/****************************************************************************
* VCGLib o o *
* Visual and Computer Graphics Library o o *
* _ O _ *
* Copyright(C) 2004 \/)\/ *
* Visual Computing Lab /\/| *
* ISTI - Italian National Research Council | *
* \ *
* All rights reserved. *
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 2 of the License, or *
* (at your option) any later version. *
* *
* This program is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU General Public License (http://www.gnu.org/licenses/gpl.txt) *
* for more details. *
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****************************************************************************/
/****************************************************************************
History
$Log: not supported by cvs2svn $
Revision 1.16 2008/02/22 17:40:27 ponchio
Fixed determinantt problem and quaternion problem.
Revision 1.15 2008/02/21 11:34:08 ponchio
refixed bug in FromMatrix
Revision 1.14 2008/02/21 10:57:59 ponchio
fixed bug in FromMatrix
Revision 1.13 2008/02/21 10:30:18 benedetti
corrected bug in FromMatrix
Revision 1.12 2007/02/05 14:17:48 corsini
add new ctor (build similarity from euler angles)
Revision 1.11 2004/12/15 18:45:50 tommyfranken
*** empty log message ***
Revision 1.10 2004/10/07 13:55:47 ganovelli
templated on the kind of class used to implement rotation
(default is QUternion but it can be Matrix44 as well)
Revision 1.9 2004/06/04 13:35:07 cignoni
added InverseMatrix,
Revision 1.8 2004/05/07 10:09:13 cignoni
missing final newline
Revision 1.7 2004/05/04 23:23:45 cignoni
unified to the gl stlyle matix*vector. removed vector*matrix operator
Revision 1.6 2004/03/25 14:57:49 ponchio
Microerror. ($LOG$ -> $Log: not supported by cvs2svn $
Microerror. ($LOG$ -> Revision 1.16 2008/02/22 17:40:27 ponchio
Microerror. ($LOG$ -> Fixed determinantt problem and quaternion problem.
Microerror. ($LOG$ ->
Microerror. ($LOG$ -> Revision 1.15 2008/02/21 11:34:08 ponchio
Microerror. ($LOG$ -> refixed bug in FromMatrix
Microerror. ($LOG$ ->
Microerror. ($LOG$ -> Revision 1.14 2008/02/21 10:57:59 ponchio
Microerror. ($LOG$ -> fixed bug in FromMatrix
Microerror. ($LOG$ ->
Microerror. ($LOG$ -> Revision 1.13 2008/02/21 10:30:18 benedetti
Microerror. ($LOG$ -> corrected bug in FromMatrix
Microerror. ($LOG$ ->
Microerror. ($LOG$ -> Revision 1.12 2007/02/05 14:17:48 corsini
Microerror. ($LOG$ -> add new ctor (build similarity from euler angles)
Microerror. ($LOG$ ->
Microerror. ($LOG$ -> Revision 1.11 2004/12/15 18:45:50 tommyfranken
Microerror. ($LOG$ -> *** empty log message ***
Microerror. ($LOG$ ->
Microerror. ($LOG$ -> Revision 1.10 2004/10/07 13:55:47 ganovelli
Microerror. ($LOG$ -> templated on the kind of class used to implement rotation
Microerror. ($LOG$ -> (default is QUternion but it can be Matrix44 as well)
Microerror. ($LOG$ ->
Microerror. ($LOG$ -> Revision 1.9 2004/06/04 13:35:07 cignoni
Microerror. ($LOG$ -> added InverseMatrix,
Microerror. ($LOG$ ->
Microerror. ($LOG$ -> Revision 1.8 2004/05/07 10:09:13 cignoni
Microerror. ($LOG$ -> missing final newline
Microerror. ($LOG$ ->
Microerror. ($LOG$ -> Revision 1.7 2004/05/04 23:23:45 cignoni
Microerror. ($LOG$ -> unified to the gl stlyle matix*vector. removed vector*matrix operator
Microerror. ($LOG$ ->
****************************************************************************/
#ifndef SIMILARITY_H
#define SIMILARITY_H
#include <vcg/math/quaternion.h>
#include <vcg/math/matrix44.h>
namespace vcg {
template <class S,class RotationType = Quaternion<S> > class Similarity {
public:
Similarity() {}
Similarity(const RotationType &q) { SetRotate(q); }
Similarity(const Point3<S> &p) { SetTranslate(p); }
Similarity(S s) { SetScale(s); }
Similarity(S alpha, S beta, S gamma)
{
rot.FromEulerAngles(alpha, beta, gamma);
tra = Point3<S>(0, 0, 0);
sca = 1;
}
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.
Similarity &SetRotate(S angle, const Point3<S> & axis);
Similarity &SetRotate(const RotationType &q);
Matrix44<S> Matrix() const;
Matrix44<S> InverseMatrix() const;
void FromMatrix(const Matrix44<S> &m);
RotationType rot;
Point3<S> tra;
S sca;
};
template <class S,class RotationType> Similarity<S,RotationType> &Invert(Similarity<S,RotationType> &m);
template <class S,class RotationType> Similarity<S,RotationType> Inverse(const Similarity<S,RotationType> &m);
template <class S,class RotationType> Point3<S> operator*(const Similarity<S,RotationType> &m, const Point3<S> &p);
template <class S,class RotationType> Similarity<S,RotationType> Similarity<S,RotationType>::operator*(const Similarity &a) const {
Similarity<S,RotationType> r;
r.rot = rot * a.rot;
r.sca = sca * a.sca;
r.tra = (rot.Rotate(a.tra)) * sca + tra;
return r;
}
template <class S,class RotationType> Similarity<S,RotationType> &Similarity<S,RotationType>::operator*=(const Similarity &a) {
rot = rot * a.rot;
sca = sca * a.sca;
tra = (rot.Rotate(a.tra)) * sca + tra;
return *this;
}
template <class S,class RotationType> Similarity<S,RotationType> &Similarity<S,RotationType>::SetIdentity() {
rot.SetIdentity();
tra = Point3<S>(0, 0, 0);
sca = 1;
return *this;
}
template <class S,class RotationType> Similarity<S,RotationType> &Similarity<S,RotationType>::SetScale(const S s) {
SetIdentity();
sca = s;
return *this;
}
template <class S,class RotationType> Similarity<S,RotationType> &Similarity<S,RotationType>::SetTranslate(const Point3<S> &t) {
SetIdentity();
tra = t;
return *this;
}
template <class S,class RotationType> Similarity<S,RotationType> &Similarity<S,RotationType>::SetRotate(S angle, const Point3<S> &axis) {
SetIdentity();
rot.FromAxis(angle, axis);
return *this;
}
template <class S,class RotationType> Similarity<S,RotationType> &Similarity<S,RotationType>::SetRotate(const RotationType &q) {
SetIdentity();
rot = q;
return *this;
}
template <class S,class RotationType> Matrix44<S> Similarity<S,RotationType>::Matrix() const {
Matrix44<S> r;
rot.ToMatrix(r);
Matrix44<S> s = Matrix44<S>().SetScale(sca, sca, sca);
Matrix44<S> t = Matrix44<S>().SetTranslate(tra[0], tra[1], tra[2]);
return Matrix44<S>(s*r*t); // trans * scale * rot;
}
template <class S,class RotationType> Matrix44<S> Similarity<S,RotationType>::InverseMatrix() const {
return Inverse(Matrix());
}
template <class S,class RotationType> void Similarity<S,RotationType>::FromMatrix(const Matrix44<S> &m) {
//Computes a t*s*r decomposition
S det = m.Determinant();
assert(det > 0);
sca = (S)pow((S)det, (S)(1/3.0));
Matrix44<S> t = m*Matrix44<S>().SetScale(1/sca, 1/sca, 1/sca);
tra[0] = t.ElementAt(0, 3);t[0][3] = 0.0;
tra[1] = t.ElementAt(1, 3);t[1][3] = 0.0;
tra[2] = t.ElementAt(2, 3);t[2][3] = 0.0;
rot.FromMatrix(t);
Invert(t);
tra = t * tra;
tra/= sca;
}
template <class S,class RotationType> Similarity<S,RotationType> &Invert(Similarity<S,RotationType> &a) {
a.rot.Invert();
a.sca = 1/a.sca;
a.tra = a.rot.Rotate(-a.tra)*a.sca;
return a;
}
template <class S,class RotationType> Similarity<S,RotationType> Inverse(const Similarity<S,RotationType> &m) {
Similarity<S,RotationType> a = m;
return Invert(a);
}
template <class S,class RotationType> Similarity<S,RotationType> Interpolate(const Similarity<S,RotationType> &a, const Similarity<S,RotationType> &b, const S t) {
Similarity<S,RotationType> 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;
}
template <class S,class RotationType> Point3<S> operator*(const Similarity<S,RotationType> &m, const Point3<S> &p) {
Matrix44<S> t;
m.rot.ToMatrix(t);
Point3<S> r = t*p;
r *= m.sca;
r += m.tra;
return r;
}
//typedef Similarity<float> Similarityf;
//typedef Similarity<double>Similarityd;
class Similarityf:public Similarity<float>{};
class Similarityd:public Similarity<double>{};
} //namespace
#endif