mirror of https://github.com/mosra/magnum.git
Vladimír Vondruš
13 years ago
7 changed files with 416 additions and 0 deletions
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/*
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This file is part of Magnum. |
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Copyright © 2010, 2011, 2012, 2013 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 "DualQuaternionTransformation.h" |
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#include "Object.hpp" |
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namespace Magnum { namespace SceneGraph { |
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#ifndef DOXYGEN_GENERATING_OUTPUT |
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template class MAGNUM_SCENEGRAPH_EXPORT Object<DualQuaternionTransformation<>>; |
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#endif |
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}} |
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#ifndef Magnum_SceneGraph_DualQuaternionTransformation_h |
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#define Magnum_SceneGraph_DualQuaternionTransformation_h |
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/*
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This file is part of Magnum. |
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Copyright © 2010, 2011, 2012, 2013 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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|
|
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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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/** @file
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* @brief Class Magnum::SceneGraph::DualQuaternionTransformation |
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*/ |
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#include "Math/DualQuaternion.h" |
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#include "AbstractTranslationRotation3D.h" |
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#include "Object.h" |
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namespace Magnum { namespace SceneGraph { |
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/**
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@brief Three-dimensional transformation implemented using dual quaternions |
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This class allows only rigid transformation (i.e. only rotation and |
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translation). |
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@see @ref scenegraph, Math::DualQuaternion, DualComplexTransformation |
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*/ |
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#ifndef DOXYGEN_GENERATING_OUTPUT |
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template<class T> |
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#else |
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template<class T = Float> |
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#endif |
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class DualQuaternionTransformation: public AbstractTranslationRotation3D<T> { |
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public: |
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/** @brief Underlying transformation type */ |
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typedef Math::DualQuaternion<T> DataType; |
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#ifndef DOXYGEN_GENERATING_OUTPUT |
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inline static Math::DualQuaternion<T> fromMatrix(const Math::Matrix4<T>& matrix) { |
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CORRADE_ASSERT(matrix.isRigidTransformation(), |
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"SceneGraph::DualQuaternionTransformation::fromMatrix(): the matrix doesn't represent rigid transformation", {}); |
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return Math::DualQuaternion<T>::fromMatrix(matrix); |
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} |
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inline constexpr static Math::Matrix4<T> toMatrix(const Math::DualQuaternion<T>& transformation) { |
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return transformation.toMatrix(); |
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} |
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inline static Math::DualQuaternion<T> compose(const Math::DualQuaternion<T>& parent, const Math::DualQuaternion<T>& child) { |
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return parent*child; |
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} |
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inline static Math::DualQuaternion<T> inverted(const Math::DualQuaternion<T>& transformation) { |
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return transformation.invertedNormalized(); |
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} |
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inline Math::DualQuaternion<T> transformation() const { |
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return _transformation; |
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} |
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#endif |
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/**
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* @brief Normalize rotation part |
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* @return Pointer to self (for method chaining) |
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* |
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* Normalizes the rotation part to prevent rounding errors when rotating |
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* the object subsequently. |
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* @see DualQuaternion::normalized() |
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*/ |
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DualQuaternionTransformation<T>* normalizeRotation() { |
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setTransformation(_transformation.normalized()); |
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return this; |
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} |
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/**
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* @brief Set transformation |
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* @return Pointer to self (for method chaining) |
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* |
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* Expects that the dual quaternion is normalized. |
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* @see DualQuaternion::isNormalized() |
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*/ |
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DualQuaternionTransformation<T>* setTransformation(const Math::DualQuaternion<T>& transformation) { |
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CORRADE_ASSERT(transformation.isNormalized(), |
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"SceneGraph::DualQuaternionTransformation::setTransformation(): the dual quaternion is not normalized", this); |
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setTransformationInternal(transformation); |
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return this; |
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} |
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inline DualQuaternionTransformation<T>* resetTransformation() override { |
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setTransformation({}); |
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return this; |
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} |
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/**
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* @brief Multiply transformation |
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* @param transformation Transformation |
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* @param type Transformation type |
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* @return Pointer to self (for method chaining) |
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* |
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* Expects that the dual quaternion is normalized. |
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* @see DualQuaternion::isNormalized() |
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*/ |
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inline DualQuaternionTransformation<T>* transform(const Math::DualQuaternion<T>& transformation, TransformationType type = TransformationType::Global) { |
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CORRADE_ASSERT(transformation.isNormalized(), |
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"SceneGraph::DualQuaternionTransformation::transform(): the dual quaternion is not normalized", this); |
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transformInternal(transformation, type); |
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return this; |
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} |
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/**
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* @copydoc AbstractTranslationRotationScaling3D::translate() |
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* Same as calling transform() with DualQuaternion::translation(). |
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*/ |
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inline DualQuaternionTransformation<T>* translate(const Math::Vector3<T>& vector, TransformationType type = TransformationType::Global) override { |
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transformInternal(Math::DualQuaternion<T>::translation(vector), type); |
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return this; |
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} |
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/**
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* @brief Rotate object |
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* @param angle Angle (counterclockwise) |
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* @param normalizedAxis Normalized rotation axis |
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* @param type Transformation type |
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* @return Pointer to self (for method chaining) |
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* |
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* Same as calling transform() with DualQuaternion::rotation(). |
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* @see Vector3::xAxis(), Vector3::yAxis(), Vector3::zAxis(), |
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* normalizeRotation() |
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*/ |
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inline DualQuaternionTransformation<T>* rotate(Math::Rad<T> angle, const Math::Vector3<T>& normalizedAxis, TransformationType type = TransformationType::Global) override { |
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transformInternal(Math::DualQuaternion<T>::rotation(angle, normalizedAxis), type); |
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return this; |
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} |
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protected: |
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/* Allow construction only from Object */ |
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inline explicit DualQuaternionTransformation() = default; |
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private: |
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/* No assertions fired, for internal use */ |
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inline void setTransformationInternal(const Math::DualQuaternion<T>& transformation) { |
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/* Setting transformation is forbidden for the scene */ |
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/** @todo Assert for this? */ |
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/** @todo Do this in some common code so we don't need to include Object? */ |
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if(!static_cast<Object<DualQuaternionTransformation<T>>*>(this)->isScene()) { |
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_transformation = transformation; |
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static_cast<Object<DualQuaternionTransformation<T>>*>(this)->setDirty(); |
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} |
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} |
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/* No assertions fired, for internal use */ |
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inline void transformInternal(const Math::DualQuaternion<T>& transformation, TransformationType type) { |
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setTransformation(type == TransformationType::Global ? |
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transformation*_transformation : _transformation*transformation); |
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} |
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Math::DualQuaternion<T> _transformation; |
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}; |
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}} |
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#endif |
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@ -0,0 +1,197 @@ |
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/*
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This file is part of Magnum. |
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Copyright © 2010, 2011, 2012, 2013 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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|
|
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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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|
|
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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 <sstream> |
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#include <TestSuite/Tester.h> |
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#include "SceneGraph/DualQuaternionTransformation.h" |
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#include "SceneGraph/Scene.h" |
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namespace Magnum { namespace SceneGraph { namespace Test { |
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typedef Object<DualQuaternionTransformation<>> Object3D; |
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typedef Scene<DualQuaternionTransformation<>> Scene3D; |
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class DualQuaternionTransformationTest: public Corrade::TestSuite::Tester { |
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public: |
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explicit DualQuaternionTransformationTest(); |
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void fromMatrix(); |
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void toMatrix(); |
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void compose(); |
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void inverted(); |
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void setTransformation(); |
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void resetTransformation(); |
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void transform(); |
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void translate(); |
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void rotate(); |
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void normalizeRotation(); |
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}; |
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DualQuaternionTransformationTest::DualQuaternionTransformationTest() { |
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addTests({&DualQuaternionTransformationTest::fromMatrix, |
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&DualQuaternionTransformationTest::toMatrix, |
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&DualQuaternionTransformationTest::compose, |
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&DualQuaternionTransformationTest::inverted, |
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&DualQuaternionTransformationTest::setTransformation, |
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&DualQuaternionTransformationTest::resetTransformation, |
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&DualQuaternionTransformationTest::transform, |
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&DualQuaternionTransformationTest::translate, |
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&DualQuaternionTransformationTest::rotate, |
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&DualQuaternionTransformationTest::normalizeRotation}); |
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} |
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void DualQuaternionTransformationTest::fromMatrix() { |
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Matrix4 m = Matrix4::rotationX(Deg(17.0f))*Matrix4::translation({1.0f, -0.3f, 2.3f}); |
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DualQuaternion q = DualQuaternion::rotation(Deg(17.0f), Vector3::xAxis())*DualQuaternion::translation({1.0f, -0.3f, 2.3f}); |
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CORRADE_COMPARE(DualQuaternionTransformation<>::fromMatrix(m), q); |
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} |
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void DualQuaternionTransformationTest::toMatrix() { |
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DualQuaternion q = DualQuaternion::rotation(Deg(17.0f), Vector3::xAxis())*DualQuaternion::translation({1.0f, -0.3f, 2.3f}); |
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Matrix4 m = Matrix4::rotationX(Deg(17.0f))*Matrix4::translation({1.0f, -0.3f, 2.3f}); |
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CORRADE_COMPARE(DualQuaternionTransformation<>::toMatrix(q), m); |
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} |
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void DualQuaternionTransformationTest::compose() { |
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DualQuaternion parent = DualQuaternion::rotation(Deg(17.0f), Vector3::xAxis()); |
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DualQuaternion child = DualQuaternion::translation({1.0f, -0.3f, 2.3f}); |
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CORRADE_COMPARE(DualQuaternionTransformation<>::compose(parent, child), parent*child); |
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} |
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void DualQuaternionTransformationTest::inverted() { |
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DualQuaternion q = DualQuaternion::rotation(Deg(17.0f), Vector3::xAxis())*DualQuaternion::translation({1.0f, -0.3f, 2.3f}); |
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CORRADE_COMPARE(DualQuaternionTransformation<>::inverted(q)*q, DualQuaternion()); |
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} |
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void DualQuaternionTransformationTest::setTransformation() { |
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Object3D o; |
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/* Can't transform with non-rigid transformation */ |
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std::ostringstream out; |
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Error::setOutput(&out); |
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o.setTransformation(DualQuaternion({{1.0f, 2.0f, 3.0f}, 4.0f}, {})); |
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CORRADE_COMPARE(out.str(), "SceneGraph::DualQuaternionTransformation::setTransformation(): the dual quaternion is not normalized\n"); |
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/* Dirty after setting transformation */ |
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o.setClean(); |
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CORRADE_VERIFY(!o.isDirty()); |
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o.setTransformation(DualQuaternion::rotation(Deg(17.0f), Vector3::xAxis())); |
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CORRADE_VERIFY(o.isDirty()); |
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CORRADE_COMPARE(o.transformationMatrix(), Matrix4::rotationX(Deg(17.0f))); |
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/* Scene cannot be transformed */ |
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Scene3D s; |
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s.setClean(); |
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CORRADE_VERIFY(!s.isDirty()); |
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s.setTransformation(DualQuaternion::rotation(Deg(17.0f), Vector3::xAxis())); |
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CORRADE_VERIFY(!s.isDirty()); |
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CORRADE_COMPARE(s.transformationMatrix(), Matrix4()); |
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} |
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void DualQuaternionTransformationTest::resetTransformation() { |
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Object3D o; |
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o.setTransformation(DualQuaternion::rotation(Deg(17.0f), Vector3::xAxis())); |
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CORRADE_VERIFY(o.transformationMatrix() != Matrix4()); |
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o.resetTransformation(); |
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CORRADE_COMPARE(o.transformationMatrix(), Matrix4()); |
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} |
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void DualQuaternionTransformationTest::transform() { |
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{ |
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/* Can't transform with non-rigid transformation */ |
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Object3D o; |
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std::ostringstream out; |
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Error::setOutput(&out); |
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o.transform(DualQuaternion({{1.0f, 2.0f, 3.0f}, 4.0f}, {})); |
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CORRADE_COMPARE(out.str(), "SceneGraph::DualQuaternionTransformation::transform(): the dual quaternion is not normalized\n"); |
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} { |
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Object3D o; |
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o.setTransformation(DualQuaternion::rotation(Deg(17.0f), Vector3::xAxis())); |
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o.transform(DualQuaternion::translation({1.0f, -0.3f, 2.3f})); |
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CORRADE_COMPARE(o.transformationMatrix(), Matrix4::translation({1.0f, -0.3f, 2.3f})*Matrix4::rotationX(Deg(17.0f))); |
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} { |
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Object3D o; |
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o.setTransformation(DualQuaternion::rotation(Deg(17.0f), Vector3::xAxis())); |
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o.transform(DualQuaternion::translation({1.0f, -0.3f, 2.3f}), TransformationType::Local); |
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CORRADE_COMPARE(o.transformationMatrix(), Matrix4::rotationX(Deg(17.0f))*Matrix4::translation({1.0f, -0.3f, 2.3f})); |
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} |
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} |
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void DualQuaternionTransformationTest::translate() { |
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{ |
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Object3D o; |
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o.setTransformation(DualQuaternion::rotation(Deg(17.0f), Vector3::xAxis())); |
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o.translate({1.0f, -0.3f, 2.3f}); |
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CORRADE_COMPARE(o.transformationMatrix(), Matrix4::translation({1.0f, -0.3f, 2.3f})*Matrix4::rotationX(Deg(17.0f))); |
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} { |
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Object3D o; |
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o.setTransformation(DualQuaternion::rotation(Deg(17.0f), Vector3::xAxis())); |
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o.translate({1.0f, -0.3f, 2.3f}, TransformationType::Local); |
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CORRADE_COMPARE(o.transformationMatrix(), Matrix4::rotationX(Deg(17.0f))*Matrix4::translation({1.0f, -0.3f, 2.3f})); |
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} |
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} |
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void DualQuaternionTransformationTest::rotate() { |
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{ |
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Object3D o; |
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o.transform(DualQuaternion::translation({1.0f, -0.3f, 2.3f})); |
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o.rotateX(Deg(17.0f)) |
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->rotateY(Deg(25.0f)) |
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->rotateZ(Deg(-23.0f)) |
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->rotate(Deg(96.0f), Vector3(1.0f/Constants::sqrt3())); |
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CORRADE_COMPARE(o.transformationMatrix(), |
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Matrix4::rotation(Deg(96.0f), Vector3(1.0f/Constants::sqrt3()))* |
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|
Matrix4::rotationZ(Deg(-23.0f))* |
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|
Matrix4::rotationY(Deg(25.0f))* |
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Matrix4::rotationX(Deg(17.0f))* |
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Matrix4::translation({1.0f, -0.3f, 2.3f})); |
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|
} { |
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|
Object3D o; |
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|
o.transform(DualQuaternion::translation({1.0f, -0.3f, 2.3f})); |
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|
o.rotateX(Deg(17.0f), TransformationType::Local) |
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|
->rotateY(Deg(25.0f), TransformationType::Local) |
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|
->rotateZ(Deg(-23.0f), TransformationType::Local) |
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|
->rotate(Deg(96.0f), Vector3(1.0f/Constants::sqrt3()), TransformationType::Local); |
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|
CORRADE_COMPARE(o.transformationMatrix(), |
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|
Matrix4::translation({1.0f, -0.3f, 2.3f})* |
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|
Matrix4::rotationX(Deg(17.0f))* |
||||||
|
Matrix4::rotationY(Deg(25.0f))* |
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|
Matrix4::rotationZ(Deg(-23.0f))* |
||||||
|
Matrix4::rotation(Deg(96.0f), Vector3(1.0f/Constants::sqrt3()))); |
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|
} |
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|
} |
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|
|
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|
void DualQuaternionTransformationTest::normalizeRotation() { |
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|
Object3D o; |
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|
o.setTransformation(DualQuaternion::rotation(Deg(17.0f), Vector3::xAxis())); |
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|
o.normalizeRotation(); |
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|
CORRADE_COMPARE(o.transformationMatrix(), Matrix4::rotationX(Deg(17.0f))); |
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|
} |
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|
|
||||||
|
}}} |
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|
|
||||||
|
CORRADE_TEST_MAIN(Magnum::SceneGraph::Test::DualQuaternionTransformationTest) |
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Loading…
Reference in new issue