From 6b471317d2c8cdd4de2a772398bca7ea8ee7c41f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?L=C3=A9o=20Terziman?= Date: Mon, 23 Sep 2013 11:23:53 +0200 Subject: [PATCH] Adding support for matrix4x4 construction from position, rotation and scaling parameters --- include/assimp/matrix4x4.h | 8 ++++ include/assimp/matrix4x4.inl | 82 ++++++++++++++++++++++++------------ 2 files changed, 63 insertions(+), 27 deletions(-) diff --git a/include/assimp/matrix4x4.h b/include/assimp/matrix4x4.h index 6041bac1a..020921430 100644 --- a/include/assimp/matrix4x4.h +++ b/include/assimp/matrix4x4.h @@ -78,6 +78,14 @@ public: /** construction from 3x3 matrix, remaining elements are set to identity */ explicit aiMatrix4x4t( const aiMatrix3x3t& m); + + /** construction from position, rotation and scaling components + * @param scaling The scaling for the x,y,z axes + * @param rotation The rotation as a hamilton quaternion + * @param position The position for the x,y,z axes + */ + aiMatrix4x4t(aiVector3t& scaling, aiQuaterniont& rotation, + aiVector3t& position); public: diff --git a/include/assimp/matrix4x4.inl b/include/assimp/matrix4x4.inl index 15edbf4ab..d7c8227d4 100644 --- a/include/assimp/matrix4x4.inl +++ b/include/assimp/matrix4x4.inl @@ -7,8 +7,8 @@ Copyright (c) 2006-2012, assimp team All rights reserved. -Redistribution and use of this software in source and binary forms, -with or without modification, are permitted provided that the following +Redistribution and use of this software in source and binary forms, +with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above @@ -25,16 +25,16 @@ conditions are met: derived from this software without specific prior written permission of the assimp team. -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR -A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT +A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, -SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, -DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY -THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY +THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. --------------------------------------------------------------------------- */ @@ -57,9 +57,9 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. // ---------------------------------------------------------------------------------------- template -aiMatrix4x4t ::aiMatrix4x4t () : - a1(1.0f), a2(), a3(), a4(), - b1(), b2(1.0f), b3(), b4(), +aiMatrix4x4t ::aiMatrix4x4t () : + a1(1.0f), a2(), a3(), a4(), + b1(), b2(1.0f), b3(), b4(), c1(), c2(), c3(1.0f), c4(), d1(), d2(), d3(), d4(1.0f) { @@ -71,13 +71,13 @@ template aiMatrix4x4t ::aiMatrix4x4t (TReal _a1, TReal _a2, TReal _a3, TReal _a4, TReal _b1, TReal _b2, TReal _b3, TReal _b4, TReal _c1, TReal _c2, TReal _c3, TReal _c4, - TReal _d1, TReal _d2, TReal _d3, TReal _d4) : - a1(_a1), a2(_a2), a3(_a3), a4(_a4), - b1(_b1), b2(_b2), b3(_b3), b4(_b4), + TReal _d1, TReal _d2, TReal _d3, TReal _d4) : + a1(_a1), a2(_a2), a3(_a3), a4(_a4), + b1(_b1), b2(_b2), b3(_b3), b4(_b4), c1(_c1), c2(_c2), c3(_c3), c4(_c4), d1(_d1), d2(_d2), d3(_d3), d4(_d4) { - + } // ------------------------------------------------------------------------------------------------ @@ -102,6 +102,34 @@ inline aiMatrix4x4t::aiMatrix4x4t (const aiMatrix3x3t& m) d1 = static_cast(0.0); d2 = static_cast(0.0); d3 = static_cast(0.0); d4 = static_cast(1.0); } +// ---------------------------------------------------------------------------------------- +template +inline aiMatrix4x4t::aiMatrix4x4t (aiVector3t& scaling, aiQuaterniont& rotation, aiVector3t& position) +{ + // build a 3x3 rotation matrix + aiMatrix3x3t m = rotation.GetMatrix(); + + a1 = m.a1 * scaling.x; + a2 = m.a2 * scaling.x; + a3 = m.a3 * scaling.x; + a4 = position.x; + + b1 = m.b1 * scaling.y; + b2 = m.b2 * scaling.y; + b3 = m.b3 * scaling.y; + b4 = position.y; + + c1 = m.c1 * scaling.z; + c2 = m.c2 * scaling.z; + c3 = m.c3 * scaling.z; + c4= position.z; + + d1 = static_cast(0.0); + d2 = static_cast(0.0); + d3 = static_cast(0.0); + d4 = static_cast(1.0); +} + // ---------------------------------------------------------------------------------------- template inline aiMatrix4x4t& aiMatrix4x4t::operator *= (const aiMatrix4x4t& m) @@ -155,10 +183,10 @@ inline aiMatrix4x4t& aiMatrix4x4t::Transpose() template inline TReal aiMatrix4x4t::Determinant() const { - return a1*b2*c3*d4 - a1*b2*c4*d3 + a1*b3*c4*d2 - a1*b3*c2*d4 - + a1*b4*c2*d3 - a1*b4*c3*d2 - a2*b3*c4*d1 + a2*b3*c1*d4 - - a2*b4*c1*d3 + a2*b4*c3*d1 - a2*b1*c3*d4 + a2*b1*c4*d3 - + a3*b4*c1*d2 - a3*b4*c2*d1 + a3*b1*c2*d4 - a3*b1*c4*d2 + return a1*b2*c3*d4 - a1*b2*c4*d3 + a1*b3*c4*d2 - a1*b3*c2*d4 + + a1*b4*c2*d3 - a1*b4*c3*d2 - a2*b3*c4*d1 + a2*b3*c1*d4 + - a2*b4*c1*d3 + a2*b4*c3*d1 - a2*b1*c3*d4 + a2*b1*c4*d3 + + a3*b4*c1*d2 - a3*b4*c2*d1 + a3*b1*c2*d4 - a3*b1*c4*d2 + a3*b2*c4*d1 - a3*b2*c1*d4 - a4*b1*c2*d3 + a4*b1*c3*d2 - a4*b2*c3*d1 + a4*b2*c1*d3 - a4*b3*c1*d2 + a4*b3*c2*d1; } @@ -169,7 +197,7 @@ inline aiMatrix4x4t& aiMatrix4x4t::Inverse() { // Compute the reciprocal determinant const TReal det = Determinant(); - if(det == static_cast(0.0)) + if(det == static_cast(0.0)) { // Matrix not invertible. Setting all elements to nan is not really // correct in a mathematical sense but it is easy to debug for the @@ -202,7 +230,7 @@ inline aiMatrix4x4t& aiMatrix4x4t::Inverse() res.d1 = -invdet * (b1 * (c2 * d3 - c3 * d2) + b2 * (c3 * d1 - c1 * d3) + b3 * (c1 * d2 - c2 * d1)); res.d2 = invdet * (a1 * (c2 * d3 - c3 * d2) + a2 * (c3 * d1 - c1 * d3) + a3 * (c1 * d2 - c2 * d1)); res.d3 = -invdet * (a1 * (b2 * d3 - b3 * d2) + a2 * (b3 * d1 - b1 * d3) + a3 * (b1 * d2 - b2 * d1)); - res.d4 = invdet * (a1 * (b2 * c3 - b3 * c2) + a2 * (b3 * c1 - b1 * c3) + a3 * (b1 * c2 - b2 * c1)); + res.d4 = invdet * (a1 * (b2 * c3 - b3 * c2) + a2 * (b3 * c1 - b1 * c3) + a3 * (b1 * c2 - b2 * c1)); *this = res; return *this; @@ -368,9 +396,9 @@ inline bool aiMatrix4x4t::IsIdentity() const d1 <= epsilon && d1 >= -epsilon && d2 <= epsilon && d2 >= -epsilon && d3 <= epsilon && d3 >= -epsilon && - a1 <= 1.f+epsilon && a1 >= 1.f-epsilon && - b2 <= 1.f+epsilon && b2 >= 1.f-epsilon && - c3 <= 1.f+epsilon && c3 >= 1.f-epsilon && + a1 <= 1.f+epsilon && a1 >= 1.f-epsilon && + b2 <= 1.f+epsilon && b2 >= 1.f-epsilon && + c3 <= 1.f+epsilon && c3 >= 1.f-epsilon && d4 <= 1.f+epsilon && d4 >= 1.f-epsilon); } @@ -472,9 +500,9 @@ inline aiMatrix4x4t& aiMatrix4x4t::Scaling( const aiVector3t -inline aiMatrix4x4t& aiMatrix4x4t::FromToMatrix(const aiVector3t& from, +inline aiMatrix4x4t& aiMatrix4x4t::FromToMatrix(const aiVector3t& from, const aiVector3t& to, aiMatrix4x4t& mtx) -{ +{ aiMatrix3x3t m3; aiMatrix3x3t::FromToMatrix(from,to,m3); mtx = aiMatrix4x4t(m3);