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