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Renamed from similar

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Federico Ponchio 2004-03-06 15:45:35 +00:00
parent c11adb316e
commit 59d5a521a8
1 changed files with 107 additions and 0 deletions
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vcg/math/similarity.h Normal file
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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() {}
Similarity operator*(const Similarity &affine) const;
Similarity &operator*=(const Similarity &affine);
Point3<S> operator*(const Point3<S> &p) const;
Similarity &SetIdentity();
Similarity &SetScale(const S s);
Similarity &SetTranslate(const Point3<S> &t);
///use radiants for angle.
void SetRotate(S angle, const Point3<S> & axis);
Matrix44<S> Matrix() const;
Quaternion<S> rot;
Point3<S> tra;
S sca;
};
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> Point3<S> Similarity<S>::operator*(const Point3<S> &p) const {
Point3<S> r = rot.Rotate(p);
r *= sca;
r += tra;
return r;
}
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;
}
template <class S> void Similarity<S>::SetRotate(S angle, const Point3<S> &axis) {
SetIdentity();
rot.FromAxis(angle, axis);
}
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;
}
template <class S> Similarity<S> &invert(Similarity<S> &a) {
//WARNING:: TEST THIS!!!
a.rot.Invert();
a.sca = 1/a.sca;
a.tra = a.rot.Rotate(-a.tra)*a.sca;
return a;
}
template <class S> Similarity<S> interpolate(const Similarity<S> &a, const Similarity<S> &b, const S t) {
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;
}
typedef Similarity<float> Similarityf;
typedef Similarity<double>Similarityd;
} //namespace
#endif