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SceneGraph: new TranslationRotationScalingTransformation[23]D class. 

Useful for using with animation tracks that target the
translation/rotation/scaling properties separately.
pull/191/head
Vladimír Vondruš 8 years ago
parent
fbd3dedeb3
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  1. 7
      doc/changelog.dox
  2. 6
      doc/scenegraph.dox
  3. 2
      src/Magnum/SceneGraph/CMakeLists.txt
  4. 5
      src/Magnum/SceneGraph/SceneGraph.h
  5. 6
      src/Magnum/SceneGraph/Test/CMakeLists.txt
  6. 223
      src/Magnum/SceneGraph/Test/TranslationRotationScalingTransformation2DTest.cpp
  7. 239
      src/Magnum/SceneGraph/Test/TranslationRotationScalingTransformation3DTest.cpp
  8. 320
      src/Magnum/SceneGraph/TranslationRotationScalingTransformation2D.h
  9. 410
      src/Magnum/SceneGraph/TranslationRotationScalingTransformation3D.h
  10. 4
      src/Magnum/SceneGraph/instantiation.cpp

7
doc/changelog.dox
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@ -73,6 +73,13 @@ See also:
@ref Platform::AndroidApplication. This also makes the default framebuffer @ref Platform::AndroidApplication. This also makes the default framebuffer
parameters consistent across the implementations. parameters consistent across the implementations.
@subsubsection changelog-latest-new-scenegraph SceneGraph library
- New @ref SceneGraph::TranslationRotationScalingTransformation2D and
@ref SceneGraph::TranslationRotationScalingTransformation3D transformation
implementations that store separate translation, rotation and scaling
parameters for easier use with animated scenes
@subsubsection changelog-latest-new-trade Trade library @subsubsection changelog-latest-new-trade Trade library
- @ref Trade::ObjectData2D and @ref Trade::ObjectData3D now support also - @ref Trade::ObjectData2D and @ref Trade::ObjectData3D now support also

6
doc/scenegraph.dox
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@ -90,6 +90,12 @@ class for more detailed information:
- @ref SceneGraph::BasicDualQuaternionTransformation "SceneGraph::DualQuaternionTransformation" --- - @ref SceneGraph::BasicDualQuaternionTransformation "SceneGraph::DualQuaternionTransformation" ---
3D translation and rotation with fast inverse transformation and 3D translation and rotation with fast inverse transformation and
floating-point drift reduction floating-point drift reduction
- @ref SceneGraph::BasicTranslationRotationScalingTransformation2D "SceneGraph::TranslationRotationScalingTransformation2D" ---
2D transformations with separate translation, rotation and scaling. Usable
for scenes with animation tracks that control these properties separately.
- @ref SceneGraph::BasicTranslationRotationScalingTransformation3D "SceneGraph::TranslationRotationScalingTransformation3D" ---
2D transformations with separate translation, rotation and scaling. Usable
for scenes with animation tracks that control these properties separately.
- @ref SceneGraph::TranslationTransformation "SceneGraph::TranslationTransformation*D" --- - @ref SceneGraph::TranslationTransformation "SceneGraph::TranslationTransformation*D" ---
Just 2D/3D translation (no rotation, scaling or anything else) Just 2D/3D translation (no rotation, scaling or anything else)

2
src/Magnum/SceneGraph/CMakeLists.txt
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@ -62,6 +62,8 @@ set(MagnumSceneGraph_HEADERS
Scene.h Scene.h
SceneGraph.h SceneGraph.h
TranslationTransformation.h TranslationTransformation.h
TranslationRotationScalingTransformation2D.h
TranslationRotationScalingTransformation3D.h
visibility.h) visibility.h)

5
src/Magnum/SceneGraph/SceneGraph.h
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@ -143,6 +143,11 @@ template<class T, class TranslationType = T> using BasicTranslationTransformatio
typedef BasicTranslationTransformation2D<Float> TranslationTransformation2D; typedef BasicTranslationTransformation2D<Float> TranslationTransformation2D;
typedef BasicTranslationTransformation3D<Float> TranslationTransformation3D; typedef BasicTranslationTransformation3D<Float> TranslationTransformation3D;
template<class> class BasicTranslationRotationScalingTransformation2D;
template<class> class BasicTranslationRotationScalingTransformation3D;
typedef BasicTranslationRotationScalingTransformation2D<Float> TranslationRotationScalingTransformation2D;
typedef BasicTranslationRotationScalingTransformation3D<Float> TranslationRotationScalingTransformation3D;
namespace Implementation { namespace Implementation {
template<class> struct Transformation; template<class> struct Transformation;
} }

6
src/Magnum/SceneGraph/Test/CMakeLists.txt
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@ -33,6 +33,8 @@ corrade_add_test(SceneGraphObjectTest ObjectTest.cpp LIBRARIES MagnumSceneGraphT
corrade_add_test(SceneGraphRigidMatrixTrans___2DTest RigidMatrixTransformation2DTest.cpp LIBRARIES MagnumSceneGraphTestLib) corrade_add_test(SceneGraphRigidMatrixTrans___2DTest RigidMatrixTransformation2DTest.cpp LIBRARIES MagnumSceneGraphTestLib)
corrade_add_test(SceneGraphRigidMatrixTrans___3DTest RigidMatrixTransformation3DTest.cpp LIBRARIES MagnumSceneGraphTestLib) corrade_add_test(SceneGraphRigidMatrixTrans___3DTest RigidMatrixTransformation3DTest.cpp LIBRARIES MagnumSceneGraphTestLib)
corrade_add_test(SceneGraphSceneTest SceneTest.cpp LIBRARIES MagnumSceneGraph) corrade_add_test(SceneGraphSceneTest SceneTest.cpp LIBRARIES MagnumSceneGraph)
corrade_add_test(SceneGraphTranslationRotat___2DTest TranslationRotationScalingTransformation2DTest.cpp LIBRARIES MagnumSceneGraph)
corrade_add_test(SceneGraphTranslationRotat___3DTest TranslationRotationScalingTransformation3DTest.cpp LIBRARIES MagnumSceneGraph)
corrade_add_test(SceneGraphTranslationTransfo___Test TranslationTransformationTest.cpp LIBRARIES MagnumSceneGraph) corrade_add_test(SceneGraphTranslationTransfo___Test TranslationTransformationTest.cpp LIBRARIES MagnumSceneGraph)
set_property(TARGET set_property(TARGET
@ -40,6 +42,8 @@ set_property(TARGET
SceneGraphDualQuaternionTran___Test SceneGraphDualQuaternionTran___Test
SceneGraphRigidMatrixTrans___2DTest SceneGraphRigidMatrixTrans___2DTest
SceneGraphRigidMatrixTrans___3DTest SceneGraphRigidMatrixTrans___3DTest
SceneGraphTranslationRotat___2DTest
SceneGraphTranslationRotat___3DTest
SceneGraphTranslationTransfo___Test SceneGraphTranslationTransfo___Test
APPEND PROPERTY COMPILE_DEFINITIONS "CORRADE_GRACEFUL_ASSERT") APPEND PROPERTY COMPILE_DEFINITIONS "CORRADE_GRACEFUL_ASSERT")
@ -54,5 +58,7 @@ set_target_properties(
SceneGraphRigidMatrixTrans___2DTest SceneGraphRigidMatrixTrans___2DTest
SceneGraphRigidMatrixTrans___3DTest SceneGraphRigidMatrixTrans___3DTest
SceneGraphSceneTest SceneGraphSceneTest
SceneGraphTranslationRotat___2DTest
SceneGraphTranslationRotat___3DTest
SceneGraphTranslationTransfo___Test SceneGraphTranslationTransfo___Test
PROPERTIES FOLDER "Magnum/SceneGraph/Test") PROPERTIES FOLDER "Magnum/SceneGraph/Test")

223
src/Magnum/SceneGraph/Test/TranslationRotationScalingTransformation2DTest.cpp
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@ -0,0 +1,223 @@
/*
This file is part of Magnum.
Copyright © 2010, 2011, 2012, 2013, 2014, 2015, 2016, 2017, 2018
Vladimír Vondruš <mosra@centrum.cz>
Permission is hereby granted, free of charge, to any person obtaining a
copy of this software and associated documentation files (the "Software"),
to deal in the Software without restriction, including without limitation
the rights to use, copy, modify, merge, publish, distribute, sublicense,
and/or sell copies of the Software, and to permit persons to whom the
Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included
in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
DEALINGS IN THE SOFTWARE.
*/
#include <Corrade/TestSuite/Tester.h>
#include "Magnum/SceneGraph/TranslationRotationScalingTransformation2D.h"
#include "Magnum/SceneGraph/Scene.h"
namespace Magnum { namespace SceneGraph { namespace Test {
typedef Object<TranslationRotationScalingTransformation2D> Object2D;
typedef Scene<TranslationRotationScalingTransformation2D> Scene2D;
struct TranslationRotationScalingTransformation2DTest: TestSuite::Tester {
explicit TranslationRotationScalingTransformation2DTest();
void fromMatrix();
void toMatrix();
void compose();
void inverted();
void defaults();
void setTransformation();
void resetTransformation();
void translate();
void rotate();
void scale();
};
TranslationRotationScalingTransformation2DTest::TranslationRotationScalingTransformation2DTest() {
addTests({&TranslationRotationScalingTransformation2DTest::fromMatrix,
&TranslationRotationScalingTransformation2DTest::toMatrix,
&TranslationRotationScalingTransformation2DTest::compose,
&TranslationRotationScalingTransformation2DTest::inverted,
&TranslationRotationScalingTransformation2DTest::defaults,
&TranslationRotationScalingTransformation2DTest::setTransformation,
&TranslationRotationScalingTransformation2DTest::resetTransformation,
&TranslationRotationScalingTransformation2DTest::translate,
&TranslationRotationScalingTransformation2DTest::rotate,
&TranslationRotationScalingTransformation2DTest::scale});
}
using namespace Math::Literals;
void TranslationRotationScalingTransformation2DTest::fromMatrix() {
Matrix3 m = Matrix3::rotation(17.0_degf)*Matrix3::translation({1.0f, -0.3f});
CORRADE_COMPARE(Implementation::Transformation<TranslationRotationScalingTransformation2D>::fromMatrix(m), m);
}
void TranslationRotationScalingTransformation2DTest::toMatrix() {
Matrix3 m = Matrix3::rotation(17.0_degf)*Matrix3::translation({1.0f, -0.3f});
CORRADE_COMPARE(Implementation::Transformation<TranslationRotationScalingTransformation2D>::toMatrix(m), m);
}
void TranslationRotationScalingTransformation2DTest::compose() {
Matrix3 parent = Matrix3::rotation(17.0_degf);
Matrix3 child = Matrix3::translation({1.0f, -0.3f});
CORRADE_COMPARE(Implementation::Transformation<TranslationRotationScalingTransformation2D>::compose(parent, child), parent*child);
}
void TranslationRotationScalingTransformation2DTest::inverted() {
Matrix3 m = Matrix3::rotation(17.0_degf)*Matrix3::translation({1.0f, -0.3f});
CORRADE_COMPARE(Implementation::Transformation<TranslationRotationScalingTransformation2D>::inverted(m)*m, Matrix3());
}
void TranslationRotationScalingTransformation2DTest::defaults() {
Object2D o;
CORRADE_COMPARE(o.translation(), Vector2{});
CORRADE_COMPARE(o.rotation(), Complex{});
CORRADE_COMPARE(o.scaling(), Vector2{1.0f});
CORRADE_COMPARE(o.transformationMatrix(), Matrix3{});
}
void TranslationRotationScalingTransformation2DTest::setTransformation() {
/* Dirty after setting transformation */
Object2D o;
o.setClean();
CORRADE_VERIFY(!o.isDirty());
o.setTransformation(
Matrix3::translation({7.0f, -1.0f})*
Matrix3::rotation(17.0_degf)*
Matrix3::scaling({1.5f, 0.5f}));
CORRADE_VERIFY(o.isDirty());
CORRADE_COMPARE(o.translation(), (Vector2{7.0f, -1.0f}));
CORRADE_COMPARE(o.rotation(), Complex::rotation(17.0_degf));
CORRADE_COMPARE(o.scaling(), (Vector2{1.5f, 0.5f}));
CORRADE_COMPARE(o.transformationMatrix(),
Matrix3::translation({7.0f, -1.0f})*
Matrix3::rotation(17.0_degf)*
Matrix3::scaling({1.5f, 0.5f}));
/* Scene cannot be transformed */
Scene2D s;
s.setClean();
CORRADE_VERIFY(!s.isDirty());
s.setTransformation(Matrix3::rotation(17.0_degf));
CORRADE_VERIFY(!s.isDirty());
CORRADE_COMPARE(s.transformationMatrix(), Matrix3());
}
void TranslationRotationScalingTransformation2DTest::resetTransformation() {
Object2D o;
o.rotate(17.0_degf);
CORRADE_VERIFY(o.transformationMatrix() != Matrix3());
o.resetTransformation();
CORRADE_COMPARE(o.translation(), Vector2{});
CORRADE_COMPARE(o.rotation(), Complex{});
CORRADE_COMPARE(o.scaling(), Vector2{1.0f});
CORRADE_COMPARE(o.transformationMatrix(), Matrix3());
}
void TranslationRotationScalingTransformation2DTest::translate() {
{
Object2D o;
o.setTransformation(Matrix3::rotation(17.0_degf));
o.translate({1.0f, -0.3f})
.translate({1.0f, 0.1f});
CORRADE_COMPARE(o.translation(), (Vector2{2.0f, -0.2f}));
CORRADE_COMPARE(o.rotation(), Complex::rotation(17.0_degf));
CORRADE_COMPARE(o.scaling(), Vector2{1.0f});
CORRADE_COMPARE(o.transformationMatrix(),
Matrix3::translation({1.0f, 0.1f})*
Matrix3::translation({1.0f, -0.3f})*
Matrix3::rotation(17.0_degf));
} {
Object2D o;
o.setTransformation(Matrix3::rotation(17.0_degf));
o.translateLocal({1.0f, -0.3f})
.translateLocal({1.0f, 0.1f});
CORRADE_COMPARE(o.translation(), (Vector2{2.0f, -0.2f}));
CORRADE_COMPARE(o.rotation(), Complex::rotation(17.0_degf));
CORRADE_COMPARE(o.scaling(), Vector2{1.0f});
CORRADE_COMPARE(o.transformationMatrix(),
Matrix3::translation({1.0f, -0.3f})*
Matrix3::translation({1.0f, 0.1f})*
Matrix3::rotation(17.0_degf));
}
}
void TranslationRotationScalingTransformation2DTest::rotate() {
{
Object2D o;
o.setTransformation(Matrix3::translation({1.0f, -0.3f}));
o.rotate(17.0_degf)
.rotate(-96.0_degf);
CORRADE_COMPARE(o.translation(), (Vector2{1.0f, -0.3f}));
CORRADE_COMPARE(o.rotation(), Complex::rotation(-79.0_degf));
CORRADE_COMPARE(o.scaling(), Vector2{1.0f});
CORRADE_COMPARE(o.transformationMatrix(),
Matrix3::translation({1.0f, -0.3f})*
Matrix3::rotation(-96.0_degf)*
Matrix3::rotation(17.0_degf));
} {
Object2D o;
o.setTransformation(Matrix3::translation({1.0f, -0.3f}));
o.rotateLocal(17.0_degf)
.rotateLocal(-96.0_degf);
CORRADE_COMPARE(o.translation(), (Vector2{1.0f, -0.3f}));
CORRADE_COMPARE(o.rotation(), Complex::rotation(-79.0_degf));
CORRADE_COMPARE(o.scaling(), Vector2{1.0f});
CORRADE_COMPARE(o.transformationMatrix(),
Matrix3::translation({1.0f, -0.3f})*
Matrix3::rotation(17.0_degf)*
Matrix3::rotation(-96.0_degf));
}
}
void TranslationRotationScalingTransformation2DTest::scale() {
{
Object2D o;
o.setTransformation(Matrix3::rotation(17.0_degf));
o.scale({1.0f, -0.3f})
.scale({0.5f, 1.1f});
CORRADE_COMPARE(o.translation(), Vector2{});
CORRADE_COMPARE(o.rotation(), Complex::rotation(17.0_degf));
CORRADE_COMPARE(o.scaling(), (Vector2{0.5f, -0.33f}));
CORRADE_COMPARE(o.transformationMatrix(),
Matrix3::rotation(17.0_degf)*
Matrix3::scaling({0.5f, 1.1f})*
Matrix3::scaling({1.0f, -0.3f}));
} {
Object2D o;
o.setTransformation(Matrix3::rotation(17.0_degf));
o.scaleLocal({1.0f, -0.3f})
.scaleLocal({0.5f, 1.1f});
CORRADE_COMPARE(o.translation(), Vector2{});
CORRADE_COMPARE(o.rotation(), Complex::rotation(17.0_degf));
CORRADE_COMPARE(o.scaling(), (Vector2{0.5f, -0.33f}));
CORRADE_COMPARE(o.transformationMatrix(),
Matrix3::rotation(17.0_degf)*
Matrix3::scaling({1.0f, -0.3f})*
Matrix3::scaling({0.5f, 1.1f}));
}
}
}}}
CORRADE_TEST_MAIN(Magnum::SceneGraph::Test::TranslationRotationScalingTransformation2DTest)

239
src/Magnum/SceneGraph/Test/TranslationRotationScalingTransformation3DTest.cpp
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@ -0,0 +1,239 @@
/*
This file is part of Magnum.
Copyright © 2010, 2011, 2012, 2013, 2014, 2015, 2016, 2017, 2018
Vladimír Vondruš <mosra@centrum.cz>
Permission is hereby granted, free of charge, to any person obtaining a
copy of this software and associated documentation files (the "Software"),
to deal in the Software without restriction, including without limitation
the rights to use, copy, modify, merge, publish, distribute, sublicense,
and/or sell copies of the Software, and to permit persons to whom the
Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included
in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
DEALINGS IN THE SOFTWARE.
*/
#include <Corrade/TestSuite/Tester.h>
#include "Magnum/SceneGraph/TranslationRotationScalingTransformation3D.h"
#include "Magnum/SceneGraph/Scene.h"
namespace Magnum { namespace SceneGraph { namespace Test {
typedef Object<TranslationRotationScalingTransformation3D> Object3D;
typedef Scene<TranslationRotationScalingTransformation3D> Scene3D;
struct TranslationRotationScalingTransformation3DTest: TestSuite::Tester {
explicit TranslationRotationScalingTransformation3DTest();
void fromMatrix();
void toMatrix();
void compose();
void inverted();
void defaults();
void setTransformation();
void resetTransformation();
void translate();
void rotate();
void scale();
};
TranslationRotationScalingTransformation3DTest::TranslationRotationScalingTransformation3DTest() {
addTests({&TranslationRotationScalingTransformation3DTest::fromMatrix,
&TranslationRotationScalingTransformation3DTest::toMatrix,
&TranslationRotationScalingTransformation3DTest::compose,
&TranslationRotationScalingTransformation3DTest::inverted,
&TranslationRotationScalingTransformation3DTest::defaults,
&TranslationRotationScalingTransformation3DTest::setTransformation,
&TranslationRotationScalingTransformation3DTest::resetTransformation,
&TranslationRotationScalingTransformation3DTest::translate,
&TranslationRotationScalingTransformation3DTest::rotate,
&TranslationRotationScalingTransformation3DTest::scale});
}
using namespace Math::Literals;
void TranslationRotationScalingTransformation3DTest::fromMatrix() {
Matrix4 m = Matrix4::rotationX(17.0_degf)*Matrix4::translation({1.0f, -0.3f, 2.3f})*Matrix4::scaling({2.0f, 1.4f, -2.1f});
CORRADE_COMPARE(Implementation::Transformation<TranslationRotationScalingTransformation3D>::fromMatrix(m), m);
}
void TranslationRotationScalingTransformation3DTest::toMatrix() {
Matrix4 m = Matrix4::rotationX(17.0_degf)*Matrix4::translation({1.0f, -0.3f, 2.3f})*Matrix4::scaling({2.0f, 1.4f, -2.1f});
CORRADE_COMPARE(Implementation::Transformation<TranslationRotationScalingTransformation3D>::toMatrix(m), m);
}
void TranslationRotationScalingTransformation3DTest::compose() {
Matrix4 parent = Matrix4::rotationX(17.0_degf);
Matrix4 child = Matrix4::translation({1.0f, -0.3f, 2.3f});
CORRADE_COMPARE(Implementation::Transformation<TranslationRotationScalingTransformation3D>::compose(parent, child), parent*child);
}
void TranslationRotationScalingTransformation3DTest::inverted() {
Matrix4 m = Matrix4::rotationX(17.0_degf)*Matrix4::translation({1.0f, -0.3f, 2.3f})*Matrix4::scaling({2.0f, 1.4f, -2.1f});
CORRADE_COMPARE(Implementation::Transformation<TranslationRotationScalingTransformation3D>::inverted(m)*m, Matrix4());
}
void TranslationRotationScalingTransformation3DTest::defaults() {
Object3D o;
CORRADE_COMPARE(o.translation(), Vector3{});
CORRADE_COMPARE(o.rotation(), Quaternion{});
CORRADE_COMPARE(o.scaling(), Vector3{1.0f});
CORRADE_COMPARE(o.transformationMatrix(), Matrix4{});
}
void TranslationRotationScalingTransformation3DTest::setTransformation() {
/* Dirty after setting transformation */
Object3D o;
o.setClean();
CORRADE_VERIFY(!o.isDirty());
o.setTransformation(
Matrix4::translation({7.0f, -1.0f, 2.2f})*
Matrix4::rotationX(17.0_degf)*
Matrix4::scaling({1.5f, 0.5f, 3.0f}));
CORRADE_VERIFY(o.isDirty());
CORRADE_COMPARE(o.translation(), (Vector3{7.0f, -1.0f, 2.2f}));
CORRADE_COMPARE(o.rotation(), Quaternion::rotation(17.0_degf, Vector3::xAxis()));
CORRADE_COMPARE(o.scaling(), (Vector3{1.5f, 0.5f, 3.0f}));
CORRADE_COMPARE(o.transformationMatrix(),
Matrix4::translation({7.0f, -1.0f, 2.2f})*
Matrix4::rotationX(17.0_degf)*
Matrix4::scaling({1.5f, 0.5f, 3.0f}));
/* Scene cannot be transformed */
Scene3D s;
s.setClean();
CORRADE_VERIFY(!s.isDirty());
s.setTransformation(Matrix4::rotationX(17.0_degf));
CORRADE_VERIFY(!s.isDirty());
CORRADE_COMPARE(s.transformationMatrix(), Matrix4());
}
void TranslationRotationScalingTransformation3DTest::resetTransformation() {
Object3D o;
o.rotateX(17.0_degf);
CORRADE_VERIFY(o.transformationMatrix() != Matrix4());
o.resetTransformation();
CORRADE_COMPARE(o.translation(), Vector3{});
CORRADE_COMPARE(o.rotation(), Quaternion{});
CORRADE_COMPARE(o.scaling(), Vector3{1.0f});
CORRADE_COMPARE(o.transformationMatrix(), Matrix4());
}
void TranslationRotationScalingTransformation3DTest::translate() {
{
Object3D o;
o.setTransformation(Matrix4::rotationX(17.0_degf));
o.translate({1.0f, -0.3f, 2.3f})
.translate({1.0f, 0.1f, 0.2f});
CORRADE_COMPARE(o.translation(), (Vector3{2.0f, -0.2f, 2.5f}));
CORRADE_COMPARE(o.rotation(), Quaternion::rotation(17.0_degf, Vector3::xAxis()));
CORRADE_COMPARE(o.scaling(), Vector3{1.0f});
CORRADE_COMPARE(o.transformationMatrix(),
Matrix4::translation({1.0f, 0.1f, 0.2f})*
Matrix4::translation({1.0f, -0.3f, 2.3f})*
Matrix4::rotationX(17.0_degf));
} {
Object3D o;
o.setTransformation(Matrix4::rotationX(17.0_degf));
o.translateLocal({1.0f, -0.3f, 2.3f})
.translateLocal({1.0f, 0.1f, 0.2f});
CORRADE_COMPARE(o.translation(), (Vector3{2.0f, -0.2f, 2.5f}));
CORRADE_COMPARE(o.rotation(), Quaternion::rotation(17.0_degf, Vector3::xAxis()));
CORRADE_COMPARE(o.scaling(), Vector3{1.0f});
CORRADE_COMPARE(o.transformationMatrix(),
Matrix4::translation({1.0f, -0.3f, 2.3f})*
Matrix4::translation({1.0f, 0.1f, 0.2f})*
Matrix4::rotationX(17.0_degf));
}
}
void TranslationRotationScalingTransformation3DTest::rotate() {
{
Object3D o;
o.setTransformation(Matrix4::translation({1.0f, -0.3f, 2.3f}));
o.rotateX(17.0_degf)
.rotateY(25.0_degf)
.rotateZ(-23.0_degf)
.rotate(96.0_degf, Vector3{1.0f/Constants::sqrt3()});
CORRADE_COMPARE(o.translation(), (Vector3{1.0f, -0.3f, 2.3f}));
CORRADE_COMPARE(o.rotation(),
Quaternion::rotation(96.0_degf, Vector3{1.0f/Constants::sqrt3()})*
Quaternion::rotation(-23.0_degf, Vector3::zAxis())*
Quaternion::rotation(25.0_degf, Vector3::yAxis())*
Quaternion::rotation(17.0_degf, Vector3::xAxis()));
CORRADE_COMPARE(o.scaling(), Vector3{1.0f});
CORRADE_COMPARE(o.transformationMatrix(),
Matrix4::translation({1.0f, -0.3f, 2.3f})*
Matrix4::rotation(96.0_degf, Vector3{1.0f/Constants::sqrt3()})*
Matrix4::rotationZ(-23.0_degf)*
Matrix4::rotationY(25.0_degf)*
Matrix4::rotationX(17.0_degf));
} {
Object3D o;
o.setTransformation(Matrix4::translation({1.0f, -0.3f, 2.3f}));
o.rotateXLocal(17.0_degf)
.rotateYLocal(25.0_degf)
.rotateZLocal(-23.0_degf)
.rotateLocal(96.0_degf, Vector3{1.0f/Constants::sqrt3()});
CORRADE_COMPARE(o.translation(), (Vector3{1.0f, -0.3f, 2.3f}));
CORRADE_COMPARE(o.rotation(),
Quaternion::rotation(17.0_degf, Vector3::xAxis())*
Quaternion::rotation(25.0_degf, Vector3::yAxis())*
Quaternion::rotation(-23.0_degf, Vector3::zAxis())*
Quaternion::rotation(96.0_degf, Vector3(1.0f/Constants::sqrt3())));
CORRADE_COMPARE(o.scaling(), Vector3{1.0f});
CORRADE_COMPARE(o.transformationMatrix(),
Matrix4::translation({1.0f, -0.3f, 2.3f})*
Matrix4::rotationX(17.0_degf)*
Matrix4::rotationY(25.0_degf)*
Matrix4::rotationZ(-23.0_degf)*
Matrix4::rotation(96.0_degf, Vector3{1.0f/Constants::sqrt3()}));
}
}
void TranslationRotationScalingTransformation3DTest::scale() {
{
Object3D o;
o.setTransformation(Matrix4::rotationX(17.0_degf));
o.scale({1.0f, -0.3f, 2.3f})
.scale({0.5f, 1.1f, 2.0f});
CORRADE_COMPARE(o.translation(), Vector3{});
CORRADE_COMPARE(o.rotation(), Quaternion::rotation(17.0_degf, Vector3::xAxis()));
CORRADE_COMPARE(o.scaling(), (Vector3{0.5f, -0.33f, 4.6f}));
CORRADE_COMPARE(o.transformationMatrix(),
Matrix4::rotationX(17.0_degf)*
Matrix4::scaling({0.5f, 1.1f, 2.0f})*
Matrix4::scaling({1.0f, -0.3f, 2.3f}));
} {
Object3D o;
o.setTransformation(Matrix4::rotationX(17.0_degf));
o.scaleLocal({1.0f, -0.3f, 2.3f})
.scaleLocal({0.5f, 1.1f, 2.0f});
CORRADE_COMPARE(o.translation(), Vector3{});
CORRADE_COMPARE(o.rotation(), Quaternion::rotation(17.0_degf, Vector3::xAxis()));
CORRADE_COMPARE(o.scaling(), (Vector3{0.5f, -0.33f, 4.6f}));
CORRADE_COMPARE(o.transformationMatrix(),
Matrix4::rotationX(17.0_degf)*
Matrix4::scaling({1.0f, -0.3f, 2.3f})*
Matrix4::scaling({0.5f, 1.1f, 2.0f}));
}
}
}}}
CORRADE_TEST_MAIN(Magnum::SceneGraph::Test::TranslationRotationScalingTransformation3DTest)

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#ifndef Magnum_SceneGraph_TranslationRotationScalingTransformation2D_h
#define Magnum_SceneGraph_TranslationRotationScalingTransformation2D_h
/*
This file is part of Magnum.
Copyright © 2010, 2011, 2012, 2013, 2014, 2015, 2016, 2017, 2018
Vladimír Vondruš <mosra@centrum.cz>
Permission is hereby granted, free of charge, to any person obtaining a
copy of this software and associated documentation files (the "Software"),
to deal in the Software without restriction, including without limitation
the rights to use, copy, modify, merge, publish, distribute, sublicense,
and/or sell copies of the Software, and to permit persons to whom the
Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included
in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
DEALINGS IN THE SOFTWARE.
*/
/** @file
* @brief Class @ref Magnum::SceneGraph::BasicTranslationRotationScalingTransformation2D, typedef @ref Magnum::SceneGraph::TranslationRotationScalingTransformation2D
*/
#include "Magnum/Math/Complex.h"
#include "Magnum/Math/Matrix3.h"
#include "Magnum/SceneGraph/AbstractTranslationRotationScaling2D.h"
#include "Magnum/SceneGraph/Object.h"
namespace Magnum { namespace SceneGraph {
/**
@brief Two-dimensional transformation implemented using translation, rotation and scaling
Similar to @ref BasicMatrixTransformation2D, but stores translation, rotation
and scaling separately. This makes it more suitable for e.g. animation, where
there are usually separate animation tracks for translation, rotation and
scaling. This separation also imposes some constraints --- for given object,
scaling is always applied first, rotation second and translation last. In
particular, unlike with matrix-based transformation implementation, it's not
possible to rotate a translated object, for example --- one has to apply the
rotation first and then translate using a rotated vector.
@see @ref scenegraph, @ref TranslationRotationScalingTransformation2D,
@ref BasicTranslationRotationScalingTransformation3D
*/
template<class T> class BasicTranslationRotationScalingTransformation2D: public AbstractBasicTranslationRotationScaling2D<T> {
public:
/** @brief Underlying transformation type */
typedef Math::Matrix3<T> DataType;
/** @brief Object transformation */
Math::Matrix3<T> transformation() const;
/**
* @brief Set transformation
* @return Reference to self (for method chaining)
*
* Expects that the transformation doesn't contain shear or reflection.
*/
Object<BasicTranslationRotationScalingTransformation2D<T>>& setTransformation(const Math::Matrix3<T>& transformation);
/** @brief Object translation */
Math::Vector2<T> translation() const { return _translation; }
/**
* @brief Set translation
* @return Reference to self (for method chaining)
*
* Translation is always applied last, after rotation and scaling.
*/
Object<BasicTranslationRotationScalingTransformation2D<T>>& setTranslation(const Math::Vector2<T>& translation);
/** @brief Object rotation */
Math::Complex<T> rotation() const { return _rotation; }
/**
* @brief Set rotation
* @return Reference to self (for method chaining)
*
* Rotation is always applied after scaling and before translation.
* Expects that the quaternion is normalized.
*/
Object<BasicTranslationRotationScalingTransformation2D<T>>& setRotation(const Math::Complex<T>& rotation);
/** @brief Object scaling */
Math::Vector2<T> scaling() const { return _scaling; }
/**
* @brief Set scaling
* @return Reference to self (for method chaining)
*
* Scaling is always applied first, before rotation and translation.
*/
Object<BasicTranslationRotationScalingTransformation2D<T>>& setScaling(const Math::Vector2<T>& scaling);
/** @copydoc AbstractTranslationRotationScaling2D::resetTransformation() */
Object<BasicTranslationRotationScalingTransformation2D<T>>& resetTransformation() {
return setTransformation({});
}
/**
* @brief Translate object
* @return Reference to self (for method chaining)
*
* Note that translation is always applied last, after rotation and
* scaling.
* @see @ref translateLocal(), @ref Math::Vector2::xAxis(),
* @ref Math::Vector2::yAxis()
*/
Object<BasicTranslationRotationScalingTransformation2D<T>>& translate(const Math::Vector2<T>& vector) {
return setTranslation(vector + _translation);
}
/**
* @brief Translate object as a local transformation
*
* Equivalent to the above, as translation is commutative. Note that
* translation is always applied last, after rotation and scaling.
*/
Object<BasicTranslationRotationScalingTransformation2D<T>>& translateLocal(const Math::Vector2<T>& vector) {
return setTranslation(_translation + vector);
}
/**
* @brief Rotate object using a complex number
* @param complex Normalized complex number
* @return Reference to self (for method chaining)
*
* Note that rotation is always applied after scaling and before
* translation. Expects that the complex number is normalized.
* @see @ref rotate(Math::Rad<T>),
* @ref rotateLocal(const Math::Complex<T>&)
*/
Object<BasicTranslationRotationScalingTransformation2D<T>>& rotate(const Math::Complex<T>& complex) {
return setRotation(complex*_rotation);
}
/**
* @brief Rotate object using a complex number as a local transformation
*
* Equivalent to the above, as 2D rotation is commutative. Note that
* rotation is always applied after scaling and before translation.
*/
Object<BasicTranslationRotationScalingTransformation2D<T>>& rotateLocal(const Math::Complex<T>& complex) {
return setRotation(_rotation*complex);
}
/**
* @brief Rotate object
* @param angle Angle (counterclockwise)
* @return Reference to self (for method chaining)
*
* Same as calling @ref rotate(const Math::Complex<T>&) with
* @ref Math::Complex::rotation(). Note that rotation is always applied after
* scaling and before translation.
* @see @ref rotateLocal()
*/
Object<BasicTranslationRotationScalingTransformation2D<T>>& rotate(Math::Rad<T> angle) {
return rotate(Math::Complex<T>::rotation(angle));
}
/**
* @brief Rotate object as a local transformation
*
* Similar to the above, except that the rotation is applied before all
* other rotations. Note that rotation is always applied after scaling
* and before translation. Same as calling
* @ref rotateLocal(const Math::Complex<T>&) with
* @ref Math::Complex::rotation().
*/
Object<BasicTranslationRotationScalingTransformation2D<T>>& rotateLocal(Math::Rad<T> angle) {
return rotateLocal(Math::Complex<T>::rotation(angle));
}
/**
* @brief Scale object
* @return Reference to self (for method chaining)
*
* Note that scaling is always applied first, before rotation and
* translation.
* @see @ref scaleLocal(), @ref Math::Vector2::xScale(),
* @ref Math::Vector2::yScale()
*/
Object<BasicTranslationRotationScalingTransformation2D<T>>& scale(const Math::Vector2<T>& vector) {
return setScaling(vector*_scaling);
}
/**
* @brief Scale object as a local transformation
*
* Equivalent to the above, as scaling is commutative. Note that
* scaling is always first, before rotation and translation.
*/
Object<BasicTranslationRotationScalingTransformation2D<T>>& scaleLocal(const Math::Vector2<T>& vector) {
return setScaling(_scaling*vector);
}
protected:
/* Allow construction only from Object */
explicit BasicTranslationRotationScalingTransformation2D() = default;
private:
void doResetTransformation() override final { resetTransformation(); }
void doTranslate(const Math::Vector2<T>& vector) override final { translate(vector); }
void doTranslateLocal(const Math::Vector2<T>& vector) override final { translateLocal(vector); }
void doRotate(Math::Rad<T> angle) override final {
rotate(angle);
}
void doRotateLocal(Math::Rad<T> angle) override final {
rotateLocal(angle);
}
void doScale(const Math::Vector2<T>& vector) override final { scale(vector); }
void doScaleLocal(const Math::Vector2<T>& vector) override final { scaleLocal(vector); }
Math::Vector2<T> _translation;
Math::Complex<T> _rotation;
Math::Vector2<T> _scaling{T(1)};
};
/**
@brief Two-dimensional transformation for float scenes implemented using translation, rotation and scaling
@see @ref TranslationRotationScalingTransformation3D
*/
typedef BasicTranslationRotationScalingTransformation2D<Float> TranslationRotationScalingTransformation2D;
template<class T> Math::Matrix3<T> BasicTranslationRotationScalingTransformation2D<T>::transformation() const {
return Math::Matrix3<T>::from(_rotation.toMatrix(), _translation)*
Math::Matrix3<T>::scaling(_scaling);
}
template<class T> Object<BasicTranslationRotationScalingTransformation2D<T>>& BasicTranslationRotationScalingTransformation2D<T>::setTransformation(const Math::Matrix3<T>& transformation) {
/* Setting transformation is forbidden for the scene */
/** @todo Assert for this? */
/** @todo Do this in some common code so we don't need to include Object? */
if(!static_cast<Object<BasicTranslationRotationScalingTransformation2D<T>>*>(this)->isScene()) {
_translation = transformation.translation();
_rotation = Math::Complex<T>::fromMatrix(transformation.rotationShear());
_scaling = transformation.scaling();
static_cast<Object<BasicTranslationRotationScalingTransformation2D<T>>*>(this)->setDirty();
}
return static_cast<Object<BasicTranslationRotationScalingTransformation2D<T>>&>(*this);
}
template<class T> Object<BasicTranslationRotationScalingTransformation2D<T>>& BasicTranslationRotationScalingTransformation2D<T>::setTranslation(const Math::Vector2<T>& translation) {
/* Setting transformation is forbidden for the scene */
/** @todo Assert for this? */
/** @todo Do this in some common code so we don't need to include Object? */
if(!static_cast<Object<BasicTranslationRotationScalingTransformation2D<T>>*>(this)->isScene()) {
_translation = translation;
static_cast<Object<BasicTranslationRotationScalingTransformation2D<T>>*>(this)->setDirty();
}
return static_cast<Object<BasicTranslationRotationScalingTransformation2D<T>>&>(*this);
}
template<class T> Object<BasicTranslationRotationScalingTransformation2D<T>>& BasicTranslationRotationScalingTransformation2D<T>::setRotation(const Math::Complex<T>& rotation) {
/* Setting transformation is forbidden for the scene */
/** @todo Assert for this? */
/** @todo Do this in some common code so we don't need to include Object? */
if(!static_cast<Object<BasicTranslationRotationScalingTransformation2D<T>>*>(this)->isScene()) {
_rotation = rotation;
static_cast<Object<BasicTranslationRotationScalingTransformation2D<T>>*>(this)->setDirty();
}
return static_cast<Object<BasicTranslationRotationScalingTransformation2D<T>>&>(*this);
}
template<class T> Object<BasicTranslationRotationScalingTransformation2D<T>>& BasicTranslationRotationScalingTransformation2D<T>::setScaling(const Math::Vector2<T>& scaling) {
/* Setting transformation is forbidden for the scene */
/** @todo Assert for this? */
/** @todo Do this in some common code so we don't need to include Object? */
if(!static_cast<Object<BasicTranslationRotationScalingTransformation2D<T>>*>(this)->isScene()) {
_scaling = scaling;
static_cast<Object<BasicTranslationRotationScalingTransformation2D<T>>*>(this)->setDirty();
}
return static_cast<Object<BasicTranslationRotationScalingTransformation2D<T>>&>(*this);
}
namespace Implementation {
template<class T> struct Transformation<BasicTranslationRotationScalingTransformation2D<T>> {
constexpr static Math::Matrix3<T> fromMatrix(const Math::Matrix3<T>& matrix) {
return matrix;
}
constexpr static Math::Matrix3<T> toMatrix(const Math::Matrix3<T>& transformation) {
return transformation;
}
static Math::Matrix3<T> compose(const Math::Matrix3<T>& parent, const Math::Matrix3<T>& child) {
return parent*child;
}
static Math::Matrix3<T> inverted(const Math::Matrix3<T>& transformation) {
return transformation.inverted();
}
};
}
#if defined(CORRADE_TARGET_WINDOWS) && !defined(__MINGW32__)
extern template class MAGNUM_SCENEGRAPH_EXPORT Object<BasicTranslationRotationScalingTransformation2D<Float>>;
#endif
}}
#endif

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#ifndef Magnum_SceneGraph_TranslationRotationScalingTransformation3D_h
#define Magnum_SceneGraph_TranslationRotationScalingTransformation3D_h
/*
This file is part of Magnum.
Copyright © 2010, 2011, 2012, 2013, 2014, 2015, 2016, 2017, 2018
Vladimír Vondruš <mosra@centrum.cz>
Permission is hereby granted, free of charge, to any person obtaining a
copy of this software and associated documentation files (the "Software"),
to deal in the Software without restriction, including without limitation
the rights to use, copy, modify, merge, publish, distribute, sublicense,
and/or sell copies of the Software, and to permit persons to whom the
Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included
in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
DEALINGS IN THE SOFTWARE.
*/
/** @file
* @brief Class @ref Magnum::SceneGraph::BasicTranslationRotationScalingTransformation3D, typedef @ref Magnum::SceneGraph::TranslationRotationScalingTransformation3D
*/
#include "Magnum/Math/Matrix4.h"
#include "Magnum/Math/Quaternion.h"
#include "Magnum/SceneGraph/AbstractTranslationRotationScaling3D.h"
#include "Magnum/SceneGraph/Object.h"
namespace Magnum { namespace SceneGraph {
/**
@brief Three-dimensional transformation implemented using translation, rotation and scaling
Similar to @ref BasicMatrixTransformation3D, but stores translation, rotation
and scaling separately. This makes it more suitable for e.g. animation, where
there are usually separate animation tracks for translation, rotation and
scaling. This separation also imposes some constraints --- for given object,
scaling is always applied first, rotation second and translation last. In
particular, unlike with matrix-based transformation implementation, it's not
possible to rotate a translated object, for example --- one has to apply the
rotation first and then translate using a rotated vector.
@see @ref scenegraph, @ref TranslationRotationScalingTransformation3D,
@ref BasicTranslationRotationScalingTransformation2D
*/
template<class T> class BasicTranslationRotationScalingTransformation3D: public AbstractBasicTranslationRotationScaling3D<T> {
public:
/** @brief Underlying transformation type */
typedef Math::Matrix4<T> DataType;
/** @brief Object transformation */
Math::Matrix4<T> transformation() const;
/**
* @brief Set transformation
* @return Reference to self (for method chaining)
*
* Expects that the transformation doesn't contain shear or reflection.
*/
Object<BasicTranslationRotationScalingTransformation3D<T>>& setTransformation(const Math::Matrix4<T>& transformation);
/** @brief Object translation */
Math::Vector3<T> translation() const { return _translation; }
/**
* @brief Set translation
* @return Reference to self (for method chaining)
*
* Translation is always applied last, after rotation and scaling.
*/
Object<BasicTranslationRotationScalingTransformation3D<T>>& setTranslation(const Math::Vector3<T>& translation);
/** @brief Object rotation */
Math::Quaternion<T> rotation() const { return _rotation; }
/**
* @brief Set rotation
* @return Reference to self (for method chaining)
*
* Rotation is always applied after scaling and before translation.
* Expects that the quaternion is normalized.
*/
Object<BasicTranslationRotationScalingTransformation3D<T>>& setRotation(const Math::Quaternion<T>& rotation);
/** @brief Object scaling */
Math::Vector3<T> scaling() const { return _scaling; }
/**
* @brief Set scaling
* @return Reference to self (for method chaining)
*
* Scaling is always applied first, before rotation and translation.
*/
Object<BasicTranslationRotationScalingTransformation3D<T>>& setScaling(const Math::Vector3<T>& scaling);
/** @copydoc AbstractTranslationRotationScaling3D::resetTransformation() */
Object<BasicTranslationRotationScalingTransformation3D<T>>& resetTransformation() {
return setTransformation({});
}
/**
* @brief Translate object
* @return Reference to self (for method chaining)
*
* Note that translation is always applied last, after rotation and
* scaling.
* @see @ref translateLocal(), @ref Math::Vector3::xAxis(),
* @ref Math::Vector3::yAxis(), @ref Math::Vector3::zAxis()
*/
Object<BasicTranslationRotationScalingTransformation3D<T>>& translate(const Math::Vector3<T>& vector) {
return setTranslation(vector + _translation);
}
/**
* @brief Translate object as a local transformation
*
* Equivalent to the above, as translation is commutative. Note that
* translation is always applied last, after rotation and scaling.
*/
Object<BasicTranslationRotationScalingTransformation3D<T>>& translateLocal(const Math::Vector3<T>& vector) {
return setTranslation(_translation + vector);
}
/**
* @brief Rotate object using a quaternion
* @param quaternion Normalized quaternion
* @return Reference to self (for method chaining)
*
* Note that rotation is always applied after scaling and before
* translation. Expects that the quaternion is normalized.
* @see @ref rotate(Math::Rad<T>, const Math::Vector3<T>&),
* @ref rotateLocal(const Math::Quaternion<T>&), @ref rotateX(),
* @ref rotateY(), @ref rotateZ(), @ref Math::Vector3::xAxis(),
* @ref Math::Vector3::yAxis(), @ref Math::Vector3::zAxis()
*/
Object<BasicTranslationRotationScalingTransformation3D<T>>& rotate(const Math::Quaternion<T>& quaternion) {
return setRotation(quaternion*_rotation);
}
/**
* @brief Rotate object using a quaternion as a local transformation
*
* Similar to the above, except that the rotation is applied before all
* other rotations. Note that rotation is always applied after scaling
* and before translation.
*/
Object<BasicTranslationRotationScalingTransformation3D<T>>& rotateLocal(const Math::Quaternion<T>& quaternion) {
return setRotation(_rotation*quaternion);
}
/**
* @brief Rotate object
* @param angle Angle (counterclockwise)
* @param normalizedAxis Normalized rotation axis
* @return Reference to self (for method chaining)
*
* Same as calling @ref rotate(const Math::Quaternion<T>&)
* with @ref Quaternion::rotation(). Note that rotation is always
* applied after scaling and before translation.
* @see @ref rotateLocal(), @ref rotateX(), @ref rotateY(),
* @ref rotateZ(), @ref Math::Vector3::xAxis(),
* @ref Math::Vector3::yAxis(), @ref Math::Vector3::zAxis()
*/
Object<BasicTranslationRotationScalingTransformation3D<T>>& rotate(Math::Rad<T> angle, const Math::Vector3<T>& normalizedAxis) {
return rotate(Math::Quaternion<T>::rotation(angle, normalizedAxis));
}
/**
* @brief Rotate object as a local transformation
*
* Similar to the above, except that the rotation is applied before all
* other rotations. Note that rotation is always applied after scaling
* and before translation. Same as calling
* @ref rotateLocal(const Math::Quaternion<T>&) with
* @ref Math::Quaternion::rotation().
*/
Object<BasicTranslationRotationScalingTransformation3D<T>>& rotateLocal(Math::Rad<T> angle, const Math::Vector3<T>& normalizedAxis) {
return rotateLocal(Math::Quaternion<T>::rotation(angle, normalizedAxis));
}
/**
* @brief Rotate object around X axis
* @param angle Angle (counterclockwise)
* @return Reference to self (for method chaining)
*
* Same as calling @ref rotate() with @ref Math::Vector3::xAxis() as an
* axis.
* @see @ref rotateXLocal()
*/
Object<BasicTranslationRotationScalingTransformation3D<T>>& rotateX(Math::Rad<T> angle) {
return rotate(angle, Math::Vector3<T>::xAxis());
}
/**
* @brief Rotate object around X axis as a local transformation
*
* Similar to the above, except that the rotation is applied before all
* other rotations. Note that rotation is always applied after scaling
* and before translation. Same as calling @ref rotateLocal() with
* @ref Math::Vector3::xAxis() as an axis.
*/
Object<BasicTranslationRotationScalingTransformation3D<T>>& rotateXLocal(Math::Rad<T> angle) {
return rotateLocal(angle, Math::Vector3<T>::xAxis());
}
/**
* @brief Rotate object around Y axis
* @param angle Angle (counterclockwise)
* @return Reference to self (for method chaining)
*
* Same as calling @ref rotate() with @ref Math::Vector3::yAxis() as an
* axis.
* @see @ref rotateYLocal()
*/
Object<BasicTranslationRotationScalingTransformation3D<T>>& rotateY(Math::Rad<T> angle) {
return rotate(angle, Math::Vector3<T>::yAxis());
}
/**
* @brief Rotate object around Y axis as a local transformation
*
* Similar to the above, except that the rotation is applied before all
* other rotations. Note that rotation is always applied after scaling
* and before translation. Same as calling @ref rotateLocal() with
* @ref Math::Vector3::yAxis() as an axis.
*/
Object<BasicTranslationRotationScalingTransformation3D<T>>& rotateYLocal(Math::Rad<T> angle) {
return rotateLocal(angle, Math::Vector3<T>::yAxis());
}
/**
* @brief Rotate object around Z axis
* @param angle Angle (counterclockwise)
* @return Reference to self (for method chaining)
*
* Same as calling @ref rotate() with @ref Math::Vector3::yAxis() as an
* axis.
* @see @ref rotateZLocal()
*/
Object<BasicTranslationRotationScalingTransformation3D<T>>& rotateZ(Math::Rad<T> angle) {
return rotate(angle, Math::Vector3<T>::zAxis());
}
/**
* @brief Rotate object around Z axis as a local transformation
*
* Similar to the above, except that the rotation is applied before all
* other rotations. Note that rotation is always applied after scaling
* and before translation. Same as calling @ref rotateLocal() with
* @ref Math::Vector3::zAxis() as an axis.
*/
Object<BasicTranslationRotationScalingTransformation3D<T>>& rotateZLocal(Math::Rad<T> angle) {
return rotateLocal(angle, Math::Vector3<T>::zAxis());
}
/**
* @brief Scale object
* @return Reference to self (for method chaining)
*
* Note that scaling is always applied first, before rotation and
* translation.
* @see @ref scaleLocal(), @ref Math::Vector3::xScale(),
* @ref Math::Vector3::yScale(), @ref Math::Vector3::zScale()
*/
Object<BasicTranslationRotationScalingTransformation3D<T>>& scale(const Math::Vector3<T>& vector) {
return setScaling(vector*_scaling);
}
/**
* @brief Scale object as a local transformation
*
* Equivalent to the above, as scaling is commutative. Note that
* scaling is always first, before rotation and translation.
*/
Object<BasicTranslationRotationScalingTransformation3D<T>>& scaleLocal(const Math::Vector3<T>& vector) {
return setScaling(_scaling*vector);
}
protected:
/* Allow construction only from Object */
explicit BasicTranslationRotationScalingTransformation3D() = default;
private:
void doResetTransformation() override final { resetTransformation(); }
void doTranslate(const Math::Vector3<T>& vector) override final { translate(vector); }
void doTranslateLocal(const Math::Vector3<T>& vector) override final { translateLocal(vector); }
void doRotate(Math::Rad<T> angle, const Math::Vector3<T>& normalizedAxis) override final {
rotate(angle, normalizedAxis);
}
void doRotateLocal(Math::Rad<T> angle, const Math::Vector3<T>& normalizedAxis) override final {
rotateLocal(angle, normalizedAxis);
}
void doRotateX(Math::Rad<T> angle) override final { rotateX(angle); }
void doRotateXLocal(Math::Rad<T> angle) override final { rotateXLocal(angle); }
void doRotateY(Math::Rad<T> angle) override final { rotateY(angle); }
void doRotateYLocal(Math::Rad<T> angle) override final { rotateYLocal(angle); }
void doRotateZ(Math::Rad<T> angle) override final { rotateZ(angle); }
void doRotateZLocal(Math::Rad<T> angle) override final { rotateZLocal(angle); }
void doScale(const Math::Vector3<T>& vector) override final { scale(vector); }
void doScaleLocal(const Math::Vector3<T>& vector) override final { scaleLocal(vector); }
Math::Vector3<T> _translation;
Math::Quaternion<T> _rotation;
Math::Vector3<T> _scaling{T(1)};
};
/**
@brief Three-dimensional transformation for float scenes implemented using translation, rotation and scaling
@see @ref TranslationRotationScalingTransformation2D
*/
typedef BasicTranslationRotationScalingTransformation3D<Float> TranslationRotationScalingTransformation3D;
template<class T> Math::Matrix4<T> BasicTranslationRotationScalingTransformation3D<T>::transformation() const {
return Math::Matrix4<T>::from(_rotation.toMatrix(), _translation)*
Math::Matrix4<T>::scaling(_scaling);
}
template<class T> Object<BasicTranslationRotationScalingTransformation3D<T>>& BasicTranslationRotationScalingTransformation3D<T>::setTransformation(const Math::Matrix4<T>& transformation) {
/* Setting transformation is forbidden for the scene */
/** @todo Assert for this? */
/** @todo Do this in some common code so we don't need to include Object? */
if(!static_cast<Object<BasicTranslationRotationScalingTransformation3D<T>>*>(this)->isScene()) {
_translation = transformation.translation();
_rotation = Math::Quaternion<T>::fromMatrix(transformation.rotationShear());
_scaling = transformation.scaling();
static_cast<Object<BasicTranslationRotationScalingTransformation3D<T>>*>(this)->setDirty();
}
return static_cast<Object<BasicTranslationRotationScalingTransformation3D<T>>&>(*this);
}
template<class T> Object<BasicTranslationRotationScalingTransformation3D<T>>& BasicTranslationRotationScalingTransformation3D<T>::setTranslation(const Math::Vector3<T>& translation) {
/* Setting transformation is forbidden for the scene */
/** @todo Assert for this? */
/** @todo Do this in some common code so we don't need to include Object? */
if(!static_cast<Object<BasicTranslationRotationScalingTransformation3D<T>>*>(this)->isScene()) {
_translation = translation;
static_cast<Object<BasicTranslationRotationScalingTransformation3D<T>>*>(this)->setDirty();
}
return static_cast<Object<BasicTranslationRotationScalingTransformation3D<T>>&>(*this);
}
template<class T> Object<BasicTranslationRotationScalingTransformation3D<T>>& BasicTranslationRotationScalingTransformation3D<T>::setRotation(const Math::Quaternion<T>& rotation) {
/* Setting transformation is forbidden for the scene */
/** @todo Assert for this? */
/** @todo Do this in some common code so we don't need to include Object? */
if(!static_cast<Object<BasicTranslationRotationScalingTransformation3D<T>>*>(this)->isScene()) {
_rotation = rotation;
static_cast<Object<BasicTranslationRotationScalingTransformation3D<T>>*>(this)->setDirty();
}
return static_cast<Object<BasicTranslationRotationScalingTransformation3D<T>>&>(*this);
}
template<class T> Object<BasicTranslationRotationScalingTransformation3D<T>>& BasicTranslationRotationScalingTransformation3D<T>::setScaling(const Math::Vector3<T>& scaling) {
/* Setting transformation is forbidden for the scene */
/** @todo Assert for this? */
/** @todo Do this in some common code so we don't need to include Object? */
if(!static_cast<Object<BasicTranslationRotationScalingTransformation3D<T>>*>(this)->isScene()) {
_scaling = scaling;
static_cast<Object<BasicTranslationRotationScalingTransformation3D<T>>*>(this)->setDirty();
}
return static_cast<Object<BasicTranslationRotationScalingTransformation3D<T>>&>(*this);
}
namespace Implementation {
template<class T> struct Transformation<BasicTranslationRotationScalingTransformation3D<T>> {
constexpr static Math::Matrix4<T> fromMatrix(const Math::Matrix4<T>& matrix) {
return matrix;
}
constexpr static Math::Matrix4<T> toMatrix(const Math::Matrix4<T>& transformation) {
return transformation;
}
static Math::Matrix4<T> compose(const Math::Matrix4<T>& parent, const Math::Matrix4<T>& child) {
return parent*child;
}
static Math::Matrix4<T> inverted(const Math::Matrix4<T>& transformation) {
return transformation.inverted();
}
};
}
#if defined(CORRADE_TARGET_WINDOWS) && !defined(__MINGW32__)
extern template class MAGNUM_SCENEGRAPH_EXPORT Object<BasicTranslationRotationScalingTransformation3D<Float>>;
#endif
}}
#endif

4
src/Magnum/SceneGraph/instantiation.cpp
Unescape View File

@ -36,6 +36,8 @@
#include "Magnum/SceneGraph/RigidMatrixTransformation2D.h" #include "Magnum/SceneGraph/RigidMatrixTransformation2D.h"
#include "Magnum/SceneGraph/RigidMatrixTransformation3D.h" #include "Magnum/SceneGraph/RigidMatrixTransformation3D.h"
#include "Magnum/SceneGraph/TranslationTransformation.h" #include "Magnum/SceneGraph/TranslationTransformation.h"
#include "Magnum/SceneGraph/TranslationRotationScalingTransformation2D.h"
#include "Magnum/SceneGraph/TranslationRotationScalingTransformation3D.h"
namespace Magnum { namespace SceneGraph { namespace Magnum { namespace SceneGraph {
@ -75,6 +77,8 @@ template class MAGNUM_SCENEGRAPH_EXPORT_HPP Object<BasicMatrixTransformation2D<F
template class MAGNUM_SCENEGRAPH_EXPORT_HPP Object<BasicMatrixTransformation3D<Float>>; template class MAGNUM_SCENEGRAPH_EXPORT_HPP Object<BasicMatrixTransformation3D<Float>>;
template class MAGNUM_SCENEGRAPH_EXPORT_HPP Object<BasicRigidMatrixTransformation2D<Float>>; template class MAGNUM_SCENEGRAPH_EXPORT_HPP Object<BasicRigidMatrixTransformation2D<Float>>;
template class MAGNUM_SCENEGRAPH_EXPORT_HPP Object<BasicRigidMatrixTransformation3D<Float>>; template class MAGNUM_SCENEGRAPH_EXPORT_HPP Object<BasicRigidMatrixTransformation3D<Float>>;
template class MAGNUM_SCENEGRAPH_EXPORT_HPP Object<BasicTranslationRotationScalingTransformation2D<Float>>;
template class MAGNUM_SCENEGRAPH_EXPORT_HPP Object<BasicTranslationRotationScalingTransformation3D<Float>>;
template class MAGNUM_SCENEGRAPH_EXPORT_HPP Object<TranslationTransformation<2, Float>>; template class MAGNUM_SCENEGRAPH_EXPORT_HPP Object<TranslationTransformation<2, Float>>;
template class MAGNUM_SCENEGRAPH_EXPORT_HPP Object<TranslationTransformation<3, Float>>; template class MAGNUM_SCENEGRAPH_EXPORT_HPP Object<TranslationTransformation<3, Float>>;
#endif #endif

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