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Measuring - Gizmo measure - Measuring data converted to world coordinates
This commit is contained in:
enricoturri1966
parent
1c2c012006
commit
cf11101d16
@ -1043,6 +1043,26 @@ MeasurementResult get_measurement(const SurfaceFeature& a, const SurfaceFeature&
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return result;
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}
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void DistAndPoints::transform(const Transform3d& trafo) {
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from = trafo * from;
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to = trafo * to;
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dist = (to - from).norm();
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}
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void AngleAndEdges::transform(const Transform3d& trafo) {
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const Vec3d old_e1 = e1.second - e1.first;
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const Vec3d old_e2 = e2.second - e2.first;
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center = trafo * center;
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e1.first = trafo * e1.first;
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e1.second = trafo * e1.second;
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e2.first = trafo * e2.first;
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e2.second = trafo * e2.second;
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angle = std::acos(std::clamp(Measure::edge_direction(e1).dot(Measure::edge_direction(e2)), -1.0, 1.0));
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const Vec3d new_e1 = e1.second - e1.first;
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const Vec3d new_e2 = e2.second - e2.first;
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const double average_scale = 0.5 * (new_e1.norm() / old_e1.norm() + new_e2.norm() / old_e2.norm());
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radius = average_scale * radius;
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}
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@ -120,6 +120,8 @@ struct DistAndPoints {
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double dist;
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Vec3d from;
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Vec3d to;
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void transform(const Transform3d& trafo);
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};
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struct AngleAndEdges {
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@ -132,6 +134,8 @@ struct AngleAndEdges {
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double radius;
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bool coplanar;
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void transform(const Transform3d& trafo);
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static const AngleAndEdges Dummy;
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};
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@ -108,6 +108,81 @@ static GLModel::Geometry init_plane_data(const indexed_triangle_set& its, const
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return init_data;
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}
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class TransformHelper
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{
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struct Cache
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{
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std::array<int, 4> viewport;
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Matrix4d ndc_to_ss_matrix;
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Transform3d ndc_to_ss_matrix_inverse;
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};
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static Cache s_cache;
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public:
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static Vec3d model_to_world(const Vec3d& model, const Transform3d& world_matrix) {
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return world_matrix * model;
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}
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static Vec4d world_to_clip(const Vec3d& world, const Matrix4d& projection_view_matrix) {
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return projection_view_matrix * Vec4d(world.x(), world.y(), world.z(), 1.0);
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}
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static Vec3d clip_to_ndc(const Vec4d& clip) {
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return Vec3d(clip.x(), clip.y(), clip.z()) / clip.w();
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}
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static Vec2d ndc_to_ss(const Vec3d& ndc, const std::array<int, 4>& viewport) {
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const double half_w = 0.5 * double(viewport[2]);
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const double half_h = 0.5 * double(viewport[3]);
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return { half_w * ndc.x() + double(viewport[0]) + half_w, half_h * ndc.y() + double(viewport[1]) + half_h };
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};
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static Vec4d model_to_clip(const Vec3d& model, const Transform3d& world_matrix, const Matrix4d& projection_view_matrix) {
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return world_to_clip(model_to_world(model, world_matrix), projection_view_matrix);
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}
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static Vec3d model_to_ndc(const Vec3d& model, const Transform3d& world_matrix, const Matrix4d& projection_view_matrix) {
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return clip_to_ndc(world_to_clip(model_to_world(model, world_matrix), projection_view_matrix));
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}
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static Vec2d model_to_ss(const Vec3d& model, const Transform3d& world_matrix, const Matrix4d& projection_view_matrix, const std::array<int, 4>& viewport) {
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return ndc_to_ss(clip_to_ndc(world_to_clip(model_to_world(model, world_matrix), projection_view_matrix)), viewport);
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}
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static Vec2d world_to_ss(const Vec3d& world, const Matrix4d& projection_view_matrix, const std::array<int, 4>& viewport) {
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return ndc_to_ss(clip_to_ndc(world_to_clip(world, projection_view_matrix)), viewport);
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}
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static const Matrix4d& ndc_to_ss_matrix(const std::array<int, 4>& viewport) {
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update(viewport);
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return s_cache.ndc_to_ss_matrix;
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}
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static const Transform3d ndc_to_ss_matrix_inverse(const std::array<int, 4>& viewport) {
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update(viewport);
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return s_cache.ndc_to_ss_matrix_inverse;
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}
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private:
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static void update(const std::array<int, 4>& viewport) {
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if (s_cache.viewport == viewport)
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return;
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const double half_w = 0.5 * double(viewport[2]);
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const double half_h = 0.5 * double(viewport[3]);
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s_cache.ndc_to_ss_matrix << half_w, 0.0, 0.0, double(viewport[0]) + half_w,
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0.0, half_h, 0.0, double(viewport[1]) + half_h,
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0.0, 0.0, 1.0, 0.0,
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0.0, 0.0, 0.0, 1.0;
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s_cache.ndc_to_ss_matrix_inverse = s_cache.ndc_to_ss_matrix.inverse();
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s_cache.viewport = viewport;
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}
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};
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TransformHelper::Cache TransformHelper::s_cache = { { 0, 0, 0, 0 }, Matrix4d::Identity(), Transform3d::Identity() };
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GLGizmoMeasure::GLGizmoMeasure(GLCanvas3D& parent, const std::string& icon_filename, unsigned int sprite_id)
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: GLGizmoBase(parent, icon_filename, sprite_id)
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{
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@ -174,8 +249,18 @@ bool GLGizmoMeasure::on_mouse(const wxMouseEvent &mouse_event)
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m_selection_raycasters.push_back(m_parent.add_raycaster_for_picking(SceneRaycaster::EType::Gizmo, SELECTION_1_ID, *m_sphere.mesh_raycaster));
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}
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if (m_selected_features != selected_features_old && m_selected_features.second.feature.has_value())
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if (m_selected_features != selected_features_old && m_selected_features.second.feature.has_value()) {
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m_measurement_result = Measure::get_measurement(*m_selected_features.first.feature, *m_selected_features.second.feature, m_measuring.get());
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// transform to world coordinates
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if (m_measurement_result.angle.has_value())
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m_measurement_result.angle->transform(m_volume_matrix);
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if (m_measurement_result.distance_infinite.has_value())
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m_measurement_result.distance_infinite->transform(m_volume_matrix);
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if (m_measurement_result.distance_strict.has_value())
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m_measurement_result.distance_strict->transform(m_volume_matrix);
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if (m_measurement_result.distance_xyz.has_value())
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m_measurement_result.distance_xyz = TransformHelper::model_to_world(*m_measurement_result.distance_xyz, m_volume_matrix);
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}
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return true;
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}
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@ -725,77 +810,6 @@ void GLGizmoMeasure::restore_scene_raycasters_state()
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}
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}
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class DimensioningHelper
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{
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struct Cache
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{
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std::array<int, 4> viewport;
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Matrix4d ndc_to_ss_matrix;
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Transform3d ndc_to_ss_matrix_inverse;
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};
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static Cache s_cache;
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public:
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static Vec3d model_to_world(const Vec3d& model, const Transform3d& world_matrix) {
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return world_matrix * model;
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}
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static Vec4d world_to_clip(const Vec3d& world, const Matrix4d& projection_view_matrix) {
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return projection_view_matrix * Vec4d(world.x(), world.y(), world.z(), 1.0);
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}
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static Vec3d clip_to_ndc(const Vec4d& clip) {
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return Vec3d(clip.x(), clip.y(), clip.z()) / clip.w();
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}
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static Vec2d ndc_to_ss(const Vec3d& ndc, const std::array<int, 4>& viewport) {
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const double half_w = 0.5 * double(viewport[2]);
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const double half_h = 0.5 * double(viewport[3]);
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return { half_w * ndc.x() + double(viewport[0]) + half_w, half_h * ndc.y() + double(viewport[1]) + half_h };
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};
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static Vec4d model_to_clip(const Vec3d& model, const Transform3d& world_matrix, const Matrix4d& projection_view_matrix) {
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return world_to_clip(model_to_world(model, world_matrix), projection_view_matrix);
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}
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static Vec3d model_to_ndc(const Vec3d& model, const Transform3d& world_matrix, const Matrix4d& projection_view_matrix) {
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return clip_to_ndc(world_to_clip(model_to_world(model, world_matrix), projection_view_matrix));
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}
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static Vec2d model_to_ss(const Vec3d& model, const Transform3d& world_matrix, const Matrix4d& projection_view_matrix, const std::array<int, 4>& viewport) {
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return ndc_to_ss(clip_to_ndc(world_to_clip(model_to_world(model, world_matrix), projection_view_matrix)), viewport);
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}
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static const Matrix4d& ndc_to_ss_matrix(const std::array<int, 4>& viewport) {
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update(viewport);
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return s_cache.ndc_to_ss_matrix;
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}
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static const Transform3d ndc_to_ss_matrix_inverse(const std::array<int, 4>& viewport) {
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update(viewport);
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return s_cache.ndc_to_ss_matrix_inverse;
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}
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private:
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static void update(const std::array<int, 4>& viewport) {
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if (s_cache.viewport == viewport)
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return;
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const double half_w = 0.5 * double(viewport[2]);
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const double half_h = 0.5 * double(viewport[3]);
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s_cache.ndc_to_ss_matrix << half_w, 0.0, 0.0, double(viewport[0]) + half_w,
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0.0, half_h, 0.0, double(viewport[1]) + half_h,
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0.0, 0.0, 1.0, 0.0,
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0.0, 0.0, 0.0, 1.0;
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s_cache.ndc_to_ss_matrix_inverse = s_cache.ndc_to_ss_matrix.inverse();
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s_cache.viewport = viewport;
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}
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};
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DimensioningHelper::Cache DimensioningHelper::s_cache = { { 0, 0, 0, 0 }, Matrix4d::Identity(), Transform3d::Identity() };
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void GLGizmoMeasure::render_dimensioning()
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{
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static SelectedFeatures last_selected_features;
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@ -816,8 +830,8 @@ void GLGizmoMeasure::render_dimensioning()
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const std::array<int, 4>& viewport = camera.get_viewport();
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// screen coordinates
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const Vec2d v1ss = DimensioningHelper::model_to_ss(v1, m_volume_matrix, projection_view_matrix, viewport);
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const Vec2d v2ss = DimensioningHelper::model_to_ss(v2, m_volume_matrix, projection_view_matrix, viewport);
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const Vec2d v1ss = TransformHelper::world_to_ss(v1, projection_view_matrix, viewport);
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const Vec2d v2ss = TransformHelper::world_to_ss(v2, projection_view_matrix, viewport);
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if (v1ss.isApprox(v2ss))
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return;
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@ -835,7 +849,7 @@ void GLGizmoMeasure::render_dimensioning()
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const Vec3d v1ss_3 = { v1ss.x(), v1ss.y(), 0.0 };
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const Vec3d v2ss_3 = { v2ss.x(), v2ss.y(), 0.0 };
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const Transform3d ss_to_ndc_matrix = DimensioningHelper::ndc_to_ss_matrix_inverse(viewport);
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const Transform3d ss_to_ndc_matrix = TransformHelper::ndc_to_ss_matrix_inverse(viewport);
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// stem
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shader->set_uniform("view_model_matrix", overlap ?
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@ -951,8 +965,12 @@ void GLGizmoMeasure::render_dimensioning()
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auto point_edge = [this, shader](const Measure::SurfaceFeature& f1, const Measure::SurfaceFeature& f2) {
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assert(f1.get_type() == Measure::SurfaceFeatureType::Point && f2.get_type() == Measure::SurfaceFeatureType::Edge);
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const std::pair<Vec3d, Vec3d> e = f2.get_edge();
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const Vec3d v_proj = m_measurement_result.distance_infinite->to;
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std::pair<Vec3d, Vec3d> e = f2.get_edge();
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// Transform to world coordinates
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e.first = TransformHelper::model_to_world(e.first, m_volume_matrix);
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e.second = TransformHelper::model_to_world(e.second, m_volume_matrix);
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const Vec3d v_proj = m_measurement_result.distance_infinite->to;
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const Vec3d e1e2 = e.second - e.first;
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const Vec3d v_proje1 = v_proj - e.first;
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@ -962,11 +980,11 @@ void GLGizmoMeasure::render_dimensioning()
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const Camera& camera = wxGetApp().plater()->get_camera();
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const Matrix4d projection_view_matrix = camera.get_projection_matrix().matrix() * camera.get_view_matrix().matrix();
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const std::array<int, 4>& viewport = camera.get_viewport();
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const Transform3d ss_to_ndc_matrix = DimensioningHelper::ndc_to_ss_matrix_inverse(viewport);
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const Transform3d ss_to_ndc_matrix = TransformHelper::ndc_to_ss_matrix_inverse(viewport);
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const Vec2d v_projss = DimensioningHelper::model_to_ss(v_proj, m_volume_matrix, projection_view_matrix, viewport);
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const Vec2d v_projss = TransformHelper::world_to_ss(v_proj, projection_view_matrix, viewport);
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auto render_extension = [this, &v_projss, &projection_view_matrix, &viewport, &ss_to_ndc_matrix, shader](const Vec3d& p) {
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const Vec2d pss = DimensioningHelper::model_to_ss(p, m_volume_matrix, projection_view_matrix, viewport);
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const Vec2d pss = TransformHelper::world_to_ss(p, projection_view_matrix, viewport);
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if (!pss.isApprox(v_projss)) {
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const Vec2d pv_projss = v_projss - pss;
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const double pv_projss_len = pv_projss.norm();
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@ -1029,7 +1047,7 @@ void GLGizmoMeasure::render_dimensioning()
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// arc
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const Camera& camera = wxGetApp().plater()->get_camera();
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shader->set_uniform("projection_matrix", camera.get_projection_matrix());
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shader->set_uniform("view_model_matrix", camera.get_view_matrix() * m_volume_matrix * Geometry::translation_transform(center));
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shader->set_uniform("view_model_matrix", camera.get_view_matrix() * Geometry::translation_transform(center));
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m_dimensioning.arc.render();
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// arrows
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@ -1039,7 +1057,7 @@ void GLGizmoMeasure::render_dimensioning()
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const Vec3d direction_model = (endpoint_id == 1) ? -normal.cross(position_model - center).normalized() : normal.cross(position_model - center).normalized();
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const auto qz = Eigen::Quaternion<double>::FromTwoVectors(Vec3d::UnitZ(), normal);
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const auto qx = Eigen::Quaternion<double>::FromTwoVectors(qz * Vec3d::UnitX(), direction_model);
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const Transform3d view_model_matrix = camera.get_view_matrix() * m_volume_matrix * Geometry::translation_transform(position_model) *
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const Transform3d view_model_matrix = camera.get_view_matrix() * Geometry::translation_transform(position_model) *
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qx * qz * Geometry::scale_transform(camera.get_inv_zoom());
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shader->set_uniform("view_model_matrix", view_model_matrix);
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m_dimensioning.triangle.render();
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@ -1055,8 +1073,8 @@ void GLGizmoMeasure::render_dimensioning()
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const Vec3d e11center = center - e1.first;
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const double e11center_len = e11center.norm();
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if (e11center_len > EPSILON && e11center.dot(e11e12) < 0.0) {
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shader->set_uniform("view_model_matrix", camera.get_view_matrix() * m_volume_matrix * Geometry::translation_transform(center) *
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Eigen::Quaternion<double>::FromTwoVectors(Vec3d::UnitX(), Measure::edge_direction(e1.first, e1.second)) *
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shader->set_uniform("view_model_matrix", camera.get_view_matrix() * Geometry::translation_transform(center)*
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Eigen::Quaternion<double>::FromTwoVectors(Vec3d::UnitX(), Measure::edge_direction(e1.first, e1.second))*
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Geometry::scale_transform({ e11center_len, 1.0f, 1.0f }));
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m_dimensioning.line.render();
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}
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@ -1065,19 +1083,19 @@ void GLGizmoMeasure::render_dimensioning()
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const Vec3d e21center = center - e2.first;
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const double e21center_len = e21center.norm();
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if (e21center_len > EPSILON) {
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shader->set_uniform("view_model_matrix", camera.get_view_matrix() * m_volume_matrix * Geometry::translation_transform(center) *
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Eigen::Quaternion<double>::FromTwoVectors(Vec3d::UnitX(), Measure::edge_direction(e2.first, e2.second)) *
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shader->set_uniform("view_model_matrix", camera.get_view_matrix() * Geometry::translation_transform(center)*
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Eigen::Quaternion<double>::FromTwoVectors(Vec3d::UnitX(), Measure::edge_direction(e2.first, e2.second))*
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Geometry::scale_transform({ (coplanar && radius > 0.0) ? e21center_len : draw_radius, 1.0f, 1.0f }));
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m_dimensioning.line.render();
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}
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// label
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// label model coordinates
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const Vec3d label_position_model = Geometry::translation_transform(center) * (draw_radius * (Eigen::Quaternion<double>(Eigen::AngleAxisd(step * 0.5 * double(resolution), normal)) * e1_unit));
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// label world coordinates
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const Vec3d label_position_world = Geometry::translation_transform(center) * (draw_radius * (Eigen::Quaternion<double>(Eigen::AngleAxisd(step * 0.5 * double(resolution), normal)) * e1_unit));
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// label screen coordinates
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const std::array<int, 4>& viewport = camera.get_viewport();
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const Vec2d label_position_ss = DimensioningHelper::model_to_ss(label_position_model, m_volume_matrix,
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const Vec2d label_position_ss = TransformHelper::world_to_ss(label_position_world,
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camera.get_projection_matrix().matrix() * camera.get_view_matrix().matrix(), viewport);
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m_imgui->set_next_window_pos(label_position_ss.x(), viewport[3] - label_position_ss.y(), ImGuiCond_Always, 0.0f, 1.0f);
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