API bool AxisAngleGizmo(const char* label, ImVec3& axis, float& angle)
{
ImOrient orient;
orient.Qt = ImQuat();
orient.Axis = axis;
orient.Angle = angle;
orient.Dir = ImVec3(0.0f, 0.0f, 0.0f);
orient.m_AAMode = true; // Axis & angle mode hidden
orient.m_IsDir = true;
orient.m_ShowDir = ImVec3(0.0f, 0.0f, 0.0f);
orient.m_DirColor = 0xff00ffff;
orient.ConvertFromAxisAngle();
bool ret = orient.Draw(label);
if (ret)
{
orient.ConvertToAxisAngle();
axis = orient.Axis;
angle = orient.Angle;
}
return ret;
}
IMGUI_API bool DirectionGizmo(const char* label, ImVec3& dir)
{
ImOrient orient;
orient.Qt = ImQuat();
orient.Dir = dir;
orient.Axis = ImVec3(1.0f, 0.0f, 0.0f);
orient.Angle = 0.0f;
orient.m_AAMode = false; // Axis & angle mode hidden
orient.m_IsDir = true;
orient.m_ShowDir = ImVec3(1.0f, 0.0f, 0.0f);
orient.m_DirColor = 0xffff0000;
orient.QuatFromDir(orient.Qt, dir);
orient.ConvertToAxisAngle();
bool ret = orient.Draw(label);
if (ret)
{
ImVec3 d = orient.Qt.Rotate(ImVec3(1, 0, 0));
d = d.Div(d.Length());
orient.Dir = d;
dir = orient.Dir;
}
return ret;
}
} // ImGui namespace
bool ImOrient::Draw(const char* label)
{
// ImGuiIO& io = ImGui::GetIO();
ImGuiStyle& style = ImGui::GetStyle();
ImDrawList* draw_list = ImGui::GetWindowDrawList();
if (ImOrient::s_SphTri.empty())
{
ImOrient::CreateArrow();
ImOrient::CreateSphere();
}
ImGui::PushID(label);
ImGui::BeginGroup();
bool value_changed = false;
ImGui::Text("%s", label);
// Summary
if (m_AAMode)
{
ImGui::Text("Axis={%.2f,%.2f,%.2f} Angle=%.0f%c", Axis.x, Axis.y, Axis.z, Angle, 176);
}
else if (m_IsDir)
{
ImGui::Text("Dir={%.2f,%.2f,%.2f}", Dir.x, Dir.y, Dir.z);
}
else
{
ImGui::Text("Quat={x:%.2f,y:%.2f,z:%.2f,s:%.2f}", Qt.x, Qt.y, Qt.z, Qt.w);
}
ImVec2 orient_pos = ImGui::GetCursorScreenPos();
float sv_orient_size = std::min(ImGui::CalcItemWidth(), float(GIZMO_SIZE));
float w = sv_orient_size;
float h = sv_orient_size;
// We want to generate quaternion rotations relative to the quaternion in the 'down' press state.
// This gives us cleaner control over rotation (it feels better/more natural)
static ImQuat origQuat;
static ImVec3 coordOld;
bool highlighted = false;
ImGui::InvisibleButton("orient", ImVec2(sv_orient_size, sv_orient_size));
if (ImGui::IsItemActive())
{
highlighted = true;
ImVec2 mouse = ImGui::GetMousePos() - orient_pos;
if (ImGui::IsMouseClicked(0))
{
origQuat = Qt;
coordOld = ImVec3(QuatIX((int)mouse.x, w, h), QuatIY((int)mouse.y, w, h), 1.0f);
}
else if (ImGui::IsMouseDragging(0))
{
//ImGui::ResetMouseDragDelta(0);
ImVec3 coord(QuatIX((int)mouse.x, w, h), QuatIY((int)mouse.y, w, h), 1.0f);
ImVec3 pVec = AxisTransform.Transform(coord);
ImVec3 oVec = AxisTransform.Transform(coordOld);
coord.z = 0.0f;
float n0 = oVec.Length();
float n1 = pVec.Length();
if (n0 > FLT_EPSILON && n1 > FLT_EPSILON)
{
ImVec3 v0 = oVec.Div(n0);
ImVec3 v1 = pVec.Div(n1);
ImVec3 axis = v0.Cross(v1);
float sa = axis.Length();
float ca = v0.Dot(v1);
float angle = (float)atan2(sa, ca);
if (coord.x*coord.x + coord.y*coord.y > 1.0)
angle *= 1.0f + 1.5f*(coord.Length() - 1.0f);
ImQuat qrot, qres, qorig;
QuatFromAxisAngle(qrot, axis, angle);
float nqorig = (float)sqrt(origQuat.x * origQuat.x + origQuat.y * origQuat.y + origQuat.z * origQuat.z + origQuat.w * origQuat.w);
if (fabs(nqorig) > FLT_EPSILON * FLT_EPSILON)
{
qorig = origQuat.Div(nqorig);
qres = qrot.Mult(qorig);
Qt = qres;
}
else
{
Qt = qrot;
}
//origQuat = Qt;
value_changed = true;
}
}
draw_list->AddRectFilled(orient_pos, orient_pos + ImVec2(sv_orient_size, sv_orient_size), ImColor(style.Colors[ImGuiCol_FrameBgActive]), style.FrameRounding);
}
else
{
highlighted = ImGui::IsItemHovered();
draw_list->AddRectFilled(orient_pos, orient_pos + ImVec2(sv_orient_size, sv_orient_size), ImColor(highlighted ? style.Colors[ImGuiCol_FrameBgHovered]: style.Colors[ImGuiCol_FrameBg]), style.FrameRounding);
}
float normDir = m_ShowDir.Length();
bool drawDir = m_IsDir || (normDir > FLT_EPSILON);
ImVec2 inner_pos = orient_pos;
float inner_size = w;
if (drawDir)
{
inner_size = sv_orient_size;
}
else
{
inner_pos.x += sv_orient_size * .25f * .5f;
inner_pos.y += sv_orient_size * .25f * .5f;
inner_size *= .75f;
}
ImQuat quat;
int i, j, k, l, m;
// normalize quaternion
float qn = (float)sqrt(Qt.w*Qt.w + Qt.x*Qt.x + Qt.y*Qt.y + Qt.z*Qt.z);
if (qn > FLT_EPSILON)
{
quat.x = (float)Qt.x / qn;
quat.y = (float)Qt.y / qn;
quat.z = (float)Qt.z / qn;
quat.w = (float)Qt.w / qn;
}
else
{
quat.x = quat.y = quat.z = 0.0f;
quat.w = 1.0f;
}
ImColor alpha(1.0f, 1.0f, 1.0f, highlighted ? 1.0f : 0.75f);
// check if frame is right-handed
ImVec3 px = AxisTransform.Transform(ImVec3(1.0f, 0.0f, 0.0f));
ImVec3 py = AxisTransform.Transform(ImVec3(0.0f, 1.0f, 0.0f));
ImVec3 pz = AxisTransform.Transform(ImVec3(0.0f, 0.0f, 1.0f));
ImVec3 ez = px.Cross(py);
// Use the handedness of the frame matrix to determine cull direction (?)
bool frameRightHanded = ez.Dot(ez) >= 0;
float cullDir = frameRightHanded ? 1.0f : -1.0f;
// Drawing an arrow
if (drawDir)
{
ImVec3 dir = m_ShowDir;
if (normDir < FLT_EPSILON)
{
normDir = 1;
dir.x = 1;
}
ImVec3 kVec = dir;
ImVec3 rotDirAxis = { 0, -kVec.z, kVec.y };
if (rotDirAxis.Dot(rotDirAxis) < FLT_EPSILON*FLT_EPSILON)
{
rotDirAxis.x = rotDirAxis.y = 0;
rotDirAxis.z = 1;
}
float rotDirAngle = (float)acos(kVec.x / normDir);
ImQuat rotDirQuat;
QuatFromAxisAngle(rotDirQuat, rotDirAxis, rotDirAngle);
kVec = ImVec3(1.0f, 0.0f, 0.0f);
kVec = rotDirQuat.Rotate(kVec);
kVec = quat.Rotate(kVec);
for (k = 0; k < 4; ++k) // 4 parts of the arrow
{
// draw order
ImVec3 arrowDir = AxisTransform.Transform(kVec);
j = (arrowDir.z > 0) ? 3 - k : k;
assert(s_ArrowTriProj[j].size() == (s_ArrowTri[j].size()) && s_ArrowColLight[j].size() == s_ArrowTri[j].size() && s_ArrowNorm[j].size() == s_ArrowTri[j].size());
const int ntri = (int)s_ArrowTri[j].size();
for (i = 0; i < ntri; ++i)
{
ImVec3 coord = s_ArrowTri[j][i];
ImVec3 norm = s_ArrowNorm[j][i];
if (coord.x > 0)
coord.x = 2.5f * coord.x - 2.0f;
else
coord.x += 0.2f;
coord.y *= 1.5f;
coord.z *= 1.5f;
coord = rotDirQuat.Rotate(coord);
coord = quat.Rotate(coord);
coord = AxisTransform.Transform(coord);
norm = rotDirQuat.Rotate(norm);
norm = quat.Rotate(norm);
norm = AxisTransform.Transform(norm);
s_ArrowTriProj[j][i] = ImVec2(QuatPX(coord.x, w, h), QuatPY(coord.y, w, h));
ImU32 col = (m_DirColor | 0xff000000) & alpha;
s_ArrowColLight[j][i] = ColorBlend(0xff000000, col, fabsf(ImClamp(norm.z, -1.0f, 1.0f)));
}
DrawTriangles(draw_list, inner_pos, s_ArrowTriProj[j], s_ArrowColLight[j], ntri, cullDir);
}
}
else
{
// draw arrows & sphere
const float SPH_RADIUS = 0.75f;
for (m = 0; m < 2; ++m) // m=0: back, m=1: front
{
for (l = 0; l < 3; ++l) // draw 3 arrows
{
ImVec3 kVec(1, 0, 0);
if (l == 1)
{
kVec = kVec.RotZ();
}
else if (l == 2)
{
kVec = kVec.RotY();
}
kVec = quat.Rotate(kVec);
for (k = 0; k < 4; ++k) // 4 parts of the arrow
{
// draw order
ImVec3 arrowCoord = AxisTransform.Transform(kVec);
j = (arrowCoord.z > 0) ? 3 - k : k;
bool cone = true;
if ((m == 0 && arrowCoord.z > 0) || (m == 1 && arrowCoord.z <= 0))
{
if (j == ImOrient::ARROW_CONE || j == ImOrient::ARROW_CONE_CAP) // do not draw cone
continue;
else
cone = false;
}
assert(ImOrient::s_ArrowTriProj[j].size() == (ImOrient::s_ArrowTri[j].size()) && ImOrient::s_ArrowColLight[j].size() == ImOrient::s_ArrowTri[j].size() && ImOrient::s_ArrowNorm[j].size() == ImOrient::s_ArrowTri[j].size());
const int ntri = (int)ImOrient::s_ArrowTri[j].size();
for (i = 0; i < ntri; ++i)
{
ImVec3 coord = s_ArrowTri[j][i];
if (cone && coord.x <= 0)
coord.x = SPH_RADIUS;
else if (!cone && coord.x > 0)
coord.x = -SPH_RADIUS;
ImVec3 norm = s_ArrowNorm[j][i];
if (l == 1)
{
coord = coord.RotZ();
norm = norm.RotZ();
}
else if (l == 2)
{
coord = coord.RotY();
norm = norm.RotY();
}
coord = quat.Rotate(coord);
coord = AxisTransform.Transform(coord);
norm = quat.Rotate(norm);
norm = AxisTransform.Transform(norm);
s_ArrowTriProj[j][i] = ImVec2(QuatPX(coord.x, inner_size, inner_size), QuatPY(coord.y, inner_size, inner_size));
float fade = (m == 0 && coord.z < 0) ? ImClamp(2.0f*coord.z*coord.z, 0.0f, 1.0f) : 0;
float alphaFade = 1.0f;
alphaFade = alpha.Value.w;
alphaFade *= (1.0f - fade);
ImColor alphaFadeCol(1.0f, 1.0f, 1.0f, alphaFade);
ImU32 col = (l == 0) ? 0xffff0000 : ((l == 1) ? 0xff00ff00 : 0xff0000ff);
s_ArrowColLight[j][i] = ColorBlend(0xff000000, col, fabsf(ImClamp(norm.z, -1.0f, 1.0f))) & ImU32(alphaFadeCol);
}
DrawTriangles(draw_list, inner_pos, s_ArrowTriProj[j], s_ArrowColLight[j], ntri, cullDir);
}
}
if (m == 0)
{
const int ntri = (int)ImOrient::s_SphTri.size();
for (i = 0; i < ntri; ++i) // draw sphere
{
ImVec3 coord = s_SphTri[i].Mult(SPH_RADIUS);
coord = quat.Rotate(coord);
coord = AxisTransform.Transform(coord);
s_SphTriProj[i] = ImVec2(QuatPX(coord.x, inner_size, inner_size), QuatPY(coord.y, inner_size, inner_size));
s_SphColLight[i] = ColorBlend(0xff000000, s_SphCol[i], fabsf(ImClamp(coord.z / SPH_RADIUS, -1.0f, 1.0f)))& ImU32(alpha);
}
DrawTriangles(draw_list, inner_pos, s_SphTriProj, s_SphColLight, ntri, cullDir);
}
}
// draw x
draw_list->AddLine(orient_pos + ImVec2(w - 12, h - 36), orient_pos + ImVec2(w - 12 + 5, h - 36 + 5), 0xff0000c0);
draw_list->AddLine(orient_pos + ImVec2(w - 12 + 5, h - 36), orient_pos + ImVec2(w - 12, h - 36 + 5), 0xff0000c0);
// draw y
draw_list->AddLine(orient_pos + ImVec2(w - 12, h - 25), orient_pos + ImVec2(w - 12 + 3, h - 25 + 4), 0xff00c000);
draw_list->AddLine(orient_pos + ImVec2(w - 12 + 5, h - 25), orient_pos + ImVec2(w - 12, h - 25 + 7), 0xff00c000);
// draw z
draw_list->AddLine(orient_pos + ImVec2(w - 12, h - 12), orient_pos + ImVec2(w - 12 + 5, h - 12), 0xffc00000);
draw_list->AddLine(orient_pos + ImVec2(w - 12, h - 12 + 5), orient_pos + ImVec2(w - 12 + 5, h - 12 + 5), 0xffc00000);
draw_list->AddLine(orient_pos + ImVec2(w - 12, h - 12 + 5), orient_pos + ImVec2(w - 12 + 5, h - 12), 0xffc00000);
}
ImGui::EndGroup();
ImGui::PopID();
return value_changed;
}
void ImOrient::DrawTriangles(ImDrawList* draw_list, const ImVec2& offset, const ImVector<ImVec2>& triProj, const ImVector<ImU32>& colLight, int numVertices, float cullDir)
{
const ImVec2 uv = ImGui::GetFontTexUvWhitePixel();
assert(numVertices % 3 == 0);
draw_list->PrimReserve(numVertices, numVertices); // num vert/indices
for (int ii = 0; ii < numVertices / 3; ii++)
{
ImVec2 v1 = offset + triProj[ii * 3];
ImVec2 v2 = offset + triProj[ii * 3 + 1];
ImVec2 v3 = offset + triProj[ii * 3 + 2];
// 2D cross product to do culling
ImVec2 d1 = ImVec2Subtract(v2, v1);
ImVec2 d2 = ImVec2Subtract(v3, v1);
float c = ImVec2Cross(d1, d2) * cullDir;
if (c > 0.0f)
{
v2 = v1;
v3 = v1;
}
draw_list->PrimWriteIdx(ImDrawIdx(draw_list->_VtxCurrentIdx));
draw_list->PrimWriteIdx(ImDrawIdx(draw_list->_VtxCurrentIdx + 1));
draw_list->PrimWriteIdx(ImDrawIdx(draw_list->_VtxCurrentIdx + 2));
draw_list->PrimWriteVtx(v1, uv, colLight[ii * 3]);
draw_list->PrimWriteVtx(v2, uv, colLight[ii * 3 + 1]);
draw_list->PrimWriteVtx(v3, uv, colLight[ii * 3 + 2]);
}
}
void ImOrient::CreateSphere()
{
const int SUBDIV = 7;
s_SphTri.clear();
s_SphCol.clear();
const float A[8 * 3] = { 1,0,0, 0,0,-1, -1,0,0, 0,0,1, 0,0,1, 1,0,0, 0,0,-1, -1,0,0 };
const float B[8 * 3] = { 0,1,0, 0,1,0, 0,1,0, 0,1,0, 0,-1,0, 0,-1,0, 0,-1,0, 0,-1,0 };
const float C[8 * 3] = { 0,0,1, 1,0,0, 0,0,-1, -1,0,0, 1,0,0, 0,0,-1, -1,0,0, 0,0,1 };
const ImU32 COL_A[8] = { 0xffffffff, 0xffffff40, 0xff40ff40, 0xff40ffff, 0xffff40ff, 0xffff4040, 0xff404040, 0xff4040ff };
const ImU32 COL_B[8] = { 0xffffffff, 0xffffff40, 0xff40ff40, 0xff40ffff, 0xffff40ff, 0xffff4040, 0xff404040, 0xff4040ff };
const ImU32 COL_C[8] = { 0xffffffff, 0xffffff40, 0xff40ff40, 0xff40ffff, 0xffff40ff, 0xffff4040, 0xff404040, 0xff4040ff };
int i, j, k, l;
float xa, ya, za, xb, yb, zb, xc, yc, zc, x, y, z, norm, u[3], v[3];
ImU32 col;
for (i = 0; i < 8; ++i)
{
xa = A[3 * i + 0]; ya = A[3 * i + 1]; za = A[3 * i + 2];
xb = B[3 * i + 0]; yb = B[3 * i + 1]; zb = B[3 * i + 2];
xc = C[3 * i + 0]; yc = C[3 * i + 1]; zc = C[3 * i + 2];
for (j = 0; j <= SUBDIV; ++j)
for (k = 0; k <= 2 * (SUBDIV - j); ++k)
{
if (k % 2 == 0)
{
u[0] = ((float)j) / (SUBDIV + 1);
v[0] = ((float)(k / 2)) / (SUBDIV + 1);
u[1] = ((float)(j + 1)) / (SUBDIV + 1);
v[1] = ((float)(k / 2)) / (SUBDIV + 1);
u[2] = ((float)j) / (SUBDIV + 1);
v[2] = ((float)(k / 2 + 1)) / (SUBDIV + 1);
}
else
{
u[0] = ((float)j) / (SUBDIV + 1);
v[0] = ((float)(k / 2 + 1)) / (SUBDIV + 1);
u[1] = ((float)(j + 1)) / (SUBDIV + 1);
v[1] = ((float)(k / 2)) / (SUBDIV + 1);
u[2] = ((float)(j + 1)) / (SUBDIV + 1);
v[2] = ((float)(k / 2 + 1)) / (SUBDIV + 1);
}
for (l = 0; l < 3; ++l)
{
x = (1.0f - u[l] - v[l])*xa + u[l] * xb + v[l] * xc;
y = (1.0f - u[l] - v[l])*ya + u[l] * yb + v[l] * yc;
z = (1.0f - u[l] - v[l])*za + u[l] * zb + v[l] * zc;
norm = sqrtf(x*x + y*y + z*z);
x /= norm; y /= norm; z /= norm;
s_SphTri.push_back(ImVec3(x, y, z));
if (u[l] + v[l] > FLT_EPSILON)
col = ColorBlend(COL_A[i], ColorBlend(COL_B[i], COL_C[i], v[l] / (u[l] + v[l])), u[l] + v[l]);
else
col = COL_A[i];
s_SphCol.push_back(col);
}
}
}
s_SphTriProj.clear();
s_SphTriProj.resize(s_SphTri.size());
s_SphColLight.clear();
s_SphColLight.resize(s_SphCol.size());
}
void ImOrient::CreateArrow()
{
const int SUBDIV = 15;
const float CYL_RADIUS = 0.08f;
const float CONE_RADIUS = 0.16f;
const float CONE_LENGTH = 0.25f;
const float ARROW_BGN = -1.1f;
const float ARROW_END = 1.15f;
int i;
for (i = 0; i < 4; ++i)
{
s_ArrowTri[i].clear();
s_ArrowNorm[i].clear();
}
float x0, x1, y0, y1, z0, z1, a0, a1, nx, nn;
for (i = 0; i < SUBDIV; ++i)
{
a0 = 2.0f*float(M_PI)*(float(i)) / SUBDIV;
a1 = 2.0f*float(M_PI)*(float(i + 1)) / SUBDIV;
x0 = ARROW_BGN;
x1 = ARROW_END - CONE_LENGTH;
y0 = cosf(a0);
z0 = sinf(a0);
y1 = cosf(a1);
z1 = sinf(a1);
s_ArrowTri[ARROW_CYL].push_back(ImVec3(x1, CYL_RADIUS*y0, CYL_RADIUS*z0));
s_ArrowTri[ARROW_CYL].push_back(ImVec3(x0, CYL_RADIUS*y0, CYL_RADIUS*z0));
s_ArrowTri[ARROW_CYL].push_back(ImVec3(x0, CYL_RADIUS*y1, CYL_RADIUS*z1));
s_ArrowTri[ARROW_CYL].push_back(ImVec3(x1, CYL_RADIUS*y0, CYL_RADIUS*z0));
s_ArrowTri[ARROW_CYL].push_back(ImVec3(x0, CYL_RADIUS*y1, CYL_RADIUS*z1));
s_ArrowTri[ARROW_CYL].push_back(ImVec3(x1, CYL_RADIUS*y1, CYL_RADIUS*z1));
s_ArrowNorm[ARROW_CYL].push_back(ImVec3(0, y0, z0));
s_ArrowNorm[ARROW_CYL].push_back(ImVec3(0, y0, z0));
s_ArrowNorm[ARROW_CYL].push_back(ImVec3(0, y1, z1));
s_ArrowNorm[ARROW_CYL].push_back(ImVec3(0, y0, z0));
s_ArrowNorm[ARROW_CYL].push_back(ImVec3(0, y1, z1));
s_ArrowNorm[ARROW_CYL].push_back(ImVec3(0, y1, z1));
s_ArrowTri[ARROW_CYL_CAP].push_back(ImVec3(x0, 0, 0));
s_ArrowTri[ARROW_CYL_CAP].push_back(ImVec3(x0, CYL_RADIUS*y1, CYL_RADIUS*z1));
s_ArrowTri[ARROW_CYL_CAP].push_back(ImVec3(x0, CYL_RADIUS*y0, CYL_RADIUS*z0));
s_ArrowNorm[ARROW_CYL_CAP].push_back(ImVec3(-1, 0, 0));
s_ArrowNorm[ARROW_CYL_CAP].push_back(ImVec3(-1, 0, 0));
s_ArrowNorm[ARROW_CYL_CAP].push_back(ImVec3(-1, 0, 0));
x0 = ARROW_END - CONE_LENGTH;
x1 = ARROW_END;
nx = CONE_RADIUS / (x1 - x0);
nn = 1.0f / sqrtf(nx*nx + 1);
s_ArrowTri[ARROW_CONE].push_back(ImVec3(x1, 0, 0));
s_ArrowTri[ARROW_CONE].push_back(ImVec3(x0, CONE_RADIUS*y0, CONE_RADIUS*z0));
s_ArrowTri[ARROW_CONE].push_back(ImVec3(x0, CONE_RADIUS*y1, CONE_RADIUS*z1));
s_ArrowTri[ARROW_CONE].push_back(ImVec3(x1, 0, 0));
s_ArrowTri[ARROW_CONE].push_back(ImVec3(x0, CONE_RADIUS*y1, CONE_RADIUS*z1));
s_ArrowTri[ARROW_CONE].push_back(ImVec3(x1, 0, 0));
s_ArrowNorm[ARROW_CONE].push_back(ImVec3(nn*nx, nn*y0, nn*z0));
s_ArrowNorm[ARROW_CONE].push_back(ImVec3(nn*nx, nn*y0, nn*z0));
s_ArrowNorm[ARROW_CONE].push_back(ImVec3(nn*nx, nn*y1, nn*z1));
s_ArrowNorm[ARROW_CONE].push_back(ImVec3(nn*nx, nn*y0, nn*z0));
s_ArrowNorm[ARROW_CONE].push_back(ImVec3(nn*nx, nn*y1, nn*z1));
s_ArrowNorm[ARROW_CONE].push_back(ImVec3(nn*nx, nn*y1, nn*z1));
s_ArrowTri[ARROW_CONE_CAP].push_back(ImVec3(x0, 0, 0));
s_ArrowTri[ARROW_CONE_CAP].push_back(ImVec3(x0, CONE_RADIUS*y1, CONE_RADIUS*z1));
s_ArrowTri[ARROW_CONE_CAP].push_back(ImVec3(x0, CONE_RADIUS*y0, CONE_RADIUS*z0));
s_ArrowNorm[ARROW_CONE_CAP].push_back(ImVec3(-1, 0, 0));
s_ArrowNorm[ARROW_CONE_CAP].push_back(ImVec3(-1, 0, 0));
s_ArrowNorm[ARROW_CONE_CAP].push_back(ImVec3(-1, 0, 0));
}
for (i = 0; i < 4; ++i)
{
s_ArrowTriProj[i].clear();
s_ArrowTriProj[i].resize(s_ArrowTri[i].size());
s_ArrowColLight[i].clear();
s_ArrowColLight[i].resize(s_ArrowTri[i].size());
}
}
void ImOrient::ConvertToAxisAngle()
{
if (fabs(Qt.w) > (1.0 + FLT_EPSILON))
{
//Axis.x = Axis.y = Axis.z = 0; // no, keep the previous value
Angle = 0;
}
else
{
float a;
if (Qt.w >= 1.0f)
a = 0.0f; // and keep V
else if (Qt.w <= -1.0f)
a = float(M_PI); // and keep V
else if (fabs(Qt.x*Qt.x + Qt.y*Qt.y + Qt.z*Qt.z + Qt.w*Qt.w) < (FLT_EPSILON * FLT_EPSILON))
a = 0.0f;
else
{
a = (float)acos(Qt.w);
if (a*Angle < 0) // Preserve the sign of Angle
a = -a;
float f = 1.0f / (float)sin(a);
Axis.x = Qt.x * f;
Axis.y = Qt.y * f;
Axis.z = Qt.z * f;
}
Angle = 2.0f*a;
}
Angle = ImRadToDeg(Angle);
if (fabs(Angle) < FLT_EPSILON && fabs(Axis.x*Axis.x + Axis.y*Axis.y + Axis.z*Axis.z) < FLT_EPSILON * FLT_EPSILON)
Axis.x = FLT_MIN; // all components cannot be null
}
void ImOrient::ConvertFromAxisAngle()
{
float n = Axis.x*Axis.x + Axis.y*Axis.y + Axis.z*Axis.z;
if (fabs(n) > (FLT_EPSILON * FLT_EPSILON))
{
float f = 0.5f*ImDegToRad(Angle);
Qt.w = (float)cos(f);
f = (float)sin(f);
Qt.x = Axis.x * f;
Qt.y = Axis.y * f;
Qt.z = Axis.z * f;
}
else
{
Qt.w = 1.0;
Qt.x = Qt.y = Qt.z = 0.0;
}
}
/*
void ImGui_Orient::CopyToVar()
{
if( m_StructProxy!=NULL )
{
if( m_StructProxy->m_StructSetCallback!=NULL )
{
if( m_IsFloat )
{
if( m_IsDir )
{
float d[] = {1, 0, 0};
ApplyQuat(d+0, d+1, d+2, 1, 0, 0, (float)Qt.x, (float)Qt.y, (float)Qt.z, (float)Qt.w);
float l = (float)sqrt(Dir.x*Dir.x + Dir.y*Dir.y + Dir.z*Dir.z);
d[0] *= l; d[1] *= l; d[2] *= l;
Dir.x = d[0]; Dir.y = d[1]; Dir.z = d[2]; // update also Dir.x,Dir.y,Dir.z
m_StructProxy->m_StructSetCallback(d, m_StructProxy->m_StructClientData);
}
else
{
float q[] = { (float)Qt.x, (float)Qt.y, (float)Qt.z, (float)Qt.w };
m_StructProxy->m_StructSetCallback(q, m_StructProxy->m_StructClientData);
}
}
}
else if( m_StructProxy->m_StructData!=NULL )
{
if( m_IsFloat )
{
if( m_IsDir )
{
float *d = static_cast<float *>(m_StructProxy->m_StructData);
ApplyQuat(d+0, d+1, d+2, 1, 0, 0, (float)Qt.x, (float)Qt.y, (float)Qt.z, (float)Qt.w);
float l = (float)sqrt(Dir.x*Dir.x + Dir.y*Dir.y + Dir.z*Dir.z);
d[0] *= l; d[1] *= l; d[2] *= l;
Dir.x = d[0]; Dir.y = d[1]; Dir.z = d[2]; // update also Dir.x,Dir.y,Dir.z
}
else
{
float *q = static_cast<float *>(m_StructProxy->m_StructData);
q[0] = (float)Qt.x; q[1] = (float)Qt.y; q[2] = (float)Qt.z; q[3] = (float)Qt.w;
}
}
else
{
if( m_IsDir )
{
float *dd = static_cast<float *>(m_StructProxy->m_StructData);
float d[] = {1, 0, 0};
ApplyQuat(d+0, d+1, d+2, 1, 0, 0, (float)Qt.x, (float)Qt.y, (float)Qt.z, (float)Qt.w);
float l = sqrt(Dir.x*Dir.x + Dir.y*Dir.y + Dir.z*Dir.z);
dd[0] = l*d[0]; dd[1] = l*d[1]; dd[2] = l*d[2];
Dir.x = dd[0]; Dir.y = dd[1]; Dir.z = dd[2]; // update also Dir.x,Dir.y,Dir.z
}
else
{
float *q = static_cast<float *>(m_StructProxy->m_StructData);
q[0] = Qt.x; q[1] = Qt.y; q[2] = Qt.z; q[3] = Qt.w;
}
}
}
}
}
*/
ImU32 ImOrient::ColorBlend(ImU32 _Color1, ImU32 _Color2, float sigma)
{
ImColor color1(_Color1);
ImColor color2(_Color2);
float invSigma = 1.0f - sigma;
color1 = ImColor((color1.Value.x * invSigma) + (color2.Value.x * sigma),
(color1.Value.y * invSigma) + (color2.Value.y * sigma),
(color1.Value.z * invSigma) + (color2.Value.z * sigma),
(color1.Value.w * invSigma) + (color2.Value.w * sigma));
return color1;
}
void ImOrient::QuatFromAxisAngle(ImQuat& out, const ImVec3& axis, float angle)
{
float n = axis.x * axis.x + axis.y * axis.y + axis.z * axis.z;
if (fabs(n) > FLT_EPSILON)
{
float f = 0.5f*angle;
out.w = (float)cos(f);
f = (float)(sin(f) / sqrt(n));
out.x = axis.x * f;
out.y = axis.y * f;
out.z = axis.z * f;
}
else
{
out.w = 1.0;
out.x = out.y = out.z = 0.0;
}
}
void ImOrient::QuatFromDir(ImQuat& out, const ImVec3& dir)
{
// compute a quaternion that rotates (1,0,0) to (dx,dy,dz)
float dn = (float)sqrt(dir.x*dir.x + dir.y*dir.y + dir.z*dir.z);
if (dn < FLT_EPSILON * FLT_EPSILON)
{
out.x = out.y = out.z = 0;
out.w = 1;
}
else
{
ImVec3 rotAxis = { 0, -dir.z, dir.y };
if (rotAxis.x * rotAxis.x + rotAxis.y * rotAxis.y + rotAxis.z * rotAxis.z < (FLT_EPSILON * FLT_EPSILON))
{
rotAxis.x = rotAxis.y = 0;
rotAxis.z = 1;
}
float rotAngle = (float)acos(dir.x / dn);
ImQuat rotQuat;
QuatFromAxisAngle(rotQuat, rotAxis, rotAngle);
out.x = rotQuat.x;
out.y = rotQuat.y;
out.z = rotQuat.z;
out.w = rotQuat.w;
}
}