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improved comments

This commit is contained in:
Paolo Cignoni 2008-03-14 17:15:59 +00:00
parent b768cce86c
commit 35848b0a77
1 changed files with 39 additions and 36 deletions
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75
wrap/gui/coordinateframe.cpp
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@ -23,6 +23,9 @@
/**************************************************************************** /****************************************************************************
History History
$Log: not supported by cvs2svn $ $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 Revision 1.7 2008/02/26 18:22:42 benedetti
corrected after quaternion/similarity/trackball changes corrected after quaternion/similarity/trackball changes
@ -95,11 +98,11 @@ void CoordinateFrame::Render(QGLWidget* glw)
glVertex(-c); glVertex(c); glVertex(-c); glVertex(c);
glEnd(); glEnd();
glColor(basecolor); glColor(basecolor);
// assi positivi // positive axes
drawTickedLine(o,a,size,slope_a,linewidth); // Draws x axis drawTickedLine(o,a,size,slope_a,linewidth); // Draws x axis
drawTickedLine(o,b,size,slope_b,linewidth); // Draws y axis drawTickedLine(o,b,size,slope_b,linewidth); // Draws y axis
drawTickedLine(o,c,size,slope_c,linewidth); // Draws z 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,-a,size,slope_a,linewidth); // Draws x axis
drawTickedLine(o,-b,size,slope_b,linewidth); // Draws y axis drawTickedLine(o,-b,size,slope_b,linewidth); // Draws y axis
drawTickedLine(o,-c,size,slope_c,linewidth); // Draws z 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) 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(); transform.SetIdentity();
// ruoto // apply rotation
Matrix44f rot; Matrix44f rot;
rotation.ToMatrix(rot); rotation.ToMatrix(rot);
transform = Inverse(rot) * transform ; transform = Inverse(rot) * transform ;
// sposto in posizione // apply translation
Matrix44f pos; Matrix44f pos;
pos.SetTranslate(position); pos.SetTranslate(position);
@ -282,8 +285,8 @@ void MovableCoordinateFrame::AlignWith(const Point3f pri,const Point3f secondary
if( primary.Norm() < EPSILON*size ) if( primary.Norm() < EPSILON*size )
return; return;
primary.Normalize(); // ho l'asse primario, lo normalizzo primary.Normalize();
Plane3f plane(0,primary); // piano di proiezione per la seconda rotazione Plane3f plane(0,primary); // projection plane for the second rotation
Point3f x(1,0,0),y(0,1,0),z(0,0,1); 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); 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);
} else assert (0); } else assert (0);
Point3f old_first = Inverse(rotation).Rotate(first); // l'asse 1 Point3f old_first = Inverse(rotation).Rotate(first); // axis 1
Point3f old_second_pro = plane.Projection(Inverse(rotation).Rotate(second)); //la proiezione dell'asse 2 Point3f old_second_pro = plane.Projection(Inverse(rotation).Rotate(second)); // axis 2 projection
Point3f old_third_pro = plane.Projection(Inverse(rotation).Rotate(third)); //la proiezione dell'asse 3 Point3f old_third_pro = plane.Projection(Inverse(rotation).Rotate(third)); // axis 3 projection
// allinea l'asse 1 corrente all'asse primary // align axis 1 to primary
RotateToAlign(old_first,primary); // prima rotazione RotateToAlign(old_first,primary);
Point3f secondary_pro = plane.Projection(secondary); // la proiezione di secondary Point3f secondary_pro = plane.Projection(secondary); // secondary's projection
Point3f new_second_pro = plane.Projection(Inverse(rotation).Rotate(second)); // la proiezione dell'asse 2 dopo la prima rotazione 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 ){ // secondary is not null nor parallel to primary
if( secondary.Norm() > EPSILON*size && secondary_pro.Norm() > EPSILON ){ // align axis 2 projection after the first rotation to secondary's projection
// allinea la proiezione dell'asse 2 dopo la prima rotazione alla proiezione dell'asse secondary
secondary_pro.Normalize(); secondary_pro.Normalize();
RotateToAlign(new_second_pro,secondary_pro); RotateToAlign(new_second_pro,secondary_pro);
return; return;
} }
// creco di riallineare l'asse 2
if ( old_second_pro.Norm() > EPSILON ) { if ( old_second_pro.Norm() > EPSILON ) { // can realign axis 2
// allinea la proiezione dell'asse 2 dopo la prima rotazione alla proiezione dell'asse 2 // align axis 2 projection after the first rotation to old axis 2 projection
old_second_pro.Normalize(); old_second_pro.Normalize();
RotateToAlign(new_second_pro,old_second_pro); RotateToAlign(new_second_pro,old_second_pro);
return; 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 // realign axis 3
assert(old_third_pro.Norm() > EPSILON ); // la proiezione dell'asse 3 non dovrebbe essere 0 Point3f new_third_pro = plane.Projection(Inverse(rotation).Rotate(third));// axis 3 projection after the first rotation
// allinea la proiezione dell'asse 3 dopo la prima rotazione alla proiezione dell'asse 3 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(); old_third_pro.Normalize();
RotateToAlign(new_third_pro,old_third_pro); 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) void MovableCoordinateFrame::RotateToAlign(const Point3f source, const Point3f dest)
{ {
const float EPSILON=1e-6; 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(source.Norm() - 1) < EPSILON);
assert( math::Abs(dest.Norm() - 1) < EPSILON); assert( math::Abs(dest.Norm() - 1) < EPSILON);
Point3f axis = dest ^ source; Point3f axis = dest ^ source;
float sinangle = axis.Norm(); float sinangle = axis.Norm();
float cosangle = dest * source; float cosangle = dest * source;
float angle = math::Atan2(sinangle,cosangle); float angle = math::Atan2(sinangle,cosangle);
if( math::Abs(angle) < EPSILON ) if( math::Abs(angle) < EPSILON )
return; // angolo ~ 0, annullo return; // angle ~ 0, aborting
if( math::Abs(math::Abs(angle)-M_PI) < EPSILON){ 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); Plane3f plane(0,source);
axis=plane.Projection(Point3f(1,0,0)); // proietto un punto a caso sul piano normale a source axis=plane.Projection(Point3f(1,0,0)); // project a "random" point on source's normal plane
if(axis.Norm() < EPSILON){ // source era ~ [1,0,0]... if(axis.Norm() < EPSILON){ // source was ~ [1,0,0]...
axis=plane.Projection(Point3f(0,1,0)); 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);
} }