Developer Documentation

TransformNode.cc
1 /*===========================================================================*\
2 * *
3 * OpenFlipper *
4 * Copyright (c) 2001-2015, RWTH-Aachen University *
5 * Department of Computer Graphics and Multimedia *
6 * All rights reserved. *
7 * www.openflipper.org *
8 * *
9 *---------------------------------------------------------------------------*
10 * This file is part of OpenFlipper. *
11 *---------------------------------------------------------------------------*
12 * *
13 * Redistribution and use in source and binary forms, with or without *
14 * modification, are permitted provided that the following conditions *
15 * are met: *
16 * *
17 * 1. Redistributions of source code must retain the above copyright notice, *
18 * this list of conditions and the following disclaimer. *
19 * *
20 * 2. Redistributions in binary form must reproduce the above copyright *
21 * notice, this list of conditions and the following disclaimer in the *
22 * documentation and/or other materials provided with the distribution. *
23 * *
24 * 3. Neither the name of the copyright holder nor the names of its *
25 * contributors may be used to endorse or promote products derived from *
26 * this software without specific prior written permission. *
27 * *
28 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS *
29 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED *
30 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A *
31 * PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER *
32 * OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, *
33 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, *
34 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR *
35 * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF *
36 * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING *
37 * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
38 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
39 * *
40 \*===========================================================================*/
41
42
43
44
45
46
47 //=============================================================================
48 //
49 // CLASS TransformNode - IMPLEMENTATION
50 //
51 //=============================================================================
52
53
54 //== INCLUDES =================================================================
55
56 #include "TransformNode.hh"
57
58
59 //== IMPLEMENTATION ==========================================================
60
61
62 namespace ACG {
63 namespace SceneGraph {
64
65
66 //----------------------------------------------------------------------------
67
68
69 TransformNode::
70 TransformNode(BaseNode* _parent, const std::string& _name)
71 : BaseNode(_parent,_name),
72 center_(0.0, 0.0, 0.0),
73 applyTransformation_(true)
74 {
75 // ortho 2d stuff
76 is2DObject_ = false;
77 isPerSkeletonObject_ = false;
78 scaleFactor2D_ = 1.0;
79 offset_ = ACG::Vec2d(0.0,0.0);
80 imageDimensions_ = ACG::Vec2i(-1,-1); // no image per default
81
82 loadIdentity();
83 }
84
85
86 //----------------------------------------------------------------------------
87
88
89 void
90 TransformNode::
91 loadIdentity()
92 {
93 matrix_.identity();
94 inverse_matrix_.identity();
95
96 rotation_matrix_.identity();
97 inverse_rotation_matrix_.identity();
98 quaternion_.identity();
99
100 scale_matrix_.identity();
101 inverse_scale_matrix_.identity();
102
103 translation_ = Vec3d(0.0, 0.0, 0.0);
104 }
105
106
107 //----------------------------------------------------------------------------
108
109
110 void
111 TransformNode::
112 setIdentity()
113 {
114 Vec3d v3 = matrix_.transform_point(center());
115 set_center(v3);
116 loadIdentity();
117 }
118
119
120 //----------------------------------------------------------------------------
121
122
123 void
124 TransformNode::
125 translate(const Vec3d& _v)
126 {
127 translation_ += _v;
128 updateMatrix();
129 }
130
131 //----------------------------------------------------------------------------
132
133
134 void
135 TransformNode::
136 setTranslation(const Vec3d& _v)
137 {
138 translation_ = _v;
139 updateMatrix();
140 }
141
142
143 //----------------------------------------------------------------------------
144
145
146 void
147 TransformNode::
148 rotate(double _angle, const Vec3d& _axis)
149 {
150 quaternion_ *= Quaterniond(_axis, _angle/180.0*M_PI);
151 quaternion_.normalize();
152 rotation_matrix_ = quaternion_.rotation_matrix();
153 inverse_rotation_matrix_ = rotation_matrix_;
154 inverse_rotation_matrix_.transpose();
155 updateMatrix();
156 }
157
158
159 //----------------------------------------------------------------------------
160
161
162 void
163 TransformNode::
164 setRotation(const Quaterniond& rotation)
165 {
166 quaternion_ = rotation;
167 quaternion_.normalize();
168 rotation_matrix_ = quaternion_.rotation_matrix();
169 inverse_rotation_matrix_ = rotation_matrix_;
170 inverse_rotation_matrix_.transpose();
171 updateMatrix();
172 }
173
174
175 //----------------------------------------------------------------------------
176
177
178 void
179 TransformNode::
180 scale(const Vec3d& _s)
181 {
182 scale_matrix_.scale(_s);
183 inverse_scale_matrix_ = scale_matrix_;
184 inverse_scale_matrix_.invert();
185 updateMatrix();
186 }
187
188 //----------------------------------------------------------------------------
189
190
191 void
192 TransformNode::
193 scale(const GLMatrixd& _m)
194 {
195 scale_matrix_ *= _m;
196 inverse_scale_matrix_ = scale_matrix_;
197 inverse_scale_matrix_.invert();
198 updateMatrix();
199 }
200
201
202 //----------------------------------------------------------------------------
203
204
205 void
206 TransformNode::
207 updateMatrix()
208 {
209 // build matrix
210 matrix_.identity();
211 matrix_.translate(translation_);
212 matrix_.translate(center_);
213 matrix_ *= rotation_matrix_;
214 matrix_ *= scale_matrix_;
215 matrix_.translate(-center_);
216
217
218 // build inverse matrix
219 inverse_matrix_ = matrix_;
220 inverse_matrix_.invert();
221 }
222
223
224 //----------------------------------------------------------------------------
225
226
227 void
228 TransformNode::
229 enter(GLState& _state, const DrawModes::DrawMode& /* _drawmode */ )
230 {
231 _state.push_modelview_matrix();
232 _state.push_projection_matrix();
233
234 /*
235 double modelview[16];
236 glGetDoublev( GL_MODELVIEW_MATRIX, modelview );
237 double projection[16];
238 glGetDoublev( GL_PROJECTION_MATRIX, projection );
239 GLint viewport[4];
240 glGetIntegerv(GL_VIEWPORT, viewport);
241
242
243 std::cout << "****************************** enter " << name() << std::endl;
244
245 std::cout << "\nenter: mv:" << std::endl;
246 for (uint i = 0; i < 16; ++i)
247 {
248 if (i%4==0)
249 std::cerr << std::endl;
250 std::cerr << modelview[i] << ", " << std::flush;
251 }
252
253
254 std::cout << "\nenter: pr:" << std::endl;
255 for (uint i = 0; i < 16; ++i)
256 {
257 if (i%4==0)
258 std::cerr << std::endl;
259 std::cerr << projection[i] << ", " << std::flush;
260 }
261
262 std::cout << "\nenter: vp:" << std::endl;
263 for (uint i = 0; i < 4; ++i)
264 {
265 std::cerr << viewport[i] << ", " << std::flush;
266 }
267
268
269 std::cout << "enter: mv = " << _state.modelview() << std::endl;
270 std::cout << "enter: pr = " << _state.projection() << std::endl;
271 std::cout << "enter: vp = " << _state.viewport() << std::endl;
272 */
273
274
275 if ( applyTransformation_ )
276 _state.mult_matrix(matrix_, inverse_matrix_);
277
278 if (is2DObject_)
279 ortho2DMode(_state);
280
281 if(isPerSkeletonObject_)
282 perSkeletonMode(_state);
283 }
284
285
286 //----------------------------------------------------------------------------
287
288
289 void
290 TransformNode::
291 leave(GLState& _state, const DrawModes::DrawMode& /* _drawmode */ )
292 {
293 // _state.pop_projection_matrix();
294 _state.pop_modelview_matrix();
295 _state.pop_projection_matrix();
296 }
297
298 //----------------------------------------------------------------------------
299 /*
300 void
301 TransformNode::
302 ortho2DMode(GLState& _state)
303 {
304 // return;
305
306 double modelview[16];
307 glGetDoublev( GL_MODELVIEW_MATRIX, modelview );
308 double projection[16];
309 glGetDoublev( GL_PROJECTION_MATRIX, projection );
310 GLint viewport[4];
311 glGetIntegerv(GL_VIEWPORT, viewport);
312
313 std::cout << "\n**************************************" << std::endl;
314 std::cout << "modelview: " << std::flush;
315 for (uint i = 0; i < 16; ++i)
316 std::cout << modelview[i] << ", " << std::flush;
317
318 std::cout << "\nprojection: " << std::flush;
319 for (uint i = 0; i < 16; ++i)
320 std::cout << projection[i] << ", " << std::flush;
321
322
323
324 // std::cout << "****************************** ortho2DMode *******************************" << std::endl;
325 // set the whole GL matrices such that subsequent rendering of 2d
326 // image coordinates produces correct results
327 int width = _state.viewport_width();
328 int height = _state.viewport_height();
329
330 glViewport(0, 0, width, height);
331 glMatrixMode(GL_PROJECTION);
332 glLoadIdentity();
333
334 gluOrtho2D(0.0, (GLdouble)width, (GLdouble)height, 0.0);
335 glMatrixMode(GL_MODELVIEW);
336 glLoadIdentity();
337 // move image center to window center
338 glTranslatef( 0.5*(width-1), 0.5*(height-1), 0);
339 glScalef(scaleFactor2D_, scaleFactor2D_, 1.0);
340
341 if (imageDimensions_[0] != -1)
342 glTranslatef( -0.5*(imageDimensions_[0]-1), -0.5*(imageDimensions_[1]-1), 0);
343 glTranslatef(offset_[0], offset_[1], 0);
344
345
346 glGetDoublev( GL_MODELVIEW_MATRIX, modelview );
347 glGetDoublev( GL_PROJECTION_MATRIX, projection );
348 glGetIntegerv(GL_VIEWPORT, viewport);
349
350 std::cout << "\nmodelview: " << std::flush;
351 for (uint i = 0; i < 16; ++i)
352 std::cout << modelview[i] << ", " << std::flush;
353
354 std::cout << "\nprojection: " << std::flush;
355 for (uint i = 0; i < 16; ++i)
356 std::cout << projection[i] << ", " << std::flush;
357
358 }
359 */
360
361 //----------------------------------------------------------------------------
362
363
364
365 void
366 TransformNode::
367 perSkeletonMode(GLState& _state)
368 {
369 _state.set_modelview(perSkeletonModelView_);
370 }
371
372
373
374 void
375 TransformNode::
376 ortho2DMode(GLState& _state)
377 {
378 // set ortho 2D mode in glstate
379 int width = _state.viewport_width();
380 int height = _state.viewport_height();
381
382 if (width == 0 || height == 0)
383 return;
384
385 // _state.viewport(0,0,width, height);
386 _state.reset_projection();
387
388 _state.ortho(-(GLdouble)width/2.0, (GLdouble)width/2.0, -(GLdouble)height/2.0, (GLdouble)height/2.0, 0.01, 20.0);
389 // _state.ortho(0.0, (GLdouble)width, (GLdouble)height, 0.0, 0.01,20.0);
390
391 _state.reset_modelview();
392
393 _state.lookAt( Vec3d(0.0,0.0,0.0),
394 Vec3d(0.0,0.0,1.0),
395 Vec3d(0.0,-1.0,0.0)); // flip up direction (y-axis) s.t. opengl coordsys matches image coordsys
396
397 _state.scale(scaleFactor2D_, scaleFactor2D_, 1.0);
398
399 // move image center to window center
400 if (imageDimensions_[0] != -1)
401 _state.translate(-0.5*(imageDimensions_[0]-1), -0.5*(imageDimensions_[1]-1), 0);
402
403 _state.translate(offset_[0], offset_[1], 0);
404 }
405
406 //----------------------------------------------------------------------------
407
408 //=============================================================================
409 } // namespace SceneGraph
410 } // namespace ACG
411 //=============================================================================
ACG::Matrix4x4T::invert
bool invert()
matrix inversion (returns true on success)
Definition: Matrix4x4T_impl.hh:291
ACG
Namespace providing different geometric functions concerning angles.
Definition: BaseObjectData.hh:68
ACG::SceneGraph::TransformNode::updateMatrix
void updateMatrix()
update matrix
Definition: TransformNode.cc:207
ACG::SceneGraph::TransformNode::translate
void translate(const Vec3d &_v)
Add a translation to the current Transformation.
Definition: TransformNode.cc:125
ACG::QuaternionT::rotation_matrix
Matrix rotation_matrix() const
cast to rotation matrix
Definition: QuaternionT.hh:176
ACG::GLState::push_modelview_matrix
void push_modelview_matrix()
push modelview matrix
Definition: GLState.cc:1010
ACG::SceneGraph::TransformNode::scale
const GLMatrixd & scale() const
return scale matrix
Definition: TransformNode.hh:181
ACG::Vec2i
VectorT< signed int, 2 > Vec2i
Definition: VectorT.hh:98
ACG::GLState::reset_modelview
void reset_modelview()
reset modelview matrix (load identity)
Definition: GLState.cc:370
ACG::GLState::translate
void translate(double _x, double _y, double _z, MultiplyFrom _mult_from=MULT_FROM_RIGHT)
translate by (_x, _y, _z)
Definition: GLState.cc:533
ACG::SceneGraph::TransformNode::TransformNode
TransformNode(BaseNode *_parent=0, const std::string &_name="<TransformNode>")
Constructor.
Definition: TransformNode.cc:70
ACG::GLState::viewport_width
int viewport_width() const
get viewport width
Definition: GLState.hh:822
OpenMesh::VectorT::normalize
auto normalize() -> decltype(*this/=std::declval< VectorT< S, DIM >>().norm())
Definition: Vector11T.hh:429
ACG::Matrix4x4T::transform_point
VectorT< T, 3 > transform_point(const VectorT< T, 3 > &_v) const
transform point (x&#39;,y&#39;,z&#39;,1) = M * (x,y,z,1)
Definition: Matrix4x4T_impl.hh:196
ACG::GLState::push_projection_matrix
void push_projection_matrix()
push projection matrix
Definition: GLState.cc:971
ACG::QuaternionT< double >
ACG::SceneGraph::TransformNode::rotate
void rotate(double _angle, const Vec3d &_axis)
Definition: TransformNode.cc:148
ACG::Matrix4x4T::transpose
void transpose()
transpose matrix
Definition: Matrix4x4T_impl.hh:266
ACG::GLState::ortho
void ortho(double _left, double _right, double _bottom, double _top, double _near_plane, double _far_plane)
orthographic projection
Definition: GLState.cc:402
ACG::GLState
Definition: GLState.hh:213
ACG::Vec2d
VectorT< double, 2 > Vec2d
Definition: VectorT.hh:104
ACG::GLState::mult_matrix
void mult_matrix(const GLMatrixd &_m, const GLMatrixd &_inv_m, MultiplyFrom _mult_from=MULT_FROM_RIGHT)
multiply by a given transformation matrix
Definition: GLState.cc:614
ACG::Vec3d
VectorT< double, 3 > Vec3d
Definition: VectorT.hh:121
ACG::GLMatrixT::scale
void scale(Scalar _x, Scalar _y, Scalar _z, MultiplyFrom _mult_from=MULT_FROM_RIGHT)
multiply self with scaling matrix (x,y,z)
Definition: GLMatrixT_impl.hh:75
ACG::SceneGraph::TransformNode::setIdentity
virtual void setIdentity()
Definition: TransformNode.cc:112
ACG::GLMatrixT< double >
ACG::GLState::viewport_height
int viewport_height() const
get viewport height
Definition: GLState.hh:824
ACG::SceneGraph::DrawModes::DrawMode
Specifies a DrawMode.
Definition: DrawModes.hh:288
ACG::SceneGraph::TransformNode::enter
void enter(GLState &_state, const DrawModes::DrawMode &_drawmode)
set current GL-color and GL-material
Definition: TransformNode.cc:229
ACG::SceneGraph::TransformNode::rotation
const GLMatrixd & rotation() const
return rotation matrix
Definition: TransformNode.hh:168
ACG::GLState::reset_projection
void reset_projection()
reset projection matrix (load identity)
Definition: GLState.cc:334
ACG::QuaternionT::identity
void identity()
identity rotation
Definition: QuaternionT.hh:123
ACG::SceneGraph::TransformNode::loadIdentity
void loadIdentity()
Definition: TransformNode.cc:91
SceneGraph
Definition: QtPrincipalAxisDialog.hh:67
ACG::SceneGraph::BaseNode
Definition: BaseNode.hh:104
ACG::GLState::pop_modelview_matrix
void pop_modelview_matrix()
pop modelview matrix
Definition: GLState.cc:1026
OpenMesh::VectorT
Definition: Vector11T.hh:83
ACG::Matrix4x4T::identity
void identity()
setup an identity matrix
Definition: Matrix4x4T_impl.hh:250
ACG::GLState::pop_projection_matrix
void pop_projection_matrix()
pop projection matrix
Definition: GLState.cc:989
ACG::GLState::scale
void scale(double _s)
scale by (_s, _s, _s)
Definition: GLState.hh:750
ACG::GLState::set_modelview
void set_modelview(const GLMatrixd &_m)
set modelview
Definition: GLState.hh:728
ACG::SceneGraph::TransformNode::set_center
void set_center(const Vec3d &_c)
set center
Definition: TransformNode.hh:113
ACG::GLState::lookAt
void lookAt(const Vec3d &_eye, const Vec3d &_center, const Vec3d &_up)
set camera by lookAt
Definition: GLState.cc:515
ACG::SceneGraph::TransformNode::setTranslation
void setTranslation(const Vec3d &_v)
translation setter
Definition: TransformNode.cc:136
ACG::GLMatrixT::translate
void translate(Scalar _x, Scalar _y, Scalar _z, MultiplyFrom _mult_from=MULT_FROM_RIGHT)
multiply self with translation matrix (x,y,z)
Definition: GLMatrixT_impl.hh:96
ACG::SceneGraph::TransformNode::center
const Vec3d & center() const
get center
Definition: TransformNode.hh:115
ACG::SceneGraph::TransformNode::setRotation
void setRotation(const Quaterniond &rotation)
rotation setter
Definition: TransformNode.cc:164
ACG::SceneGraph::TransformNode::leave
void leave(GLState &_state, const DrawModes::DrawMode &_drawmode)
restores original GL-color and GL-material
Definition: TransformNode.cc:291