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Clarified initial comment, removed vector*matrix operator (confusing!) 

Corrected translate and Rotate, removed gl stuff.
This commit is contained in:
Paolo Cignoni 2004-05-04 23:19:41 +00:00
parent 12553b7c66
commit 4705d0e5ef
1 changed files with 44 additions and 51 deletions
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95
vcg/math/matrix44.h
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@ -24,11 +24,17 @@
History History
$Log: not supported by cvs2svn $ $Log: not supported by cvs2svn $
Revision 1.14 2004/05/04 02:34:03 ganovelli
wrong use of operator [] corrected
Revision 1.13 2004/04/07 10:45:54 cignoni Revision 1.13 2004/04/07 10:45:54 cignoni
Added: [i][j] access, V() for the raw float values, constructor from T[16] Added: [i][j] access, V() for the raw float values, constructor from T[16]
Revision 1.12 2004/03/25 14:57:49 ponchio Revision 1.12 2004/03/25 14:57:49 ponchio
Microerror. ($LOG$ -> $Log: not supported by cvs2svn $ Microerror. ($LOG$ -> $Log: not supported by cvs2svn $
Microerror. ($LOG$ -> Revision 1.14 2004/05/04 02:34:03 ganovelli
Microerror. ($LOG$ -> wrong use of operator [] corrected
Microerror. ($LOG$ ->
Microerror. ($LOG$ -> Revision 1.13 2004/04/07 10:45:54 cignoni Microerror. ($LOG$ -> Revision 1.13 2004/04/07 10:45:54 cignoni
Microerror. ($LOG$ -> Added: [i][j] access, V() for the raw float values, constructor from T[16] Microerror. ($LOG$ -> Added: [i][j] access, V() for the raw float values, constructor from T[16]
Microerror. ($LOG$ -> Microerror. ($LOG$ ->
@ -39,6 +45,7 @@ Microerror. ($LOG$ ->
#ifndef __VCGLIB_MATRIX44 #ifndef __VCGLIB_MATRIX44
#define __VCGLIB_MATRIX44 #define __VCGLIB_MATRIX44
#include <memory.h>
#include <vcg/math/base.h> #include <vcg/math/base.h>
#include <vcg/space/point3.h> #include <vcg/space/point3.h>
#include <vcg/space/point4.h> #include <vcg/space/point4.h>
@ -55,7 +62,10 @@ Opengl stores matrix in column-major order. That is, the matrix is stored as:
a2 a6 a10 a14 a2 a6 a10 a14
a3 a7 a11 a15 a3 a7 a11 a15
e.g. glTranslate generate a matrix that is Usually in opengl (see opengl specs) vectors are 'column' vectors
so usually matrix are PRE-multiplied for a vector.
So the command glTranslate generate a matrix that
is ready to be premultipled for a vector:
1 0 0 tx 1 0 0 tx
0 1 0 ty 0 1 0 ty
@ -69,12 +79,11 @@ Matrix44 stores matrix in row-major order i.e.
a8 a9 a10 a11 a8 a9 a10 a11
a12 a13 a14 a15 a12 a13 a14 a15
and the Translate Function generate: So for the use of that matrix in opengl with their supposed meaning you have to transpose them before feeding to glMultMatrix.
This mechanism is hidden by the templated function defined in wrap/gl/math.h;
1 0 0 0 If your machine has the ARB_transpose_matrix extension it will use the appropriate;
0 1 0 0 The various gl-like command SetRotate, SetTranslate assume that you are making matrix
0 0 1 0 for 'column' vectors.
tx ty tz 1
*/ */
@ -155,15 +164,10 @@ protected:
bool Decompose(); bool Decompose();
}; };
/// Apply POST moltiplica la matrice al vettore (e.g. la traslazione deve stare nell'ultima riga) /*** Postmultiply */
/// Project PRE moltiplica la matrice al vettore (e.g. la traslazione deve stare nell'ultima colonna) //template <class T> Point3<T> operator*(const Point3<T> &p, const Matrix44<T> &m);
/*** Postmultiply (old Apply in the old interface). ///Premultiply
* SetTranslate, SetScale, SetRotate prepare the matrix for this.
*/
template <class T> Point3<T> operator*(const Point3<T> &p, const Matrix44<T> &m);
///Premultiply (old Project in the old interface)
template <class T> Point3<T> operator*(const Matrix44<T> &m, const Point3<T> &p); template <class T> Point3<T> operator*(const Matrix44<T> &m, const Point3<T> &p);
template <class T> Matrix44<T> &Transpose(Matrix44<T> &m); template <class T> Matrix44<T> &Transpose(Matrix44<T> &m);
@ -343,9 +347,9 @@ template <class T> Matrix44<T> &Matrix44<T>::SetTranslate(const Point3<T> &t) {
} }
template <class T> Matrix44<T> &Matrix44<T>::SetTranslate(const T sx, const T sy, const T sz) { template <class T> Matrix44<T> &Matrix44<T>::SetTranslate(const T sx, const T sy, const T sz) {
SetIdentity(); SetIdentity();
element(3, 0) = sx; element(0, 3) = sx;
element(3, 1) = sy; element(1, 3) = sy;
element(3, 2) = sz; element(2, 3) = sz;
return *this; return *this;
} }
template <class T> Matrix44<T> &Matrix44<T>::SetRotate(T angle, const Point3<T> & axis) { template <class T> Matrix44<T> &Matrix44<T>::SetRotate(T angle, const Point3<T> & axis) {
@ -356,20 +360,20 @@ template <class T> Matrix44<T> &Matrix44<T>::SetRotate(T angle, const Point3<T>
Point3<T> t = axis; Point3<T> t = axis;
t.Normalize(); t.Normalize();
element(0,0) = t[0]*t[0]*q + c; element(0,0) = t[0]*t[0]*q + c;
element(1,0) = t[0]*t[1]*q - t[2]*s; element(0,1) = t[0]*t[1]*q - t[2]*s;
element(2,0) = t[0]*t[2]*q + t[1]*s; element(0,2) = t[0]*t[2]*q + t[1]*s;
element(3,0) = 0;
element(0,1) = t[1]*t[0]*q + t[2]*s;
element(1,1) = t[1]*t[1]*q + c;
element(2,1) = t[1]*t[2]*q - t[0]*s;
element(3,1) = 0;
element(0,2) = t[2]*t[0]*q -t[1]*s;
element(1,2) = t[2]*t[1]*q +t[0]*s;
element(2,2) = t[2]*t[2]*q +c;
element(3,2) = 0;
element(0,3) = 0; element(0,3) = 0;
element(1,3) = 0; element(1,0) = t[1]*t[0]*q + t[2]*s;
element(1,1) = t[1]*t[1]*q + c;
element(1,2) = t[1]*t[2]*q - t[0]*s;
element(1,3) = 0;
element(2,0) = t[2]*t[0]*q -t[1]*s;
element(2,1) = t[2]*t[1]*q +t[0]*s;
element(2,2) = t[2]*t[2]*q +c;
element(2,3) = 0; element(2,3) = 0;
element(3,0) = 0;
element(3,1) = 0;
element(3,2) = 0;
element(3,3) = 1; element(3,3) = 1;
return *this; return *this;
} }
@ -392,16 +396,16 @@ template <class T> Point3<T> operator*(const Matrix44<T> &m, const Point3<T> &p)
return s; return s;
} }
template <class T> Point3<T> operator*(const Point3<T> &p, const Matrix44<T> &m) { //template <class T> Point3<T> operator*(const Point3<T> &p, const Matrix44<T> &m) {
T w; // T w;
Point3<T> s; // Point3<T> s;
s[0] = m.element(0, 0)*p[0] + m.element(1, 0)*p[1] + m.element(2, 0)*p[2] + m.element(3, 0); // s[0] = m.element(0, 0)*p[0] + m.element(1, 0)*p[1] + m.element(2, 0)*p[2] + m.element(3, 0);
s[1] = m.element(0, 1)*p[0] + m.element(1, 1)*p[1] + m.element(2, 1)*p[2] + m.element(3, 1); // s[1] = m.element(0, 1)*p[0] + m.element(1, 1)*p[1] + m.element(2, 1)*p[2] + m.element(3, 1);
s[2] = m.element(0, 2)*p[0] + m.element(1, 2)*p[1] + m.element(2, 2)*p[2] + m.element(3, 2); // s[2] = m.element(0, 2)*p[0] + m.element(1, 2)*p[1] + m.element(2, 2)*p[2] + m.element(3, 2);
w = m.element(0, 3)*p[0] + m.element(1, 3)*p[1] + m.element(2, 3)*p[2] + m.element(3, 3); // w = m.element(0, 3)*p[0] + m.element(1, 3)*p[1] + m.element(2, 3)*p[2] + m.element(3, 3);
if(w != 0) s /= w; // if(w != 0) s /= w;
return s; // return s;
} //}
template <class T> Matrix44<T> &Transpose(Matrix44<T> &m) { template <class T> Matrix44<T> &Transpose(Matrix44<T> &m) {
for(int i = 1; i < 4; i++) for(int i = 1; i < 4; i++)
@ -607,14 +611,3 @@ template <class T> Point4<T> LinearSolve<T>::Solve(const Point4<T> &b) {
#endif #endif
/*#ifdef __GL_H__
// Applicano la trasformazione intesa secondo la Apply
void glMultMatrix(Matrix44<double> const & M) { glMultMatrixd(&(M.a[0][0]));}
void glMultMatrix(Matrix44<float> const & M) { glMultMatrixf(&(M.a[0][0]));}
void glLoadMatrix(Matrix44<double> const & M) { glLoadMatrixd(&(M.a[0][0]));}
void glLoadMatrix(Matrix44<float> const & M) { glLoadMatrixf(&(M.a[0][0]));}
#endif*/