projection.cpp

#include "projection.hpp"
#include <math.h>
#include <algorithm>

float maxDistanceCubeXY(Geometry geo, float alpha,int i){
    ///////////
    // Compute initial "t" so we access safely as less as out of bounds as possible.
    //////////

    float maxCubX,maxCubY;
    // Forgetting Z, compute max distance: diagonal+offset
    maxCubX=(geo.sVoxelX/2+ abs(geo.offOrigX[i]))/geo.dVoxelX;
    maxCubY=(geo.sVoxelY/2+ abs(geo.offOrigY[i]))/geo.dVoxelY;

    return geo.DSO[i]/geo.dVoxelX-sqrt(maxCubX*maxCubX+maxCubY*maxCubY);
}

void rollPitchYaw(Geometry geo,int i, Point3D* point){
    Point3D auxPoint;
    auxPoint.x=point->x;
    auxPoint.y=point->y;
    auxPoint.z=point->z;

    point->x=cos(geo.dRoll[i])*cos(geo.dPitch[i])*auxPoint.x
         +(cos(geo.dRoll[i])*sin(geo.dPitch[i])*sin(geo.dYaw[i]) - sin(geo.dRoll[i])*cos(geo.dYaw[i]))*auxPoint.y
         +(cos(geo.dRoll[i])*sin(geo.dPitch[i])*cos(geo.dYaw[i]) + sin(geo.dRoll[i])*sin(geo.dYaw[i]))*auxPoint.z;

    point->y=sin(geo.dRoll[i])*cos(geo.dPitch[i])*auxPoint.x
         +(sin(geo.dRoll[i])*sin(geo.dPitch[i])*sin(geo.dYaw[i]) + cos(geo.dRoll[i])*cos(geo.dYaw[i]))*auxPoint.y
         +(sin(geo.dRoll[i])*sin(geo.dPitch[i])*cos(geo.dYaw[i]) - cos(geo.dRoll[i])*sin(geo.dYaw[i]))*auxPoint.z;

    point->z=-sin(geo.dPitch[i])*auxPoint.x
         +cos(geo.dPitch[i])*sin(geo.dYaw[i])*auxPoint.y
         +cos(geo.dPitch[i])*cos(geo.dYaw[i])*auxPoint.z;
}