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89 lines
3.9 KiB
89 lines
3.9 KiB
#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 |
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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> cylinderRendererTransformation(const VectorTypeFor<dimensions, Float>& a, const VectorTypeFor<dimensions, Float>& b, Float radius); |
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template<> Matrix3 cylinderRendererTransformation<2>(const Vector2& a, const Vector2& b, const Float radius) { |
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/* Vector from cylinder center to top hemisphere center */ |
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const Vector2 direction = 0.5f*(b - a); |
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const Float length = direction.length(); |
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/* Capsule rotation and distance to caps after they are scaled to proper |
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radius (if nonzero cylinder length) */ |
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Matrix3 rotation; |
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if(length >= Math::TypeTraits<Float>::epsilon()) { |
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rotation.up() = direction/length; |
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rotation.right() = rotation.up().perpendicular(); |
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CORRADE_INTERNAL_ASSERT(rotation.right().isNormalized()); |
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} |
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/* Scaling and translation */ |
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return Matrix3::translation(0.5f*(a + b))*rotation*Matrix3::scaling({radius, length}); |
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} |
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template<> Matrix4 cylinderRendererTransformation<3>(const Vector3& a, const Vector3& b, const Float radius) { |
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/* Vector from cylinder center to top hemisphere center */ |
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const Vector3 direction = 0.5f*(b - a); |
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const Float length = direction.length(); |
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/* Capsule rotation and distance to caps after they are scaled to proper |
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radius (if nonzero cylinder length) */ |
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Matrix4 rotation; |
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if(length >= Math::TypeTraits<Float>::epsilon()) { |
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const Vector3 directionNormalized = direction/length; |
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const Float dot = Vector3::dot(directionNormalized, Vector3::zAxis()); |
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/* Direction is parallel to Z axis, special rotation case */ |
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if(Math::abs(dot) > 1.0f - Math::TypeTraits<Float>::epsilon()) { |
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rotation.up() = dot*Vector3::zAxis(); |
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rotation.right() = Vector3::xAxis(); |
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rotation.backward() = -dot*Vector3::yAxis(); |
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/* Common case */ |
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} else { |
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rotation.up() = directionNormalized; |
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rotation.right() = Vector3::cross(rotation.up(), Vector3::zAxis()).normalized(); |
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rotation.backward() = Vector3::cross(rotation.right(), rotation.up()); |
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CORRADE_INTERNAL_ASSERT(rotation.up().isNormalized() && rotation.backward().isNormalized()); |
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} |
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} |
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/* Scaling and translation */ |
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return Matrix4::translation(0.5f*(a + b))*rotation*Matrix4::scaling({radius, length, radius}); |
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} |
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}}} |
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#endif
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