190 lines
6.1 KiB
C++
190 lines
6.1 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 1.8 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 1.8 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 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 Point3<S> &p) { SetTranslate(p); }
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Similarity(S s) { SetScale(s); }
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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 Quaternion<S> &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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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> Similarity<S> Similarity<S>::operator*(const Similarity &a) const {
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Similarity<S> 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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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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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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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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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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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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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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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; // scale * rot * trans
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}
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template <class S> Matrix44<S> Similarity<S>::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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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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rot.FromMatrix(t);
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tra[0] = t.element(3, 0);
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tra[1] = t.element(3, 1);
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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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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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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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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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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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} //namespace
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#endif
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