Adding support for matrix4x4 construction from position, rotation and scaling parameters
Léo Terziman
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5e603d9ed8
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6b471317d2
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@ -78,6 +78,14 @@ public:
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/** construction from 3x3 matrix, remaining elements are set to identity */
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explicit aiMatrix4x4t( const aiMatrix3x3t<TReal>& m);
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/** construction from position, rotation and scaling components
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* @param scaling The scaling for the x,y,z axes
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* @param rotation The rotation as a hamilton quaternion
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* @param position The position for the x,y,z axes
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*/
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aiMatrix4x4t(aiVector3t<TReal>& scaling, aiQuaterniont<TReal>& rotation,
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aiVector3t<TReal>& position);
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public:
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@ -7,8 +7,8 @@ Copyright (c) 2006-2012, assimp team
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All rights reserved.
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Redistribution and use of this software in source and binary forms,
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with or without modification, are permitted provided that the following
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Redistribution and use of this software in source and binary forms,
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with or without modification, are permitted provided that the following
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conditions are met:
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* Redistributions of source code must retain the above
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@ -25,16 +25,16 @@ conditions are met:
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derived from this software without specific prior
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written permission of the assimp team.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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---------------------------------------------------------------------------
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*/
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@ -57,9 +57,9 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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// ----------------------------------------------------------------------------------------
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template <typename TReal>
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aiMatrix4x4t<TReal> ::aiMatrix4x4t () :
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a1(1.0f), a2(), a3(), a4(),
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b1(), b2(1.0f), b3(), b4(),
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aiMatrix4x4t<TReal> ::aiMatrix4x4t () :
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a1(1.0f), a2(), a3(), a4(),
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b1(), b2(1.0f), b3(), b4(),
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c1(), c2(), c3(1.0f), c4(),
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d1(), d2(), d3(), d4(1.0f)
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{
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@ -71,13 +71,13 @@ template <typename TReal>
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aiMatrix4x4t<TReal> ::aiMatrix4x4t (TReal _a1, TReal _a2, TReal _a3, TReal _a4,
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TReal _b1, TReal _b2, TReal _b3, TReal _b4,
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TReal _c1, TReal _c2, TReal _c3, TReal _c4,
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TReal _d1, TReal _d2, TReal _d3, TReal _d4) :
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a1(_a1), a2(_a2), a3(_a3), a4(_a4),
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b1(_b1), b2(_b2), b3(_b3), b4(_b4),
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TReal _d1, TReal _d2, TReal _d3, TReal _d4) :
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a1(_a1), a2(_a2), a3(_a3), a4(_a4),
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b1(_b1), b2(_b2), b3(_b3), b4(_b4),
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c1(_c1), c2(_c2), c3(_c3), c4(_c4),
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d1(_d1), d2(_d2), d3(_d3), d4(_d4)
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{
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}
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// ------------------------------------------------------------------------------------------------
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@ -102,6 +102,34 @@ inline aiMatrix4x4t<TReal>::aiMatrix4x4t (const aiMatrix3x3t<TReal>& m)
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d1 = static_cast<TReal>(0.0); d2 = static_cast<TReal>(0.0); d3 = static_cast<TReal>(0.0); d4 = static_cast<TReal>(1.0);
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}
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// ----------------------------------------------------------------------------------------
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template <typename TReal>
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inline aiMatrix4x4t<TReal>::aiMatrix4x4t (aiVector3t<TReal>& scaling, aiQuaterniont<TReal>& rotation, aiVector3t<TReal>& position)
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{
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// build a 3x3 rotation matrix
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aiMatrix3x3t<TReal> m = rotation.GetMatrix();
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a1 = m.a1 * scaling.x;
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a2 = m.a2 * scaling.x;
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a3 = m.a3 * scaling.x;
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a4 = position.x;
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b1 = m.b1 * scaling.y;
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b2 = m.b2 * scaling.y;
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b3 = m.b3 * scaling.y;
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b4 = position.y;
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c1 = m.c1 * scaling.z;
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c2 = m.c2 * scaling.z;
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c3 = m.c3 * scaling.z;
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c4= position.z;
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d1 = static_cast<TReal>(0.0);
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d2 = static_cast<TReal>(0.0);
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d3 = static_cast<TReal>(0.0);
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d4 = static_cast<TReal>(1.0);
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}
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// ----------------------------------------------------------------------------------------
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template <typename TReal>
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inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::operator *= (const aiMatrix4x4t<TReal>& m)
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@ -155,10 +183,10 @@ inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Transpose()
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template <typename TReal>
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inline TReal aiMatrix4x4t<TReal>::Determinant() const
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{
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return a1*b2*c3*d4 - a1*b2*c4*d3 + a1*b3*c4*d2 - a1*b3*c2*d4
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+ a1*b4*c2*d3 - a1*b4*c3*d2 - a2*b3*c4*d1 + a2*b3*c1*d4
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- a2*b4*c1*d3 + a2*b4*c3*d1 - a2*b1*c3*d4 + a2*b1*c4*d3
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+ a3*b4*c1*d2 - a3*b4*c2*d1 + a3*b1*c2*d4 - a3*b1*c4*d2
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return a1*b2*c3*d4 - a1*b2*c4*d3 + a1*b3*c4*d2 - a1*b3*c2*d4
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+ a1*b4*c2*d3 - a1*b4*c3*d2 - a2*b3*c4*d1 + a2*b3*c1*d4
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- a2*b4*c1*d3 + a2*b4*c3*d1 - a2*b1*c3*d4 + a2*b1*c4*d3
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+ a3*b4*c1*d2 - a3*b4*c2*d1 + a3*b1*c2*d4 - a3*b1*c4*d2
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+ a3*b2*c4*d1 - a3*b2*c1*d4 - a4*b1*c2*d3 + a4*b1*c3*d2
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- a4*b2*c3*d1 + a4*b2*c1*d3 - a4*b3*c1*d2 + a4*b3*c2*d1;
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}
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@ -169,7 +197,7 @@ inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Inverse()
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{
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// Compute the reciprocal determinant
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const TReal det = Determinant();
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if(det == static_cast<TReal>(0.0))
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if(det == static_cast<TReal>(0.0))
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{
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// Matrix not invertible. Setting all elements to nan is not really
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// correct in a mathematical sense but it is easy to debug for the
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@ -202,7 +230,7 @@ inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Inverse()
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res.d1 = -invdet * (b1 * (c2 * d3 - c3 * d2) + b2 * (c3 * d1 - c1 * d3) + b3 * (c1 * d2 - c2 * d1));
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res.d2 = invdet * (a1 * (c2 * d3 - c3 * d2) + a2 * (c3 * d1 - c1 * d3) + a3 * (c1 * d2 - c2 * d1));
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res.d3 = -invdet * (a1 * (b2 * d3 - b3 * d2) + a2 * (b3 * d1 - b1 * d3) + a3 * (b1 * d2 - b2 * d1));
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res.d4 = invdet * (a1 * (b2 * c3 - b3 * c2) + a2 * (b3 * c1 - b1 * c3) + a3 * (b1 * c2 - b2 * c1));
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res.d4 = invdet * (a1 * (b2 * c3 - b3 * c2) + a2 * (b3 * c1 - b1 * c3) + a3 * (b1 * c2 - b2 * c1));
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*this = res;
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return *this;
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@ -368,9 +396,9 @@ inline bool aiMatrix4x4t<TReal>::IsIdentity() const
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d1 <= epsilon && d1 >= -epsilon &&
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d2 <= epsilon && d2 >= -epsilon &&
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d3 <= epsilon && d3 >= -epsilon &&
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a1 <= 1.f+epsilon && a1 >= 1.f-epsilon &&
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b2 <= 1.f+epsilon && b2 >= 1.f-epsilon &&
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c3 <= 1.f+epsilon && c3 >= 1.f-epsilon &&
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a1 <= 1.f+epsilon && a1 >= 1.f-epsilon &&
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b2 <= 1.f+epsilon && b2 >= 1.f-epsilon &&
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c3 <= 1.f+epsilon && c3 >= 1.f-epsilon &&
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d4 <= 1.f+epsilon && d4 >= 1.f-epsilon);
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}
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@ -472,9 +500,9 @@ inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Scaling( const aiVector3t<TReal
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*/
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// ----------------------------------------------------------------------------------------
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template <typename TReal>
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inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::FromToMatrix(const aiVector3t<TReal>& from,
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inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::FromToMatrix(const aiVector3t<TReal>& from,
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const aiVector3t<TReal>& to, aiMatrix4x4t<TReal>& mtx)
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{
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{
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aiMatrix3x3t<TReal> m3;
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aiMatrix3x3t<TReal>::FromToMatrix(from,to,m3);
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mtx = aiMatrix4x4t<TReal>(m3);
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