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Commit bf08e7aa authored by Will Schroeder's avatar Will Schroeder
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src/Trans.cc
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......@@ -15,15 +15,14 @@ Copyright (c) Ken Martin, Will Schroeder, Bill Lorensen 1993, 1994
=========================================================================*/
#include <stdlib.h>
#include <math.h>
#include "Trans.hh"
#include "vlMath.hh"
// vlTransform
// Description:
// Constructs a transform. Sets the following defaults
// preMultiplyFlag = 1
// stackSize = 10
// creates an identity matrix as the top matrix on the stack
// Constructs a transform. Sets the following defaults
// preMultiplyFlag = 1
// stackSize = 10
// creates an identity matrix as the top matrix on the stack.
vlTransform::vlTransform ()
{
......@@ -43,10 +42,8 @@ vlTransform::vlTransform ()
this->Modified ();
}
//-----------------------------------------------
// vlTransform (const vlTransform t)
// Description:
// Copy constructor
// Copy constructor
vlTransform::vlTransform (const vlTransform& t)
{
......@@ -67,9 +64,8 @@ vlTransform::vlTransform (const vlTransform& t)
}
// Description:
// Deletes the transformation on the top of the
// stack and sets the top to the next transformation
// on the stack.
// Deletes the transformation on the top of the stack and sets the top
// to the next transformation on the stack.
void vlTransform::Pop ()
{
......@@ -87,10 +83,10 @@ void vlTransform::Pop ()
}
// Description:
// Sets the internal state of the transform to
// post multiply. All matrix subsequent matrix
// opeartions will occur after those already represented
// in the current transformation matrix.
// Sets the internal state of the transform to
// post multiply. All matrix subsequent matrix
// operations will occur after those already represented
// in the current transformation matrix.
void vlTransform::PostMultiply ()
{
if (this->PreMultiplyFlag != 0) {
......@@ -100,10 +96,10 @@ void vlTransform::PostMultiply ()
}
// Description:
// Sets the internal state of the transform to
// pre multiply. All matrix subsequent matrix
// opeartions will occur before those already represented
// in the current transformation matrix.
// Sets the internal state of the transform to
// pre multiply. All matrix subsequent matrix
// operations will occur before those already represented
// in the current transformation matrix.
void vlTransform::PreMultiply ()
{
if (this->PreMultiplyFlag != 1) {
......@@ -113,8 +109,8 @@ void vlTransform::PreMultiply ()
}
// Description:
// Pushes the current transformation matrix onto the
// transformation stack.
// Pushes the current transformation matrix onto the
// transformation stack.
void vlTransform::Push ()
{
vlMatrix4x4 ctm;
......@@ -134,29 +130,28 @@ void vlTransform::Push ()
this->Modified ();
}
# define RADIANS_PER_DEGREE .017453292
//--------------------RotateX-----------------------
// Description:
// Creates an x rotation matrix andn concatenates it with
// the current transformation matrix.
// Creates an x rotation matrix andn concatenates it with
// the current transformation matrix.
void vlTransform::RotateX ( float angle)
{
vlMatrix4x4 ctm;
float radians = angle * RADIANS_PER_DEGREE;
float cos_angle, sin_angle;
vlMath math;
float radians = angle * math.DegreesToRadians();
float cosAngle, sinAngle;
if (angle != 0.0) {
cos_angle = cos (radians);
sin_angle = sin (radians);
cosAngle = cos (radians);
sinAngle = sin (radians);
ctm = 0.0;
ctm.Element[0][0] = 1.0;
ctm.Element[1][1] = cos_angle;
ctm.Element[2][1] = -sin_angle;
ctm.Element[1][2] = sin_angle;
ctm.Element[2][2] = cos_angle;
ctm.Element[1][1] = cosAngle;
ctm.Element[2][1] = -sinAngle;
ctm.Element[1][2] = sinAngle;
ctm.Element[2][2] = cosAngle;
ctm.Element[3][3] = 1.0;
// concatenate with current transformation matrix
......@@ -165,25 +160,27 @@ void vlTransform::RotateX ( float angle)
}
// Description:
// Rotate about y-axis
void vlTransform::RotateY ( float angle)
// Creates a y rotation matrix and concatenates it with
// the current transformation matrix.
{
vlMatrix4x4 ctm;
float radians = angle * RADIANS_PER_DEGREE;
float cos_angle, sin_angle;
vlMath math;
float radians = angle * math.DegreesToRadians();
float cosAngle, sinAngle;
if (angle != 0.0) {
cos_angle = cos (radians);
sin_angle = sin (radians);
cosAngle = cos (radians);
sinAngle = sin (radians);
ctm = 0.0;
ctm.Element[0][0] = cos_angle;
ctm.Element[0][0] = cosAngle;
ctm.Element[1][1] = 1.0;
ctm.Element[2][0] = sin_angle;
ctm.Element[0][2] = -sin_angle;
ctm.Element[2][2] = cos_angle;
ctm.Element[2][0] = sinAngle;
ctm.Element[0][2] = -sinAngle;
ctm.Element[2][2] = cosAngle;
ctm.Element[3][3] = 1.0;
// concatenate with current transformation matrix
......@@ -192,24 +189,26 @@ void vlTransform::RotateY ( float angle)
}
// Description:
// Rotate about y-axis
void vlTransform::RotateZ (float angle)
// Creates a z rotation matrix and concatenates it with
// the current transformation matrix.
{
vlMatrix4x4 ctm;
float radians = angle * RADIANS_PER_DEGREE;
float cos_angle, sin_angle;
vlMath math;
float radians = angle * math.DegreesToRadians();
float cosAngle, sinAngle;
if (angle != 0.0) {
cos_angle = cos (radians);
sin_angle = sin (radians);
cosAngle = cos (radians);
sinAngle = sin (radians);
ctm = 0.0;
ctm.Element[0][0] = cos_angle;
ctm.Element[1][0] = -sin_angle;
ctm.Element[0][1] = sin_angle;
ctm.Element[1][1] = cos_angle;
ctm.Element[0][0] = cosAngle;
ctm.Element[1][0] = -sinAngle;
ctm.Element[0][1] = sinAngle;
ctm.Element[1][1] = cosAngle;
ctm.Element[2][2] = 1.0;
ctm.Element[3][3] = 1.0;
......@@ -219,18 +218,19 @@ void vlTransform::RotateZ (float angle)
}
// Description:
// Creates a matrix that rotates angle degrees about an axis
// through the origin and x, y, z. Then concatenates
// this matrix with the current transformation matrix.
void vlTransform::RotateWXYZ ( float angle, float x, float y, float z)
// Creates a matrix that rotates angle degrees about an axis
// through the origin and x, y, z. Then concatenates
// this matrix with the current transformation matrix.
{
vlMatrix4x4 ctm;
float radians;
float w;
float sum;
float quat[4];
float sin_angle;
float cos_angle;
float sinAngle;
float cosAngle;
vlMath math;
// build a rotation matrix and concatenate it
quat[0] = angle;
......@@ -239,24 +239,24 @@ void vlTransform::RotateWXYZ ( float angle, float x, float y, float z)
quat[3] = z;
// convert degrees to radians
radians = - quat[0] * RADIANS_PER_DEGREE / 2;
radians = - quat[0] * math.DegreesToRadians() / 2;
cos_angle = cos (radians);
sin_angle = sin (radians);
cosAngle = cos (radians);
sinAngle = sin (radians);
// normalize x, y, z
if (sum = quat[1] * quat[1] + quat[2] * quat[2] + quat[3] * quat[3])
{
quat[1] *= sin_angle / sqrt(sum);
quat[2] *= sin_angle / sqrt(sum);
quat[3] *= sin_angle / sqrt(sum);
quat[1] *= sinAngle / sqrt(sum);
quat[2] *= sinAngle / sqrt(sum);
quat[3] *= sinAngle / sqrt(sum);
}
else
{
return;
}
w = cos_angle;
w = cosAngle;
x = quat[1];
y = quat[2];
z = quat[3];
......@@ -283,6 +283,7 @@ void vlTransform::RotateWXYZ ( float angle, float x, float y, float z)
}
// Description:
// Scale in x, y, z directions using current transformation matrix.
void vlTransform::Scale ( float x, float y, float z)
{
vlMatrix4x4 ctm;
......@@ -316,6 +317,7 @@ void vlTransform::Scale ( float x, float y, float z)
}
// Description:
// Translate in x, y, z directions using current transformation matrix.
void vlTransform::Translate ( float x, float y, float z)
{
vlMatrix4x4 ctm;
......@@ -338,6 +340,7 @@ void vlTransform::Translate ( float x, float y, float z)
}
// Description:
// Obtain transpose of current transformation matrix.
void vlTransform::GetTranspose (vlMatrix4x4& (transpose))
{
vlMatrix4x4 temp;
......@@ -352,6 +355,7 @@ void vlTransform::GetTranspose (vlMatrix4x4& (transpose))
}
// Description:
// Invert current transformation matrix.
void vlTransform::Inverse ()
{
(**this->Stack).Invert (**this->Stack, **this->Stack);
......@@ -360,31 +364,34 @@ void vlTransform::Inverse ()
}
// Description:
// Return inverse of current transformation matrix.
void vlTransform::GetInverse ( vlMatrix4x4& inverse)
{
inverse.Invert (**this->Stack, inverse);
}
// Description:
// Get the x, y, z orientation angles from transformation matrix.
float *vlTransform::GetOrientation ()
{
#define AXIS_EPSILON .01
float scale_x, scale_y, scale_z;
vlMatrix4x4 temp;
float x,y,z;
float d;
float d1;
float d2;
float dot;
float alpha;
float phi;
float theta;
float cos_phi, sin_phi;
float cos_theta, sin_theta;
float cos_alpha, sin_alpha;
float x2, y2, z2;
float x3, y3, z3;
float x3p, y3p;
float scale_x, scale_y, scale_z;
vlMatrix4x4 temp;
float x,y,z;
float d;
float d1;
float d2;
float dot;
float alpha;
float phi;
float theta;
float cos_phi, sin_phi;
float cos_theta, sin_theta;
float cos_alpha, sin_alpha;
float x2, y2, z2;
float x3, y3, z3;
float x3p, y3p;
vlMath math;
// copy the matrix into local storage
......@@ -418,7 +425,7 @@ float *vlTransform::GetOrientation ()
theta = atan2 (sin_theta, cos_theta);
y = theta / RADIANS_PER_DEGREE;
y = theta / math.DegreesToRadians();
// now rotate about x axis
......@@ -440,7 +447,7 @@ float *vlTransform::GetOrientation ()
phi = atan2 (sin_phi, cos_phi);
x = - phi / RADIANS_PER_DEGREE;
x = - phi / math.DegreesToRadians();
// finally, rotate about z
......@@ -460,7 +467,7 @@ float *vlTransform::GetOrientation ()
alpha = atan2 (sin_alpha, cos_alpha);
z = - alpha / RADIANS_PER_DEGREE;
z = - alpha / math.DegreesToRadians();
this->Orientation[0] = x;
this->Orientation[1] = y;
......@@ -470,6 +477,7 @@ float *vlTransform::GetOrientation ()
}
// Description:
// Return the x, y, z positions from the current transformation matrix.
void vlTransform::GetPosition (float & x,float & y,float & z)
{
x = (**this->Stack).Element[0][3];
......@@ -477,10 +485,8 @@ void vlTransform::GetPosition (float & x,float & y,float & z)
z = (**this->Stack).Element[2][3];
}
// -----------------------------GetScale-----------------------------
// Description:
// Returns the x, y, z scale factors of the current transformation matrix.
// Return the x, y, z scale factors of the current transformation matrix.
void vlTransform::GetScale ( float & x, float & y, float & z)
{
int i;
......@@ -503,16 +509,15 @@ void vlTransform::GetScale ( float & x, float & y, float & z)
z = scale[2];
}
// -----------------------GetMatrix-------------------------
// Description:
// Returns the current transformation matrix.
// Returns the current transformation matrix.
vlMatrix4x4 & vlTransform::GetMatrix ()
{
return **this->Stack;;
}
// Description:
// Creates an identity matrix and makes it the current transformation matrix.
// Creates an identity matrix and makes it the current transformation matrix.
void vlTransform::Identity ()
{
vlMatrix4x4 ctm;
......@@ -526,10 +531,9 @@ void vlTransform::Identity ()
**this->Stack = ctm;
}
//------------------------Concatenate---------------------------
// Description:
// Concatenates \fImatrix\fR with the current transformation matrix.
// The resulting matrix becomes the new current transformation matrix.
// Concatenates \fImatrix\fR with the current transformation matrix.
// The resulting matrix becomes the new current transformation matrix.
void vlTransform::Concatenate (vlMatrix4x4 & matrix)
{
......@@ -543,7 +547,7 @@ void vlTransform::Concatenate (vlMatrix4x4 & matrix)
}
// Description:
// Multiplies a and b and stores result in c.
// Multiplies matrices a and b and stores result in c.
void vlTransform::Multiply4x4 ( vlMatrix4x4 & a, vlMatrix4x4 & b, vlMatrix4x4 & c)
{
......@@ -562,7 +566,7 @@ void vlTransform::Multiply4x4 ( vlMatrix4x4 & a, vlMatrix4x4 & b, vlMatrix4x4 &
}
// Description:
// Transposes the current transformation matrix.
// Transposes the current transformation matrix.
void vlTransform::Transpose ()
{
......@@ -570,7 +574,7 @@ void vlTransform::Transpose ()
}
// Description:
// Returns the current transformation matrix.
// Returns the current transformation matrix.
void vlTransform::GetMatrix (vlMatrix4x4 & ctm)
{
......@@ -578,8 +582,7 @@ void vlTransform::GetMatrix (vlMatrix4x4 & ctm)
}
// Description:
// Destructor.
// Deletes all matrices on the stack and the stack
// Destructor. Deletes all matrices on the stack and the stack
vlTransform::~vlTransform ()
{
......@@ -594,6 +597,8 @@ vlTransform::~vlTransform ()
delete this->Stack;
}
// Description:
// Print method.
void vlTransform::PrintSelf (ostream& os, vlIndent indent)
{
vlMatrix4x4 ctm;
......@@ -626,6 +631,8 @@ float *vlTransform::GetPoint()
return this->Point;
}
// Description:
// Multiplies list of points by current transformation matrix.
void vlTransform::MultiplyPoints(vlPoints *inPts, vlPoints *outPts)
{
float newX[4];
......@@ -646,6 +653,10 @@ void vlTransform::MultiplyPoints(vlPoints *inPts, vlPoints *outPts)
}
}
// Description:
// Multiplies list of vectors by current transformation matrix.
// Special multiplication since these are vectors.
void vlTransform::MultiplyVectors(vlVectors *inVectors, vlVectors *outVectors)
{
float newV[4];
......@@ -671,6 +682,10 @@ void vlTransform::MultiplyVectors(vlVectors *inVectors, vlVectors *outVectors)
this->Pop();
}
// Description:
// Multiplies list of normals by current transformation matrix.
// Special multiplication since these are vectors.
void vlTransform::MultiplyNormals(vlNormals *inNormals, vlNormals *outNormals)
{
float newN[4];
......
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