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#ifndef Magnum_DebugTools_Implementation_ForceRendererTransformation_h
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#define Magnum_DebugTools_Implementation_ForceRendererTransformation_h
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/*
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This file is part of Magnum.
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Copyright © 2010, 2011, 2012, 2013, 2014, 2015, 2016, 2017
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Vladimír Vondruš <mosra@centrum.cz>
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Permission is hereby granted, free of charge, to any person obtaining a
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copy of this software and associated documentation files (the "Software"),
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to deal in the Software without restriction, including without limitation
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the rights to use, copy, modify, merge, publish, distribute, sublicense,
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and/or sell copies of the Software, and to permit persons to whom the
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Software is furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included
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in all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
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THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
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DEALINGS IN THE SOFTWARE.
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*/
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#include "Magnum/DimensionTraits.h"
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#include "Magnum/Magnum.h"
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#include "Magnum/Math/Functions.h"
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#include "Magnum/Math/Matrix3.h"
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#include "Magnum/Math/Matrix4.h"
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namespace Magnum { namespace DebugTools { namespace Implementation {
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template<UnsignedInt dimensions> MatrixTypeFor<dimensions, Float> forceRendererTransformation(const VectorTypeFor<dimensions, Float>& forcePosition, const VectorTypeFor<dimensions, Float>& force);
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template<> inline Matrix3 forceRendererTransformation<2>(const Vector2& forcePosition, const Vector2& force) {
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return Matrix3::from({force, force.perpendicular()}, forcePosition);
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}
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template<> Matrix4 forceRendererTransformation<3>(const Vector3& forcePosition, const Vector3& force) {
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const Matrix4 translation = Matrix4::translation(forcePosition);
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const Float forceLength = force.length();
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/* Zero length, zero scaling */
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if(forceLength < Math::TypeTraits<Float>::epsilon())
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return translation*Matrix4::scaling(Vector3(0.0f));
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Math: made dot(), angle(), *lerp() and cross() free functions.
It is often annoying to write e.g. this, especially in generic code:
T dot = Math::Vector<size, T>::dot(a, b);
When this is more than enough and the compiler can infer the rest from
the context:
T dot = Math::dot(a, b);
There are more downsides and confusing cases (you can call
Math::Vector<3, T>::dot(), Math::Vector3<T>::dot() and Color3::dot() and
it is still the same function), so I made these as free functions in
Math namespace. You can now also abuse ADL for the calls, but I would
advise against that for better readability:
T d = dot(a, b); // dot?! what on earth is dot? and what is a?
The only downside found when porting is that you need to specify the
type somehow when having both parameters as initializer lists:
T d = dot({2.0f, -1.5f}, {1.0f, 2.5f}); // error
T d = dot(Complex{2.0f, -1.5f}, {1.0f, 2.5f}); // okay
But that's probably reasonable (and it's also highly corner case,
the functions were used this way only in tests).
The original static member functions are of course still present, but
marked as deprecated and will be removed at some point in future.
11 years ago
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const Float dot = Math::dot(force/forceLength, Vector3::xAxis());
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/* Force is parallel to X axis, just scaling */
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if(Math::abs(dot) > 1.0f - Math::TypeTraits<Float>::epsilon())
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return translation*Matrix4::scaling({Math::sign(dot)*forceLength, forceLength, forceLength});
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/* Normal of plane going through force vector and X axis vector */
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Math: made dot(), angle(), *lerp() and cross() free functions.
It is often annoying to write e.g. this, especially in generic code:
T dot = Math::Vector<size, T>::dot(a, b);
When this is more than enough and the compiler can infer the rest from
the context:
T dot = Math::dot(a, b);
There are more downsides and confusing cases (you can call
Math::Vector<3, T>::dot(), Math::Vector3<T>::dot() and Color3::dot() and
it is still the same function), so I made these as free functions in
Math namespace. You can now also abuse ADL for the calls, but I would
advise against that for better readability:
T d = dot(a, b); // dot?! what on earth is dot? and what is a?
The only downside found when porting is that you need to specify the
type somehow when having both parameters as initializer lists:
T d = dot({2.0f, -1.5f}, {1.0f, 2.5f}); // error
T d = dot(Complex{2.0f, -1.5f}, {1.0f, 2.5f}); // okay
But that's probably reasonable (and it's also highly corner case,
the functions were used this way only in tests).
The original static member functions are of course still present, but
marked as deprecated and will be removed at some point in future.
11 years ago
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const Vector3 normal = Math::cross(Vector3::xAxis(), force).normalized();
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/* Third base vector, orthogonal to force and normal */
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Math: made dot(), angle(), *lerp() and cross() free functions.
It is often annoying to write e.g. this, especially in generic code:
T dot = Math::Vector<size, T>::dot(a, b);
When this is more than enough and the compiler can infer the rest from
the context:
T dot = Math::dot(a, b);
There are more downsides and confusing cases (you can call
Math::Vector<3, T>::dot(), Math::Vector3<T>::dot() and Color3::dot() and
it is still the same function), so I made these as free functions in
Math namespace. You can now also abuse ADL for the calls, but I would
advise against that for better readability:
T d = dot(a, b); // dot?! what on earth is dot? and what is a?
The only downside found when porting is that you need to specify the
type somehow when having both parameters as initializer lists:
T d = dot({2.0f, -1.5f}, {1.0f, 2.5f}); // error
T d = dot(Complex{2.0f, -1.5f}, {1.0f, 2.5f}); // okay
But that's probably reasonable (and it's also highly corner case,
the functions were used this way only in tests).
The original static member functions are of course still present, but
marked as deprecated and will be removed at some point in future.
11 years ago
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const Vector3 binormal = Math::cross(normal, force/forceLength);
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CORRADE_INTERNAL_ASSERT(binormal.isNormalized());
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/* Transformation matrix from scaled base vectors and translation vector */
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return Matrix4::from({force, normal*forceLength, binormal*forceLength}, forcePosition);
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}
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}}}
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#endif
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