From 35848b0a775f29ab234b73a8ff01eb0c084e77e2 Mon Sep 17 00:00:00 2001 From: cnr-isti-vclab Date: Fri, 14 Mar 2008 17:15:59 +0000 Subject: [PATCH] improved comments --- wrap/gui/coordinateframe.cpp | 75 +++++++++++++++++++----------------- 1 file changed, 39 insertions(+), 36 deletions(-) diff --git a/wrap/gui/coordinateframe.cpp b/wrap/gui/coordinateframe.cpp index 5838eef1..ad417f8e 100644 --- a/wrap/gui/coordinateframe.cpp +++ b/wrap/gui/coordinateframe.cpp @@ -23,6 +23,9 @@ /**************************************************************************** History $Log: not supported by cvs2svn $ +Revision 1.8 2008/03/02 16:44:18 benedetti +moved ActiveCoordinateFrame to its own files + Revision 1.7 2008/02/26 18:22:42 benedetti corrected after quaternion/similarity/trackball changes @@ -95,11 +98,11 @@ void CoordinateFrame::Render(QGLWidget* glw) glVertex(-c); glVertex(c); glEnd(); glColor(basecolor); - // assi positivi + // positive axes drawTickedLine(o,a,size,slope_a,linewidth); // Draws x axis drawTickedLine(o,b,size,slope_b,linewidth); // Draws y axis drawTickedLine(o,c,size,slope_c,linewidth); // Draws z axis - //assi negativi + // negative axes drawTickedLine(o,-a,size,slope_a,linewidth); // Draws x axis drawTickedLine(o,-b,size,slope_b,linewidth); // Draws y axis drawTickedLine(o,-c,size,slope_c,linewidth); // Draws z axis @@ -220,18 +223,18 @@ void MovableCoordinateFrame::Render(QGLWidget* gla) void MovableCoordinateFrame::GetTransform(Matrix44f & transform) { - // costruisco la matrice che porta le coordinate in spazio di mondo + // build the matrix that moves points in world coordinates - // resetto la trasf + // clean transform transform.SetIdentity(); - // ruoto + // apply rotation Matrix44f rot; rotation.ToMatrix(rot); transform = Inverse(rot) * transform ; - // sposto in posizione + // apply translation Matrix44f pos; pos.SetTranslate(position); @@ -282,8 +285,8 @@ void MovableCoordinateFrame::AlignWith(const Point3f pri,const Point3f secondary if( primary.Norm() < EPSILON*size ) return; - primary.Normalize(); // ho l'asse primario, lo normalizzo - Plane3f plane(0,primary); // piano di proiezione per la seconda rotazione + primary.Normalize(); + Plane3f plane(0,primary); // projection plane for the second rotation Point3f x(1,0,0),y(0,1,0),z(0,0,1); Point3f first(0,0,0),second(0,0,0),third(0,0,0); @@ -302,34 +305,34 @@ void MovableCoordinateFrame::AlignWith(const Point3f pri,const Point3f secondary else assert (0); } else assert (0); - Point3f old_first = Inverse(rotation).Rotate(first); // l'asse 1 - Point3f old_second_pro = plane.Projection(Inverse(rotation).Rotate(second)); //la proiezione dell'asse 2 - Point3f old_third_pro = plane.Projection(Inverse(rotation).Rotate(third)); //la proiezione dell'asse 3 + Point3f old_first = Inverse(rotation).Rotate(first); // axis 1 + Point3f old_second_pro = plane.Projection(Inverse(rotation).Rotate(second)); // axis 2 projection + Point3f old_third_pro = plane.Projection(Inverse(rotation).Rotate(third)); // axis 3 projection - // allinea l'asse 1 corrente all'asse primary - RotateToAlign(old_first,primary); // prima rotazione + // align axis 1 to primary + RotateToAlign(old_first,primary); - Point3f secondary_pro = plane.Projection(secondary); // la proiezione di secondary - Point3f new_second_pro = plane.Projection(Inverse(rotation).Rotate(second)); // la proiezione dell'asse 2 dopo la prima rotazione + Point3f secondary_pro = plane.Projection(secondary); // secondary's projection + Point3f new_second_pro = plane.Projection(Inverse(rotation).Rotate(second)); // axis 2 projection after the first rotation - // se c'e` un asse secondary e la sua proiezione non e` 0 - if( secondary.Norm() > EPSILON*size && secondary_pro.Norm() > EPSILON ){ - // allinea la proiezione dell'asse 2 dopo la prima rotazione alla proiezione dell'asse secondary + if( secondary.Norm() > EPSILON*size && secondary_pro.Norm() > EPSILON ){ // secondary is not null nor parallel to primary + // align axis 2 projection after the first rotation to secondary's projection secondary_pro.Normalize(); RotateToAlign(new_second_pro,secondary_pro); return; } - // creco di riallineare l'asse 2 - if ( old_second_pro.Norm() > EPSILON ) { - // allinea la proiezione dell'asse 2 dopo la prima rotazione alla proiezione dell'asse 2 + + if ( old_second_pro.Norm() > EPSILON ) { // can realign axis 2 + // align axis 2 projection after the first rotation to old axis 2 projection old_second_pro.Normalize(); RotateToAlign(new_second_pro,old_second_pro); return; } - // cerco di riallineare l'asse 3 - Point3f new_third_pro = plane.Projection(Inverse(rotation).Rotate(third)); //la proiezione dell'asse 3 dopo la prima rotazione - assert(old_third_pro.Norm() > EPSILON ); // la proiezione dell'asse 3 non dovrebbe essere 0 - // allinea la proiezione dell'asse 3 dopo la prima rotazione alla proiezione dell'asse 3 + + // realign axis 3 + Point3f new_third_pro = plane.Projection(Inverse(rotation).Rotate(third));// axis 3 projection after the first rotation + assert(old_third_pro.Norm() > EPSILON ); // old axis 3 projection should not be null + // align axis 3 projection after the first rotation to old axis 3 projection old_third_pro.Normalize(); RotateToAlign(new_third_pro,old_third_pro); } @@ -343,26 +346,26 @@ void MovableCoordinateFrame::Move(const Similarityf track) void MovableCoordinateFrame::RotateToAlign(const Point3f source, const Point3f dest) { const float EPSILON=1e-6; - // source e dest devono essere versori + // source and dest must be versors assert( math::Abs(source.Norm() - 1) < EPSILON); assert( math::Abs(dest.Norm() - 1) < EPSILON); - + Point3f axis = dest ^ source; float sinangle = axis.Norm(); float cosangle = dest * source; float angle = math::Atan2(sinangle,cosangle); - + if( math::Abs(angle) < EPSILON ) - return; // angolo ~ 0, annullo - + return; // angle ~ 0, aborting + if( math::Abs(math::Abs(angle)-M_PI) < EPSILON){ - // devo trovare un asse su cui flippare + // must find a axis to flip on Plane3f plane(0,source); - axis=plane.Projection(Point3f(1,0,0)); // proietto un punto a caso sul piano normale a source - if(axis.Norm() < EPSILON){ // source era ~ [1,0,0]... + axis=plane.Projection(Point3f(1,0,0)); // project a "random" point on source's normal plane + if(axis.Norm() < EPSILON){ // source was ~ [1,0,0]... axis=plane.Projection(Point3f(0,1,0)); - assert(axis.Norm() > EPSILON); // quest'altro punto deve andare bene + assert(axis.Norm() > EPSILON); // this point must be good } - } - rotation = rotation * Quaternionf(angle,axis); + } + rotation = rotation * Quaternionf(angle,axis); }