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Пелипенко Иван
2022-12-14 14:14:44 +03:00
parent 1dfca0aeab
commit cb944b62e4
85 changed files with 4451 additions and 3744 deletions
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189
core/gltransform.cpp
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@@ -1,36 +1,50 @@
/*
QGL Transform
Ivan Pelipenko peri4ko@yandex.ru
QGL Transform
Ivan Pelipenko peri4ko@yandex.ru
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "gltransform.h"
#include "gltypes.h"
#include <cmath>
inline void composeQMatrix4x4(const QVector3D & position, const QVector3D & orientation, const QVector3D & scale, QMatrix4x4 &m) {
inline void composeQMatrix4x4(const QVector3D & position, const QVector3D & orientation, const QVector3D & scale, QMatrix4x4 & m) {
const QMatrix3x3 rot3x3(Transform::toRotationMatrix(orientation));
// set up final matrix with scale, rotation and translation
m(0, 0) = scale.x() * rot3x3(0, 0); m(0, 1) = scale.y() * rot3x3(0, 1); m(0, 2) = scale.z() * rot3x3(0, 2); m(0, 3) = position.x();
m(1, 0) = scale.x() * rot3x3(1, 0); m(1, 1) = scale.y() * rot3x3(1, 1); m(1, 2) = scale.z() * rot3x3(1, 2); m(1, 3) = position.y();
m(2, 0) = scale.x() * rot3x3(2, 0); m(2, 1) = scale.y() * rot3x3(2, 1); m(2, 2) = scale.z() * rot3x3(2, 2); m(2, 3) = position.z();
m(0, 0) = scale.x() * rot3x3(0, 0);
m(0, 1) = scale.y() * rot3x3(0, 1);
m(0, 2) = scale.z() * rot3x3(0, 2);
m(0, 3) = position.x();
m(1, 0) = scale.x() * rot3x3(1, 0);
m(1, 1) = scale.y() * rot3x3(1, 1);
m(1, 2) = scale.z() * rot3x3(1, 2);
m(1, 3) = position.y();
m(2, 0) = scale.x() * rot3x3(2, 0);
m(2, 1) = scale.y() * rot3x3(2, 1);
m(2, 2) = scale.z() * rot3x3(2, 2);
m(2, 3) = position.z();
// no projection term
m(3, 0) = 0.0f; m(3, 1) = 0.0f; m(3, 2) = 0.0f; m(3, 3) = 1.0f;
m(3, 0) = 0.0f;
m(3, 1) = 0.0f;
m(3, 2) = 0.0f;
m(3, 3) = 1.0f;
}
inline void decomposeQMatrix3x3(const QMatrix3x3 & m, QMatrix3x3 & Q, QVector3D & D, QVector3D & U) {
@@ -62,24 +76,24 @@ inline void decomposeQMatrix3x3(const QMatrix3x3 & m, QMatrix3x3 & Q, QVector3D
// build orthogonal matrix Q
float invLen = 1.0f / std::sqrt(m(0, 0) * m(0, 0) + m(1, 0) * m(1, 0) + m(2, 0) * m(2, 0));
Q(0, 0) = m(0, 0) * invLen;
Q(1, 0) = m(1, 0) * invLen;
Q(2, 0) = m(2, 0) * invLen;
Q(0, 0) = m(0, 0) * invLen;
Q(1, 0) = m(1, 0) * invLen;
Q(2, 0) = m(2, 0) * invLen;
float dot = Q(0, 0) * m(0, 1) + Q(1, 0) * m(1, 1) + Q(2, 0) * m(2, 1);
Q(0, 1) = m(0, 1) - dot * Q(0, 0);
Q(1, 1) = m(1, 1) - dot * Q(1, 0);
Q(2, 1) = m(2, 1) - dot * Q(2, 0);
invLen = 1.0f / std::sqrt(Q(0, 1) * Q(0, 1) + Q(1, 1) * Q(1, 1) + Q(2, 1) * Q(2, 1));
float dot = Q(0, 0) * m(0, 1) + Q(1, 0) * m(1, 1) + Q(2, 0) * m(2, 1);
Q(0, 1) = m(0, 1) - dot * Q(0, 0);
Q(1, 1) = m(1, 1) - dot * Q(1, 0);
Q(2, 1) = m(2, 1) - dot * Q(2, 0);
invLen = 1.0f / std::sqrt(Q(0, 1) * Q(0, 1) + Q(1, 1) * Q(1, 1) + Q(2, 1) * Q(2, 1));
Q(0, 1) *= invLen;
Q(1, 1) *= invLen;
Q(2, 1) *= invLen;
dot = Q(0, 0) * m(0, 2) + Q(1, 0) * m(1, 2) + Q(2, 0) * m(2, 2);
dot = Q(0, 0) * m(0, 2) + Q(1, 0) * m(1, 2) + Q(2, 0) * m(2, 2);
Q(0, 2) = m(0, 2) - dot * Q(0, 0);
Q(1, 2) = m(1, 2) - dot * Q(1, 0);
Q(2, 2) = m(2, 2) - dot * Q(2, 0);
dot = Q(0, 1) * m(0, 2) + Q(1, 1) * m(1, 2) + Q(2, 1) * m(2, 2);
dot = Q(0, 1) * m(0, 2) + Q(1, 1) * m(1, 2) + Q(2, 1) * m(2, 2);
Q(0, 2) -= dot * Q(0, 1);
Q(1, 2) -= dot * Q(1, 1);
Q(2, 2) -= dot * Q(2, 1);
@@ -89,11 +103,9 @@ inline void decomposeQMatrix3x3(const QMatrix3x3 & m, QMatrix3x3 & Q, QVector3D
Q(2, 2) *= invLen;
// guarantee that orthogonal matrix has determinant 1 (no reflections)
const float det = Q(0, 0) * Q(1, 1) * Q(2, 2) + Q(0, 1) * Q(1, 2) * Q(2, 0) +
Q(0, 2) * Q(1, 0) * Q(2, 1) - Q(0, 2) * Q(1, 1) * Q(2, 0) -
Q(0, 1) * Q(1, 0) * Q(2, 2) - Q(0, 0) * Q(1, 2) * Q(2, 1);
if (det < 0.0f)
Q *= -1.0f;
const float det = Q(0, 0) * Q(1, 1) * Q(2, 2) + Q(0, 1) * Q(1, 2) * Q(2, 0) + Q(0, 2) * Q(1, 0) * Q(2, 1) -
Q(0, 2) * Q(1, 1) * Q(2, 0) - Q(0, 1) * Q(1, 0) * Q(2, 2) - Q(0, 0) * Q(1, 2) * Q(2, 1);
if (det < 0.0f) Q *= -1.0f;
// build "right" matrix R
QMatrix3x3 R(Qt::Uninitialized);
@@ -105,30 +117,26 @@ inline void decomposeQMatrix3x3(const QMatrix3x3 & m, QMatrix3x3 & Q, QVector3D
R(2, 2) = Q(0, 2) * m(0, 2) + Q(1, 2) * m(1, 2) + Q(2, 2) * m(2, 2);
// the scaling component
D[0] = R(0, 0);
D[1] = R(1, 1);
D[2] = R(2, 2);
D[0] = R(0, 0);
D[1] = R(1, 1);
D[2] = R(2, 2);
// the shear component
U[0] = R(0, 1) / D[0];
U[1] = R(0, 2) / D[0];
U[2] = R(1, 2) / D[1];
U[0] = R(0, 1) / D[0];
U[1] = R(0, 2) / D[0];
U[2] = R(1, 2) / D[1];
}
inline bool hasScale(const QMatrix4x4 &m) {
inline bool hasScale(const QMatrix4x4 & m) {
// If the columns are orthonormal and form a right-handed system, then there is no scale
float t(m.determinant());
if (!qFuzzyIsNull(t - 1.0f))
return true;
if (!qFuzzyIsNull(t - 1.0f)) return true;
t = m(0, 0) * m(0, 0) + m(1, 0) * m(1, 0) + m(2, 0) * m(2, 0);
if (!qFuzzyIsNull(t - 1.0f))
return true;
if (!qFuzzyIsNull(t - 1.0f)) return true;
t = m(0, 1) * m(0, 1) + m(1, 1) * m(1, 1) + m(2, 1) * m(2, 1);
if (!qFuzzyIsNull(t - 1.0f))
return true;
if (!qFuzzyIsNull(t - 1.0f)) return true;
t = m(0, 2) * m(0, 2) + m(1, 2) * m(1, 2) + m(2, 2) * m(2, 2);
if (!qFuzzyIsNull(t - 1.0f))
return true;
if (!qFuzzyIsNull(t - 1.0f)) return true;
return false;
}
@@ -142,64 +150,57 @@ inline void decomposeQMatrix4x4(const QMatrix4x4 & m, QVector3D & position, QVec
decomposeQMatrix3x3(m3x3, rot3x3, scale, position);
} else {
// we know there is no scaling part; no need for QDU decomposition
scale = QVector3D(1.0f, 1.0f, 1.0f);
scale = QVector3D(1.0f, 1.0f, 1.0f);
rot3x3 = m3x3;
}
orientation = Transform::fromRotationMatrix(rot3x3);
position = QVector3D(m(0, 3), m(1, 3), m(2, 3));
position = QVector3D(m(0, 3), m(1, 3), m(2, 3));
}
Transform::Transform(): m_scale(1.0f, 1.0f, 1.0f), m_translation(), m_eulerRotationAngles(), m_matrixDirty(false) {}
Transform::Transform(): m_scale(1.0f, 1.0f, 1.0f),
m_translation(), m_eulerRotationAngles(), m_matrixDirty(false) {
}
Transform & Transform::operator =(const Transform & t) {
m_scale = t.m_scale;
m_translation = t.m_translation;
Transform & Transform::operator=(const Transform & t) {
m_scale = t.m_scale;
m_translation = t.m_translation;
m_eulerRotationAngles = t.m_eulerRotationAngles;
m_matrixDirty = true;
m_matrixDirty = true;
return *this;
}
void Transform::setMatrix(const QMatrix4x4 & m) {
if (m != matrix()) {
m_matrix = m;
m_matrix = m;
m_matrixDirty = false;
QVector3D s;
QVector3D t;
QVector3D r;
decomposeQMatrix4x4(m, t, r, s);
m_scale = s;
m_translation = t;
m_scale = s;
m_translation = t;
m_eulerRotationAngles = r;
}
}
void Transform::setRotationX(float r) {
if (m_eulerRotationAngles.x() == r)
return;
if (m_eulerRotationAngles.x() == r) return;
m_eulerRotationAngles.setX(r);
m_matrixDirty = true;
}
void Transform::setRotationY(float r) {
if (m_eulerRotationAngles.y() == r)
return;
if (m_eulerRotationAngles.y() == r) return;
m_eulerRotationAngles.setY(r);
m_matrixDirty = true;
}
void Transform::setRotationZ(float r) {
if (m_eulerRotationAngles.z() == r)
return;
if (m_eulerRotationAngles.z() == r) return;
m_eulerRotationAngles.setZ(r);
m_matrixDirty = true;
}
@@ -230,7 +231,7 @@ QMatrix4x4 Transform::matrixRotateScale() const {
QVector3D Transform::direction() const {
return matrixRotate().mapVector(QVector3D(0,0,-1)).normalized();
return matrixRotate().mapVector(QVector3D(0, 0, -1)).normalized();
}
@@ -238,7 +239,7 @@ void Transform::buildMatrix() const {
if (m_matrixDirty) {
composeQMatrix4x4(m_translation, m_eulerRotationAngles, m_scale, m_matrix);
composeQMatrix4x4(QVector3D(), m_eulerRotationAngles, m_scale, m_matrixWT);
composeQMatrix4x4(QVector3D(), m_eulerRotationAngles, QVector3D(1,1,1), m_matrixR);
composeQMatrix4x4(QVector3D(), m_eulerRotationAngles, QVector3D(1, 1, 1), m_matrixR);
composeQMatrix4x4(QVector3D(), QVector3D(), m_scale, m_matrixS);
m_matrixDirty = false;
}
@@ -262,7 +263,7 @@ float Transform::rotationZ() const {
void Transform::setScale(const QVector3D & s) {
if (s != m_scale) {
m_scale = s;
m_scale = s;
m_matrixDirty = true;
}
}
@@ -305,7 +306,7 @@ float Transform::scale() const {
void Transform::setRotation(const QVector3D & r) {
if (r != m_eulerRotationAngles) {
m_eulerRotationAngles = r;
m_matrixDirty = true;
m_matrixDirty = true;
}
}
@@ -362,17 +363,19 @@ QQuaternion Transform::fromAxisAndAngle(float x, float y, float z, float angle)
}
QQuaternion Transform::fromAxesAndAngles(const QVector3D & axis1, float angle1,
const QVector3D & axis2, float angle2) {
QQuaternion Transform::fromAxesAndAngles(const QVector3D & axis1, float angle1, const QVector3D & axis2, float angle2) {
const QQuaternion q1 = QQuaternion::fromAxisAndAngle(axis1, angle1);
const QQuaternion q2 = QQuaternion::fromAxisAndAngle(axis2, angle2);
return q2 * q1;
}
QQuaternion Transform::fromAxesAndAngles(const QVector3D & axis1, float angle1,
const QVector3D & axis2, float angle2,
const QVector3D & axis3, float angle3) {
QQuaternion Transform::fromAxesAndAngles(const QVector3D & axis1,
float angle1,
const QVector3D & axis2,
float angle2,
const QVector3D & axis3,
float angle3) {
const QQuaternion q1 = QQuaternion::fromAxisAndAngle(axis1, angle1);
const QQuaternion q2 = QQuaternion::fromAxisAndAngle(axis2, angle2);
const QQuaternion q3 = QQuaternion::fromAxisAndAngle(axis3, angle3);
@@ -398,16 +401,16 @@ QVector3D Transform::fromDirection(QVector3D d, float pitch) {
QVector3D Transform::fromRotationMatrix(const QMatrix3x3 & m) {
float sy = sqrt(m(0,0) * m(0,0) + m(1,0) * m(1,0));
float sy = sqrt(m(0, 0) * m(0, 0) + m(1, 0) * m(1, 0));
bool singular = sy < 1.E-6; // If
float x, y, z;
if (!singular) {
x = atan2( m(2,1), m(2,2));
y = atan2(-m(2,0), sy);
z = atan2( m(1,0), m(0,0));
x = atan2(m(2, 1), m(2, 2));
y = atan2(-m(2, 0), sy);
z = atan2(m(1, 0), m(0, 0));
} else {
x = atan2(-m(1,2), m(1,1));
y = atan2(-m(2,0), sy);
x = atan2(-m(1, 2), m(1, 1));
y = atan2(-m(2, 0), sy);
z = 0.;
}
return QVector3D(x, y, z) * rad2deg;
@@ -419,7 +422,7 @@ QMatrix3x3 Transform::toRotationMatrix(const QVector3D & r) {
if (r.z() != 0.f) m.rotate(r.z(), 0., 0., 1.);
if (r.y() != 0.f) m.rotate(r.y(), 0., 1., 0.);
if (r.x() != 0.f) m.rotate(r.x(), 1., 0., 0.);
return m.toGenericMatrix<3,3>();
return m.toGenericMatrix<3, 3>();
}
@@ -433,8 +436,20 @@ QMatrix4x4 Transform::rotateAround(const QVector3D & point, float angle, const Q
QMatrix4x4 Transform::rotateFromAxes(const QVector3D & xAxis, const QVector3D & yAxis, const QVector3D & zAxis) {
return QMatrix4x4(xAxis.x(), yAxis.x(), zAxis.x(), 0.0f,
xAxis.y(), yAxis.y(), zAxis.y(), 0.0f,
xAxis.z(), yAxis.z(), zAxis.z(), 0.0f,
0.0f, 0.0f, 0.0f, 1.0f);
return QMatrix4x4(xAxis.x(),
yAxis.x(),
zAxis.x(),
0.0f,
xAxis.y(),
yAxis.y(),
zAxis.y(),
0.0f,
xAxis.z(),
yAxis.z(),
zAxis.z(),
0.0f,
0.0f,
0.0f,
0.0f,
1.0f);
}