From ad13cea0ca217586c0d65a720e5c773c6957a2ca Mon Sep 17 00:00:00 2001
From: Hartmut Seichter <hartmut@technotecture.com>
Date: Sun, 27 Jan 2019 15:22:55 +0100
Subject: [PATCH] well missing stuff from commit before ...
---
.gitignore | 1 +
src/core/include/pw/core/axisangle.hpp | 72 +++++++++++++-----------
src/core/include/pw/core/mesh.hpp | 2 +
src/core/src/mesh.cpp | 16 +++++-
src/core/tests/pwcore_test_axisangle.cpp | 20 +++++++
5 files changed, 77 insertions(+), 34 deletions(-)
diff --git a/.gitignore b/.gitignore
index 7327629..ff2a733 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,4 @@
*.user
*.user.*
compile_commands.json
+*.autosave
diff --git a/src/core/include/pw/core/axisangle.hpp b/src/core/include/pw/core/axisangle.hpp
index 77744ee..fcc5fdb 100644
--- a/src/core/include/pw/core/axisangle.hpp
+++ b/src/core/include/pw/core/axisangle.hpp
@@ -47,51 +47,57 @@ struct axisangle_ {
{
}
+ static const axisangle_ from_matrix(const matrix_<4,4,T>& m)
+ {
+ using std::acos;
+ using std::sqrt;
+
+ axisangle_ aa_res;
+ aa_res.angle = acos((m(0,0) + m(1,1) + m(2,2) - 1) / T(2));
+ const T m2112 = m(2,1) - m(1,2);
+ const T m0220 = m(0,2) - m(2,0);
+ const T m1001 = m(1,0) - m(0,1);
+ // no singularity check here ...
+ const T mrot_denom = sqrt( m2112 * m2112 + m0220 * m0220 + m1001 * m1001 );
+
+ aa_res.axis.x() = m2112 / mrot_denom;
+ aa_res.axis.y() = m0220 / mrot_denom;
+ aa_res.axis.z() = m1001 / mrot_denom;
+
+ return aa_res;
+ }
+
matrix_<4,4,T> to_matrix() const
{
-
- // TODO ... Somehow buggy!
using std::cos;
using std::sin;
// result
matrix_<4,4,T> rot_mat; rot_mat.set_identity();
+ axis_type axis_n = axis.normalized(); // always normalize
- // return as identity
- if (axis.norm() < std::numeric_limits<T>::epsilon()) return rot_mat;
+ const T cos_a = cos(angle);
+ const T sin_a = sin(angle);
+ const T cos_1_a = T(1) - cos_a;
- const T f_cos = cos(angle);
+ rot_mat(0,0) = cos_a + axis_n.x() * axis_n.x() * cos_1_a;
+ rot_mat(1,1) = cos_a + axis_n.y() * axis_n.y() * cos_1_a;
+ rot_mat(2,2) = cos_a + axis_n.z() * axis_n.z() * cos_1_a;
- const vector3_<T> cos_axis = axis * (T(1) - f_cos);
- const vector3_<T> sin_axis = axis * sin(angle);
+ T v1 = axis_n.x() * axis_n.y() * cos_1_a;
+ T v2 = axis_n.z() * sin_a;
+ rot_mat(1,0) = v1 + v2;
+ rot_mat(0,1) = v1 - v2;
- T val = cos_axis.x() * axis.y();
- rot_mat(0,1) = val - sin_axis.z();
- rot_mat(1,0) = val + sin_axis.z();
+ v1 = axis_n.x() * axis_n.z() * cos_1_a;
+ v2 = axis_n.y() * sin_a;
+ rot_mat(2,0) = v1 - v2;
+ rot_mat(0,2) = v1 + v2;
- val = cos_axis.x() * axis.z();
- rot_mat(0,2) = val + sin_axis.z();
- rot_mat(2,0) = val - sin_axis.z();
-
- val = cos_axis.y() * axis.z();
- rot_mat(1,2) = val - sin_axis.x();
- rot_mat(2,1) = val + sin_axis.x();
-
- rot_mat(0,0) = cos_axis[0] * axis[0] + f_cos;
- rot_mat(1,1) = cos_axis[1] * axis[1] + f_cos;
- rot_mat(2,2) = cos_axis[2] * axis[2] + f_cos;
-
-// R.at(0) = axis[0] * _vCos(0,0)) + f_cos;
-// R.at(4) = axis[0] * _vCos(1,0)) - _vSin(2,0));
-// R.at(8) = axis[0] * _vCos(2,0)) + _vSin(1,0));
-
-// R.at(1) = (T) ((vec(1,0) * _vCos(0,0)) + _vSin(2,0));
-// R.at(5) = (T) ((vec(1,0) * _vCos(1,0)) + f_cos);
-// R.at(9) = (T) ((vec(1,0) * _vCos(2,0)) - _vSin(0,0));
-
-// R.at(2) = (T) ((vec(2,0) * _vCos(0,0)) - _vSin(1,0));
-// R.at(6) = (T) ((vec(2,0) * _vCos(1,0)) + _vSin(0,0));
-// R.at(10)= (T) ((vec(2,0) * _vCos(2,0)) + f_cos);
+ v1 = axis_n.y() * axis_n.z() * cos_1_a;
+ v2 = axis_n.x() * sin_a;
+ rot_mat(2,1) = v1 + v2;
+ rot_mat(1,2) = v1 - v2;
return rot_mat;
}
diff --git a/src/core/include/pw/core/mesh.hpp b/src/core/include/pw/core/mesh.hpp
index 8843179..56345db 100644
--- a/src/core/include/pw/core/mesh.hpp
+++ b/src/core/include/pw/core/mesh.hpp
@@ -56,6 +56,8 @@ public:
void apply(const matrix4x4& m);
+ void bounds() const;
+
void reset();
protected:
diff --git a/src/core/src/mesh.cpp b/src/core/src/mesh.cpp
index 030d37c..07892c4 100644
--- a/src/core/src/mesh.cpp
+++ b/src/core/src/mesh.cpp
@@ -6,7 +6,21 @@ namespace pw {
void mesh::apply(const matrix4x4 &m)
{
for (auto &v : _vertices)
- v = vector4(m * v.homogenous()).project();
+ v = vector4(m * v.homogenous()).project();
+}
+
+void mesh::bounds() const
+{
+ vector3 max_vec = _vertices.front(),min_vec = _vertices.front();
+ // compute the AABB
+ for (auto const & v : _vertices) {
+ max_vec.x() = std::max(v.x(),max_vec.x());
+ max_vec.y() = std::max(v.y(),max_vec.y());
+ max_vec.z() = std::max(v.z(),max_vec.z());
+ min_vec.x() = std::min(v.x(),min_vec.x());
+ min_vec.y() = std::min(v.y(),min_vec.y());
+ min_vec.z() = std::min(v.z(),min_vec.z());
+ }
}
diff --git a/src/core/tests/pwcore_test_axisangle.cpp b/src/core/tests/pwcore_test_axisangle.cpp
index 21f95b2..34b32c0 100644
--- a/src/core/tests/pwcore_test_axisangle.cpp
+++ b/src/core/tests/pwcore_test_axisangle.cpp
@@ -28,6 +28,26 @@ int main(int argc,char **argv) {
+ std::cout << "z-axis" << std::endl;
+
+ aa.axis = pw::vector3::z_axis();
+ aa.angle = pw::deg_to_rad(45.f);
+
+ std::cout << "aa.matrix() = " << std::endl << pw::serialize::matrix(aa.to_matrix()) << std::endl;
+
+
+ std::cout << "from matrix" << std::endl;
+
+ pw::matrix4x4f mrot; mrot.zero();
+ mrot(0,0) = 1;
+ mrot(2,1) = 1;
+ mrot(1,2) = -1;
+
+ pw::axisanglef aa_fm = pw::axisangle::from_matrix(mrot);
+
+ std::cout << pw::serialize::matrix(aa_fm.axis.transposed()) << " " << pw::rad_to_deg(aa_fm.angle) << "deg" << std::endl;
+
+
return 0;
}