vcglib/vcg/math/similarity.h

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/****************************************************************************
* VCGLib o o *
* Visual and Computer Graphics Library o o *
* _ O _ *
* Copyright(C) 2004 \/)\/ *
* Visual Computing Lab /\/| *
* ISTI - Italian National Research Council | *
* \ *
* All rights reserved. *
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 2 of the License, or *
* (at your option) any later version. *
* *
* This program is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU General Public License (http://www.gnu.org/licenses/gpl.txt) *
* for more details. *
* *
****************************************************************************/
/****************************************************************************
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****************************************************************************/
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#ifndef SIMILARITY_H
#define SIMILARITY_H
#include <vcg/math/quaternion.h>
#include <vcg/math/matrix44.h>
namespace vcg {
template <class S> class Similarity {
public:
Similarity() {}
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Similarity(const Quaternion<S> &q) { SetRotate(q); }
Similarity(const Point3<S> &p) { SetTranslate(p); }
Similarity(S s) { SetScale(s); }
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Similarity operator*(const Similarity &affine) const;
Similarity &operator*=(const Similarity &affine);
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//Point3<S> operator*(const Point3<S> &p) const;
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Similarity &SetIdentity();
Similarity &SetScale(const S s);
Similarity &SetTranslate(const Point3<S> &t);
///use radiants for angle.
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Similarity &SetRotate(S angle, const Point3<S> & axis);
Similarity &SetRotate(const Quaternion<S> &q);
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Matrix44<S> Matrix() const;
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void FromMatrix(const Matrix44<S> &m);
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Quaternion<S> rot;
Point3<S> tra;
S sca;
};
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template <class S> Similarity<S> &Invert(Similarity<S> &m);
template <class S> Similarity<S> Inverse(const Similarity<S> &m);
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template <class S> Point3<S> operator*(const Point3<S> &p, const Similarity<S> &m);
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template <class S> Similarity<S> Similarity<S>::operator*(const Similarity &a) const {
Similarity<S> r;
r.rot = rot * a.rot;
r.sca = sca * a.sca;
r.tra = (rot.Rotate(a.tra)) * sca + tra;
return r;
}
template <class S> Similarity<S> &Similarity<S>::operator*=(const Similarity &a) {
rot = rot * a.rot;
sca = sca * a.sca;
tra = (rot.Rotate(a.tra)) * sca + tra;
return *this;
}
template <class S> Similarity<S> &Similarity<S>::SetIdentity() {
rot.FromAxis(0, Point3<S>(1, 0, 0));
tra = Point3<S>(0, 0, 0);
sca = 1;
return *this;
}
template <class S> Similarity<S> &Similarity<S>::SetScale(const S s) {
SetIdentity();
sca = s;
return *this;
}
template <class S> Similarity<S> &Similarity<S>::SetTranslate(const Point3<S> &t) {
SetIdentity();
tra = t;
return *this;
}
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template <class S> Similarity<S> &Similarity<S>::SetRotate(S angle, const Point3<S> &axis) {
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SetIdentity();
rot.FromAxis(angle, axis);
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return *this;
}
template <class S> Similarity<S> &Similarity<S>::SetRotate(const Quaternion<S> &q) {
SetIdentity();
rot = q;
return *this;
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}
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template <class S> Matrix44<S> Similarity<S>::Matrix() const {
Matrix44<S> r;
rot.ToMatrix(r);
r *= Matrix44<S>().SetScale(sca, sca, sca);
Matrix44<S> t = Matrix44<S>().SetTranslate(tra[0], tra[1], tra[2]);
r *= t;
return r;
}
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template <class S> void Similarity<S>::FromMatrix(const Matrix44<S> &m) {
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sca = (S)pow(m.Determinant(), 1/3);
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assert(sca != 0);
Matrix44<S> t = m * Matrix44<S>().SetScale(1/sca, 1/sca, 1/sca);
rot.FromMatrix(t);
tra[0] = t.element(3, 0);
tra[1] = t.element(3, 1);
tra[2] = t.element(3, 2);
}
template <class S> Similarity<S> &Invert(Similarity<S> &a) {
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a.rot.Invert();
a.sca = 1/a.sca;
a.tra = a.rot.Rotate(-a.tra)*a.sca;
return a;
}
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template <class S> Similarity<S> Inverse(const Similarity<S> &m) {
Similarity<S> a = m;
return Invert(a);
}
template <class S> Similarity<S> Interpolate(const Similarity<S> &a, const Similarity<S> &b, const S t) {
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Similarity<S> r;
r.rot = interpolate(a.rot, b.rot, t);
r.tra = t * a.tra + (1-t) * b.tra;
r.sca = t * a.sca + (1-t) * b.sca;
return r;
}
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template <class S> Point3<S> operator*(const Point3<S> &p, const Similarity<S> &m) {
Point3<S> r = m.rot.Rotate(p);
r *= m.sca;
r += m.tra;
return r;
}
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typedef Similarity<float> Similarityf;
typedef Similarity<double>Similarityd;
} //namespace
#endif