templated on the kind of class used to implement rotation
(default is QUternion but it can be Matrix44 as well)
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ganovelli
parent
23a3ce597e
commit
5d07b02cf6
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@ -24,6 +24,9 @@
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History
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$Log: not supported by cvs2svn $
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Revision 1.9 2004/06/04 13:35:07 cignoni
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added InverseMatrix,
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Revision 1.8 2004/05/07 10:09:13 cignoni
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missing final newline
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@ -32,6 +35,9 @@ unified to the gl stlyle matix*vector. removed vector*matrix operator
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Revision 1.6 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 1.9 2004/06/04 13:35:07 cignoni
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Microerror. ($LOG$ -> added InverseMatrix,
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Microerror. ($LOG$ ->
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Microerror. ($LOG$ -> Revision 1.8 2004/05/07 10:09:13 cignoni
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Microerror. ($LOG$ -> missing final newline
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Microerror. ($LOG$ ->
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@ -50,10 +56,10 @@ Microerror. ($LOG$ ->
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namespace vcg {
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template <class S> class Similarity {
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template <class S,class RotationType = Quaternion<S> > class Similarity {
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public:
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Similarity() {}
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Similarity(const Quaternion<S> &q) { SetRotate(q); }
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Similarity(const RotationType &q) { SetRotate(q); }
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Similarity(const Point3<S> &p) { SetTranslate(p); }
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Similarity(S s) { SetScale(s); }
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@ -67,70 +73,70 @@ public:
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Similarity &SetTranslate(const Point3<S> &t);
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///use radiants for angle.
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Similarity &SetRotate(S angle, const Point3<S> & axis);
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Similarity &SetRotate(const Quaternion<S> &q);
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Similarity &SetRotate(const RotationType &q);
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Matrix44<S> Matrix() const;
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Matrix44<S> InverseMatrix() const;
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void FromMatrix(const Matrix44<S> &m);
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Quaternion<S> rot;
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RotationType rot;
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Point3<S> tra;
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S sca;
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};
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template <class S> Similarity<S> &Invert(Similarity<S> &m);
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template <class S> Similarity<S> Inverse(const Similarity<S> &m);
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template <class S> Point3<S> operator*(const Similarity<S> &m, const Point3<S> &p);
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template <class S,class RotationType> Similarity<S,RotationType> &Invert(Similarity<S,RotationType> &m);
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template <class S,class RotationType> Similarity<S,RotationType> Inverse(const Similarity<S,RotationType> &m);
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template <class S,class RotationType> Point3<S> operator*(const Similarity<S,RotationType> &m, const Point3<S> &p);
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template <class S> Similarity<S> Similarity<S>::operator*(const Similarity &a) const {
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Similarity<S> r;
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template <class S,class RotationType> Similarity<S,RotationType> Similarity<S,RotationType>::operator*(const Similarity &a) const {
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Similarity<S,RotationType> r;
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r.rot = rot * a.rot;
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r.sca = sca * a.sca;
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r.tra = (rot.Rotate(a.tra)) * sca + tra;
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return r;
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}
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template <class S> Similarity<S> &Similarity<S>::operator*=(const Similarity &a) {
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template <class S,class RotationType> Similarity<S,RotationType> &Similarity<S,RotationType>::operator*=(const Similarity &a) {
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rot = rot * a.rot;
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sca = sca * a.sca;
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tra = (rot.Rotate(a.tra)) * sca + tra;
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return *this;
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}
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template <class S> Similarity<S> &Similarity<S>::SetIdentity() {
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rot.FromAxis(0, Point3<S>(1, 0, 0));
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template <class S,class RotationType> Similarity<S,RotationType> &Similarity<S,RotationType>::SetIdentity() {
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rot.SetIdentity();
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tra = Point3<S>(0, 0, 0);
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sca = 1;
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return *this;
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}
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template <class S> Similarity<S> &Similarity<S>::SetScale(const S s) {
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template <class S,class RotationType> Similarity<S,RotationType> &Similarity<S,RotationType>::SetScale(const S s) {
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SetIdentity();
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sca = s;
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return *this;
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}
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template <class S> Similarity<S> &Similarity<S>::SetTranslate(const Point3<S> &t) {
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template <class S,class RotationType> Similarity<S,RotationType> &Similarity<S,RotationType>::SetTranslate(const Point3<S> &t) {
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SetIdentity();
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tra = t;
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return *this;
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}
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template <class S> Similarity<S> &Similarity<S>::SetRotate(S angle, const Point3<S> &axis) {
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template <class S,class RotationType> Similarity<S,RotationType> &Similarity<S,RotationType>::SetRotate(S angle, const Point3<S> &axis) {
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SetIdentity();
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rot.FromAxis(angle, axis);
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return *this;
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}
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template <class S> Similarity<S> &Similarity<S>::SetRotate(const Quaternion<S> &q) {
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template <class S,class RotationType> Similarity<S,RotationType> &Similarity<S,RotationType>::SetRotate(const RotationType &q) {
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SetIdentity();
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rot = q;
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return *this;
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}
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template <class S> Matrix44<S> Similarity<S>::Matrix() const {
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template <class S,class RotationType> Matrix44<S> Similarity<S,RotationType>::Matrix() const {
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Matrix44<S> r;
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rot.ToMatrix(r);
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Matrix44<S> s = Matrix44<S>().SetScale(sca, sca, sca);
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@ -138,12 +144,12 @@ template <class S> Matrix44<S> Similarity<S>::Matrix() const {
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return s*r*t; // scale * rot * trans
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}
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template <class S> Matrix44<S> Similarity<S>::InverseMatrix() const {
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template <class S,class RotationType> Matrix44<S> Similarity<S,RotationType>::InverseMatrix() const {
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return Inverse(Matrix());
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}
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template <class S> void Similarity<S>::FromMatrix(const Matrix44<S> &m) {
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template <class S,class RotationType> void Similarity<S,RotationType>::FromMatrix(const Matrix44<S> &m) {
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sca = (S)pow(m.Determinant(), 1/3);
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assert(sca != 0);
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Matrix44<S> t = m * Matrix44<S>().SetScale(1/sca, 1/sca, 1/sca);
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@ -153,36 +159,40 @@ template <class S> void Similarity<S>::FromMatrix(const Matrix44<S> &m) {
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tra[2] = t.element(3, 2);
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}
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template <class S> Similarity<S> &Invert(Similarity<S> &a) {
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template <class S,class RotationType> Similarity<S,RotationType> &Invert(Similarity<S,RotationType> &a) {
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a.rot.Invert();
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a.sca = 1/a.sca;
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a.tra = a.rot.Rotate(-a.tra)*a.sca;
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return a;
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}
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template <class S> Similarity<S> Inverse(const Similarity<S> &m) {
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Similarity<S> a = m;
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template <class S,class RotationType> Similarity<S,RotationType> Inverse(const Similarity<S,RotationType> &m) {
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Similarity<S,RotationType> a = m;
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return Invert(a);
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}
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template <class S> Similarity<S> Interpolate(const Similarity<S> &a, const Similarity<S> &b, const S t) {
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Similarity<S> r;
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template <class S,class RotationType> Similarity<S,RotationType> Interpolate(const Similarity<S,RotationType> &a, const Similarity<S,RotationType> &b, const S t) {
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Similarity<S,RotationType> r;
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r.rot = interpolate(a.rot, b.rot, t);
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r.tra = t * a.tra + (1-t) * b.tra;
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r.sca = t * a.sca + (1-t) * b.sca;
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return r;
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}
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template <class S> Point3<S> operator*(const Similarity<S> &m, const Point3<S> &p) {
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template <class S,class RotationType> Point3<S> operator*(const Similarity<S,RotationType> &m, const Point3<S> &p) {
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Point3<S> r = m.rot.Rotate(p);
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r *= m.sca;
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r += m.tra;
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return r;
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}
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typedef Similarity<float> Similarityf;
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typedef Similarity<double>Similarityd;
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//typedef Similarity<float> Similarityf;
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//typedef Similarity<double>Similarityd;
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class Similarityf:public Similarity<float>{};
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class Similarityd:public Similarity<double>{};
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} //namespace
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