Clarified initial comment, removed vector*matrix operator (confusing!)
Corrected translate and Rotate, removed gl stuff.
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@ -24,11 +24,17 @@
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History
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$Log: not supported by cvs2svn $
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Revision 1.14 2004/05/04 02:34:03 ganovelli
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wrong use of operator [] corrected
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Revision 1.13 2004/04/07 10:45:54 cignoni
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Added: [i][j] access, V() for the raw float values, constructor from T[16]
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Revision 1.12 2004/03/25 14:57:49 ponchio
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Microerror. ($LOG$ -> $Log: not supported by cvs2svn $
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Microerror. ($LOG$ -> Revision 1.14 2004/05/04 02:34:03 ganovelli
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Microerror. ($LOG$ -> wrong use of operator [] corrected
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Microerror. ($LOG$ ->
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Microerror. ($LOG$ -> Revision 1.13 2004/04/07 10:45:54 cignoni
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Microerror. ($LOG$ -> Added: [i][j] access, V() for the raw float values, constructor from T[16]
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Microerror. ($LOG$ ->
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@ -39,6 +45,7 @@ Microerror. ($LOG$ ->
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#ifndef __VCGLIB_MATRIX44
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#define __VCGLIB_MATRIX44
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#include <memory.h>
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#include <vcg/math/base.h>
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#include <vcg/space/point3.h>
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#include <vcg/space/point4.h>
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@ -55,7 +62,10 @@ Opengl stores matrix in column-major order. That is, the matrix is stored as:
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a2 a6 a10 a14
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a3 a7 a11 a15
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e.g. glTranslate generate a matrix that is
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Usually in opengl (see opengl specs) vectors are 'column' vectors
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so usually matrix are PRE-multiplied for a vector.
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So the command glTranslate generate a matrix that
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is ready to be premultipled for a vector:
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1 0 0 tx
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0 1 0 ty
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@ -69,12 +79,11 @@ Matrix44 stores matrix in row-major order i.e.
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a8 a9 a10 a11
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a12 a13 a14 a15
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and the Translate Function generate:
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1 0 0 0
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0 1 0 0
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0 0 1 0
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tx ty tz 1
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So for the use of that matrix in opengl with their supposed meaning you have to transpose them before feeding to glMultMatrix.
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This mechanism is hidden by the templated function defined in wrap/gl/math.h;
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If your machine has the ARB_transpose_matrix extension it will use the appropriate;
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The various gl-like command SetRotate, SetTranslate assume that you are making matrix
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for 'column' vectors.
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*/
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@ -155,15 +164,10 @@ protected:
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bool Decompose();
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};
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/// Apply POST moltiplica la matrice al vettore (e.g. la traslazione deve stare nell'ultima riga)
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/// Project PRE moltiplica la matrice al vettore (e.g. la traslazione deve stare nell'ultima colonna)
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/*** Postmultiply */
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//template <class T> Point3<T> operator*(const Point3<T> &p, const Matrix44<T> &m);
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/*** Postmultiply (old Apply in the old interface).
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* SetTranslate, SetScale, SetRotate prepare the matrix for this.
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*/
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template <class T> Point3<T> operator*(const Point3<T> &p, const Matrix44<T> &m);
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///Premultiply (old Project in the old interface)
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///Premultiply
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template <class T> Point3<T> operator*(const Matrix44<T> &m, const Point3<T> &p);
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template <class T> Matrix44<T> &Transpose(Matrix44<T> &m);
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@ -343,9 +347,9 @@ template <class T> Matrix44<T> &Matrix44<T>::SetTranslate(const Point3<T> &t) {
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}
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template <class T> Matrix44<T> &Matrix44<T>::SetTranslate(const T sx, const T sy, const T sz) {
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SetIdentity();
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element(3, 0) = sx;
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element(3, 1) = sy;
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element(3, 2) = sz;
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element(0, 3) = sx;
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element(1, 3) = sy;
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element(2, 3) = sz;
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return *this;
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}
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template <class T> Matrix44<T> &Matrix44<T>::SetRotate(T angle, const Point3<T> & axis) {
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@ -356,20 +360,20 @@ template <class T> Matrix44<T> &Matrix44<T>::SetRotate(T angle, const Point3<T>
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Point3<T> t = axis;
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t.Normalize();
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element(0,0) = t[0]*t[0]*q + c;
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element(1,0) = t[0]*t[1]*q - t[2]*s;
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element(2,0) = t[0]*t[2]*q + t[1]*s;
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element(3,0) = 0;
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element(0,1) = t[1]*t[0]*q + t[2]*s;
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element(1,1) = t[1]*t[1]*q + c;
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element(2,1) = t[1]*t[2]*q - t[0]*s;
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element(3,1) = 0;
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element(0,2) = t[2]*t[0]*q -t[1]*s;
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element(1,2) = t[2]*t[1]*q +t[0]*s;
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element(2,2) = t[2]*t[2]*q +c;
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element(3,2) = 0;
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element(0,1) = t[0]*t[1]*q - t[2]*s;
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element(0,2) = t[0]*t[2]*q + t[1]*s;
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element(0,3) = 0;
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element(1,3) = 0;
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element(1,0) = t[1]*t[0]*q + t[2]*s;
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element(1,1) = t[1]*t[1]*q + c;
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element(1,2) = t[1]*t[2]*q - t[0]*s;
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element(1,3) = 0;
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element(2,0) = t[2]*t[0]*q -t[1]*s;
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element(2,1) = t[2]*t[1]*q +t[0]*s;
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element(2,2) = t[2]*t[2]*q +c;
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element(2,3) = 0;
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element(3,0) = 0;
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element(3,1) = 0;
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element(3,2) = 0;
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element(3,3) = 1;
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return *this;
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}
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@ -392,16 +396,16 @@ template <class T> Point3<T> operator*(const Matrix44<T> &m, const Point3<T> &p)
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return s;
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}
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template <class T> Point3<T> operator*(const Point3<T> &p, const Matrix44<T> &m) {
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T w;
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Point3<T> s;
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s[0] = m.element(0, 0)*p[0] + m.element(1, 0)*p[1] + m.element(2, 0)*p[2] + m.element(3, 0);
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s[1] = m.element(0, 1)*p[0] + m.element(1, 1)*p[1] + m.element(2, 1)*p[2] + m.element(3, 1);
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s[2] = m.element(0, 2)*p[0] + m.element(1, 2)*p[1] + m.element(2, 2)*p[2] + m.element(3, 2);
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w = m.element(0, 3)*p[0] + m.element(1, 3)*p[1] + m.element(2, 3)*p[2] + m.element(3, 3);
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if(w != 0) s /= w;
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return s;
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}
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//template <class T> Point3<T> operator*(const Point3<T> &p, const Matrix44<T> &m) {
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// T w;
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// Point3<T> s;
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// s[0] = m.element(0, 0)*p[0] + m.element(1, 0)*p[1] + m.element(2, 0)*p[2] + m.element(3, 0);
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// s[1] = m.element(0, 1)*p[0] + m.element(1, 1)*p[1] + m.element(2, 1)*p[2] + m.element(3, 1);
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// s[2] = m.element(0, 2)*p[0] + m.element(1, 2)*p[1] + m.element(2, 2)*p[2] + m.element(3, 2);
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// w = m.element(0, 3)*p[0] + m.element(1, 3)*p[1] + m.element(2, 3)*p[2] + m.element(3, 3);
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// if(w != 0) s /= w;
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// return s;
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//}
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template <class T> Matrix44<T> &Transpose(Matrix44<T> &m) {
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for(int i = 1; i < 4; i++)
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@ -607,14 +611,3 @@ template <class T> Point4<T> LinearSolve<T>::Solve(const Point4<T> &b) {
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#endif
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/*#ifdef __GL_H__
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// Applicano la trasformazione intesa secondo la Apply
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void glMultMatrix(Matrix44<double> const & M) { glMultMatrixd(&(M.a[0][0]));}
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void glMultMatrix(Matrix44<float> const & M) { glMultMatrixf(&(M.a[0][0]));}
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void glLoadMatrix(Matrix44<double> const & M) { glLoadMatrixd(&(M.a[0][0]));}
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void glLoadMatrix(Matrix44<float> const & M) { glLoadMatrixf(&(M.a[0][0]));}
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#endif*/
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