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https://git.mirrors.martin98.com/https://github.com/slic3r/Slic3r.git
synced 2025-08-05 20:16:05 +08:00
Vector-Vector rotation, changed to double to minimize precision loss when multiplying multiple matrices
This commit is contained in:
Oekn5w
Joseph Lenox
parent
dde72b12ef
commit
418719cfb9
@ -16,22 +16,27 @@
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namespace Slic3r {
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TransformationMatrix::TransformationMatrix()
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: m11(1.0), m12(0.0), m13(0.0), m14(0.0),
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m21(0.0), m22(1.0), m23(0.0), m24(0.0),
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m31(0.0), m32(0.0), m33(1.0), m34(0.0)
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{
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*this = mat_eye();
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}
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TransformationMatrix::TransformationMatrix(float m11, float m12, float m13, float m14, float m21, float m22, float m23, float m24, float m31, float m32, float m33, float m34)
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TransformationMatrix::TransformationMatrix(
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double _m11, double _m12, double _m13, double _m14,
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double _m21, double _m22, double _m23, double _m24,
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double _m31, double _m32, double _m33, double _m34)
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: m11(_m11), m12(_m12), m13(_m13), m14(_m14),
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m21(_m21), m22(_m22), m23(_m23), m24(_m24),
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m31(_m31), m32(_m32), m33(_m33), m34(_m34)
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{
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this->m11 = m11; this->m12 = m12; this->m13 = m13; this->m14 = m14;
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this->m21 = m21; this->m22 = m22; this->m23 = m23; this->m21 = m24;
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this->m31 = m31; this->m32 = m32; this->m33 = m33; this->m34 = m34;
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}
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#ifndef Testumgebung
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TransformationMatrix::TransformationMatrix(std::vector<float> &entries_row_maj)
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TransformationMatrix::TransformationMatrix(const std::vector<double> &entries_row_maj)
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{
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if (entries_row_maj.size() != 12)
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{
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*this = mat_eye();
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*this = TransformationMatrix();
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CONFESS("Invalid number of entries when initalizing TransformationMatrix. Vector length must be 12.");
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return;
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}
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@ -39,7 +44,7 @@ namespace Slic3r {
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m21 = entries_row_maj[4]; m22 = entries_row_maj[5]; m23 = entries_row_maj[6]; m24 = entries_row_maj[7];
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m31 = entries_row_maj[8]; m32 = entries_row_maj[9]; m33 = entries_row_maj[10]; m34 = entries_row_maj[11];
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}
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#endif
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TransformationMatrix::TransformationMatrix(const TransformationMatrix &other)
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{
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this->m11 = other.m11; this->m12 = other.m12; this->m13 = other.m13; this->m14 = other.m14;
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@ -53,8 +58,7 @@ namespace Slic3r {
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return *this;
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}
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void
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TransformationMatrix::swap(TransformationMatrix &other)
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void TransformationMatrix::swap(TransformationMatrix &other)
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{
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std::swap(this->m11, other.m11); std::swap(this->m12, other.m12);
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std::swap(this->m13, other.m13); std::swap(this->m14, other.m14);
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@ -66,14 +70,14 @@ namespace Slic3r {
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float* TransformationMatrix::matrix3x4f()
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{
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float mat[12];
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mat[0] = this->m11; mat[1] = this->m12; mat[2] = this->m13; mat[3] = this->m14;
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mat[4] = this->m21; mat[5] = this->m22; mat[6] = this->m23; mat[7] = this->m24;
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mat[8] = this->m31; mat[9] = this->m32; mat[10] = this->m33; mat[11] = this->m34;
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return mat;
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float out_arr[12];
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out_arr[0] = this->m11; out_arr[1] = this->m12; out_arr[2] = this->m13; out_arr[3] = this->m14;
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out_arr[4] = this->m21; out_arr[5] = this->m22; out_arr[6] = this->m23; out_arr[7] = this->m24;
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out_arr[8] = this->m31; out_arr[9] = this->m32; out_arr[10] = this->m33; out_arr[11] = this->m34;
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return out_arr;
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}
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float TransformationMatrix::determinante()
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double TransformationMatrix::determinante()
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{
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// translation elements don't influence the determinante
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// because of the 0s on the other side of main diagonal
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@ -85,10 +89,10 @@ namespace Slic3r {
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// from http://mathworld.wolfram.com/MatrixInverse.html
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// and https://math.stackexchange.com/questions/152462/inverse-of-transformation-matrix
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TransformationMatrix mat;
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float det = this->determinante();
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double det = this->determinante();
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if (abs(det) < 1e-9)
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return false;
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float fac = 1.0f / det;
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double fac = 1.0 / det;
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mat.m11 = fac*(this->m22*this->m33 - this->m23*this->m32);
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mat.m12 = fac*(this->m13*this->m32 - this->m12*this->m33);
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@ -108,18 +112,18 @@ namespace Slic3r {
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return true;
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}
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void TransformationMatrix::translate(float x, float y, float z)
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void TransformationMatrix::translate(double x, double y, double z)
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{
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TransformationMatrix mat = mat_translation(x, y, z);
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this->multiplyLeft(mat);
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}
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void TransformationMatrix::scale(float factor)
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void TransformationMatrix::scale(double factor)
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{
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this->scale(factor, factor, factor);
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}
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void TransformationMatrix::scale(float x, float y, float z)
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void TransformationMatrix::scale(double x, double y, double z)
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{
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TransformationMatrix mat = mat_scale(x, y, z);
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this->multiplyLeft(mat);
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@ -137,30 +141,30 @@ namespace Slic3r {
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this->multiplyLeft(mat);
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}
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void TransformationMatrix::rotate(float angle_rad, const Axis & axis)
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void TransformationMatrix::rotate(double angle_rad, const Axis & axis)
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{
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TransformationMatrix mat = mat_rotation(angle_rad, axis);
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this->multiplyLeft(mat);
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}
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void TransformationMatrix::rotate(float angle_rad, const Pointf3 & axis)
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void TransformationMatrix::rotate(double angle_rad, const Pointf3 & axis)
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{
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TransformationMatrix mat = mat_rotation(angle_rad, axis);
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this->multiplyLeft(mat);
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}
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void TransformationMatrix::rotate(float q1, float q2, float q3, float q4)
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void TransformationMatrix::rotate(double q1, double q2, double q3, double q4)
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{
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TransformationMatrix mat = mat_rotation(q1, q2, q3, q4);
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this->multiplyLeft(mat);
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}
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void TransformationMatrix::multiplyLeft(TransformationMatrix &left)
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void TransformationMatrix::multiplyLeft(const TransformationMatrix &left)
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{
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*this = multiply(left, *this);
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}
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void TransformationMatrix::multiplyRight(TransformationMatrix &right)
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void TransformationMatrix::multiplyRight(const TransformationMatrix &right)
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{
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*this = multiply(*this, right);
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}
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@ -189,57 +193,54 @@ namespace Slic3r {
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TransformationMatrix TransformationMatrix::mat_eye()
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{
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return TransformationMatrix(
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1.0f, 0.0f, 0.0f, 0.0f,
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0.0f, 1.0f, 0.0f, 0.0f,
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0.0f, 0.0f, 1.0f, 0.0f);
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return TransformationMatrix();
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}
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TransformationMatrix TransformationMatrix::mat_translation(float x, float y, float z)
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TransformationMatrix TransformationMatrix::mat_translation(double x, double y, double z)
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{
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return TransformationMatrix(
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1.0f, 0.0f, 0.0f, x,
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0.0f, 1.0f, 0.0f, y,
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0.0f, 0.0f, 1.0f, z);
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1.0, 0.0, 0.0, x,
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0.0, 1.0, 0.0, y,
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0.0, 0.0, 1.0, z);
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}
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TransformationMatrix TransformationMatrix::mat_scale(float x, float y, float z)
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TransformationMatrix TransformationMatrix::mat_scale(double x, double y, double z)
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{
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return TransformationMatrix(
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x, 0.0f, 0.0f, 0.0f,
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0.0f, y, 0.0f, 0.0f,
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0.0f, 0.0f, z, 0.0f);
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x, 0.0, 0.0, 0.0,
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0.0, y, 0.0, 0.0,
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0.0, 0.0, z, 0.0);
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}
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TransformationMatrix TransformationMatrix::mat_scale(float scale)
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TransformationMatrix TransformationMatrix::mat_scale(double scale)
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{
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return TransformationMatrix::mat_scale(scale, scale, scale);
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}
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TransformationMatrix TransformationMatrix::mat_rotation(float angle_rad, const Axis &axis)
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TransformationMatrix TransformationMatrix::mat_rotation(double angle_rad, const Axis &axis)
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{
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float s = sin(angle_rad);
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float c = cos(angle_rad);
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double s = sin(angle_rad);
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double c = cos(angle_rad);
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TransformationMatrix mat; // For RVO
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switch (axis)
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{
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case X:
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mat = TransformationMatrix(
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1.0f, 0.0f, 0.0f, 0.0f,
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0.0f, c, s, 0.0f,
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0.0f, -s, c, 0.0f);
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1.0, 0.0, 0.0, 0.0,
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0.0, c, s, 0.0,
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0.0, -s, c, 0.0);
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break;
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case Y:
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mat = TransformationMatrix(
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c, 0.0f, -s, 0.0f,
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0.0f, 1.0f, 0.0f, 0.0f,
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s, 0.0f, c, 0.0f);
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c, 0.0, -s, 0.0,
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0.0, 1.0, 0.0, 0.0,
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s, 0.0, c, 0.0);
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break;
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case Z:
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mat = TransformationMatrix(
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c, s, 0.0f, 0.0f,
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-s, c, 0.0f, 0.0f,
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0.0f, 0.0f, 1.0f, 0.0f);
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c, s, 0.0, 0.0,
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-s, c, 0.0, 0.0,
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0.0, 0.0, 1.0, 0.0);
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break;
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default:
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CONFESS("Invalid Axis supplied to TransformationMatrix::mat_rotation");
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@ -249,12 +250,12 @@ namespace Slic3r {
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return mat;
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}
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TransformationMatrix TransformationMatrix::mat_rotation(float q1, float q2, float q3, float q4)
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TransformationMatrix TransformationMatrix::mat_rotation(double q1, double q2, double q3, double q4)
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{
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float factor = q1*q1 + q2*q2 + q3*q3 + q4*q4;
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if (abs(factor - 1.0f) > 1e-9)
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double factor = q1*q1 + q2*q2 + q3*q3 + q4*q4;
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if (abs(factor - 1.0) > 1e-12)
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{
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factor = 1.0f / sqrtf(factor);
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factor = 1.0 / sqrt(factor);
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q1 *= factor;
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q2 *= factor;
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q3 *= factor;
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@ -262,51 +263,100 @@ namespace Slic3r {
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}
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// https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation#Quaternion-derived_rotation_matrix
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return TransformationMatrix(
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1 - 2 * (q2*q2 + q3*q3), 2 * (q1*q2 - q3*q4), 2 * (q1*q3 + q2*q4), 0.0f,
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2 * (q1*q2 + q3*q4), 1 - 2 * (q1*q1 + q3*q3), 2 * (q2*q3 - q1*q4), 0.0f,
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2 * (q1*q3 - q2*q4), 2 * (q2*q3 + q1*q4), 1 - 2 * (q1*q1 + q2*q2), 0.0f);
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1.0 - 2.0 * (q2*q2 + q3*q3), 2.0 * (q1*q2 - q3*q4), 2.0 * (q1*q3 + q2*q4), 0.0,
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2.0 * (q1*q2 + q3*q4), 1.0 - 2.0 * (q1*q1 + q3*q3), 2.0 * (q2*q3 - q1*q4), 0.0,
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2.0 * (q1*q3 - q2*q4), 2.0 * (q2*q3 + q1*q4), 1.0 - 2.0 * (q1*q1 + q2*q2), 0.0);
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}
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TransformationMatrix TransformationMatrix::mat_rotation(float angle_rad, const Pointf3 &axis)
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TransformationMatrix TransformationMatrix::mat_rotation(double angle_rad, const Pointf3 &axis)
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{
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float s, factor, q1, q2, q3, q4;
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double s, factor, q1, q2, q3, q4;
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s = sin(angle_rad);
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TransformationMatrix mat; // For RVO
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factor = axis.x*axis.x + axis.y*axis.y + axis.z*axis.z;
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factor = 1.0f / sqrtf(factor);
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q1 = s*factor*axis.x;
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q2 = s*factor*axis.y;
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q3 = s*factor*axis.z;
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factor = s / sqrt(factor);
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q1 = factor*axis.x;
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q2 = factor*axis.y;
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q3 = factor*axis.z;
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q4 = cos(angle_rad);
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return mat_rotation(q1, q2, q3, q4);
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}
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TransformationMatrix TransformationMatrix::mat_rotation(Pointf3 origin, Pointf3 target)
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{
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TransformationMatrix mat;
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double length_sq = origin.x*origin.x + origin.y*origin.y + origin.z*origin.z;
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double rec_length;
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if (length_sq < 1e-12)
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{
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CONFESS("0-length Vector supplied to TransformationMatrix::mat_rotation(origin,target)");
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return mat;
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}
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rec_length = 1.0 / sqrt(length_sq);
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origin.scale(rec_length);
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length_sq = target.x*target.x + target.y*target.y + target.z*target.z;
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if (length_sq < 1e-12)
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{
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CONFESS("0-length Vector supplied to TransformationMatrix::mat_rotation(origin,target)");
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return mat;
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}
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rec_length = 1.0 / sqrt(length_sq);
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target.scale(rec_length);
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Pointf3 cross;
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cross.x = origin.y*target.z - origin.z*target.y;
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cross.y = origin.z*target.x - origin.x*target.z;
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cross.z = origin.x*target.y - origin.y*target.x;
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length_sq = cross.x*cross.x + cross.y*cross.y + cross.z*cross.z;
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if (length_sq < 1e-12) {// colinear, but maybe opposite directions
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double dot = origin.x*target.x + origin.y*target.y + origin.z*target.z;
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if (dot > 0.0)
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{
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return mat; // same direction, nothing to do
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}
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else
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{
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Pointf3 help;
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// make help garanteed not colinear
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if (abs(abs(origin.x) - 1) < 0.02)
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help.z = 1.0; // origin mainly in x direction
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else
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help.x = 1.0;
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Pointf3 proj = Pointf3(origin);
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// projection of axis onto unit vector origin
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dot = origin.x*help.x + origin.y*help.y + origin.z*help.z;
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proj.scale(dot);
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// help - proj is normal to origin -> rotation axis
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// axis is not unit length -> gets normalized in called function
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Pointf3 axis = (Pointf3)proj.vector_to(help);
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return mat_rotation(PI, axis);
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}
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}
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else
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{
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}
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return mat; // Shouldn't be reached
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}
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TransformationMatrix TransformationMatrix::mat_mirror(const Axis &axis)
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{
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TransformationMatrix mat; // For RVO
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switch (axis)
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{
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case X:
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mat = TransformationMatrix(
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-1.0f, 0.0f, 0.0f, 0.0f,
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0.0f, 1.0f, 0.0f, 0.0f,
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0.0f, 0.0f, 1.0f, 0.0f);
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mat.m11 = -1.0;
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break;
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case Y:
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mat = TransformationMatrix(
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1.0f, 0.0f, 0.0f, 0.0f,
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0.0f, -1.0f, 0.0f, 0.0f,
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0.0f, 0.0f, 1.0f, 0.0f);
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mat.m22 = -1.0;
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break;
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case Z:
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mat = TransformationMatrix(
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1.0f, 0.0f, 0.0f, 0.0f,
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0.0f, 1.0f, 0.0f, 0.0f,
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0.0f, 0.0f, -1.0f, 0.0f);
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mat.m33 = -1.0;
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break;
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default:
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CONFESS("Invalid Axis supplied to TransformationMatrix::mat_mirror");
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mat = TransformationMatrix();
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break;
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}
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return mat;
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@ -317,16 +367,16 @@ namespace Slic3r {
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// Kovács, E. Rotation about arbitrary axis and reflection through an arbitrary plane, Annales Mathematicae
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// et Informaticae, Vol 40 (2012) pp 175-186
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// http://ami.ektf.hu/uploads/papers/finalpdf/AMI_40_from175to186.pdf
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float factor, c1, c2, c3;
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double factor, c1, c2, c3;
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factor = normal.x*normal.x + normal.y*normal.y + normal.z*normal.z;
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factor = 1.0f / sqrtf(factor);
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factor = 1.0 / sqrt(factor);
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c1 = factor*normal.x;
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c2 = factor*normal.y;
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c3 = factor*normal.z;
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return TransformationMatrix(
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1 - 2 * c1*c1, -2 * c2*c1, -2 * c3*c1, 0.0f,
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-2 * c2*c1, 1 - 2 * c2*c2, -2 * c2*c3, 0.0f,
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-2 * c1*c3, -2 * c2*c3, 1 - 2 * c3*c3, 0.0f);
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1.0 - 2.0 * c1*c1, -2 * c2*c1, -2 * c3*c1, 0.0,
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-2 * c2*c1, 1.0 - 2.0 * c2*c2, -2 * c2*c3, 0.0,
|
||||
-2 * c1*c3, -2 * c2*c3, 1.0 - 2.0 * c3*c3, 0.0);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@ -1,10 +1,8 @@
|
||||
#ifndef slic3r_TriangleMatrix_hpp_
|
||||
#define slic3r_TriangleMatrix_hpp_
|
||||
|
||||
#ifndef Testumgebung
|
||||
#include "libslic3r.h"
|
||||
#include "Point.hpp"
|
||||
#endif
|
||||
|
||||
namespace Slic3r {
|
||||
|
||||
@ -12,34 +10,39 @@ class TransformationMatrix
|
||||
{
|
||||
public:
|
||||
TransformationMatrix();
|
||||
#ifndef Testumgebung
|
||||
TransformationMatrix(std::vector<float> &entries);
|
||||
#endif
|
||||
TransformationMatrix(float m11, float m12, float m13, float m14, float m21, float m22, float m23, float m24, float m31, float m32, float m33, float m34);
|
||||
|
||||
TransformationMatrix(const std::vector<double> &entries_row_maj);
|
||||
|
||||
TransformationMatrix(
|
||||
double m11, double m12, double m13, double m14,
|
||||
double m21, double m22, double m23, double m24,
|
||||
double m31, double m32, double m33, double m34);
|
||||
|
||||
TransformationMatrix(const TransformationMatrix &other);
|
||||
TransformationMatrix& operator= (TransformationMatrix other);
|
||||
void swap(TransformationMatrix &other);
|
||||
|
||||
/// matrix entries
|
||||
float m11, m12, m13, m14, m21, m22, m23, m24, m31, m32, m33, m34;
|
||||
double m11, m12, m13, m14, m21, m22, m23, m24, m31, m32, m33, m34;
|
||||
|
||||
/// Return the row-major form of the represented transformation matrix
|
||||
/// for admesh transform
|
||||
float * matrix3x4f();
|
||||
|
||||
/// Return the determinante of the matrix
|
||||
float determinante();
|
||||
double determinante();
|
||||
|
||||
/// Returns the inverse of the matrix
|
||||
bool inverse(TransformationMatrix * inverse);
|
||||
|
||||
/// Perform Translation
|
||||
void translate(float x, float y, float z);
|
||||
void translate(double x, double y, double z);
|
||||
|
||||
/// Perform uniform scale
|
||||
void scale(float factor);
|
||||
void scale(double factor);
|
||||
|
||||
/// Perform per-axis scale
|
||||
void scale(float x, float y, float z);
|
||||
void scale(double x, double y, double z);
|
||||
|
||||
/// Perform mirroring along given axis
|
||||
void mirror(const Axis &axis);
|
||||
@ -48,28 +51,28 @@ public:
|
||||
void mirror(const Pointf3 &normal);
|
||||
|
||||
/// Perform rotation around given axis
|
||||
void rotate(float angle_rad, const Axis &axis);
|
||||
void rotate(double angle_rad, const Axis &axis);
|
||||
|
||||
/// Perform rotation around arbitrary axis
|
||||
void rotate(float angle_rad, const Pointf3 &axis);
|
||||
void rotate(double angle_rad, const Pointf3 &axis);
|
||||
|
||||
/// Perform rotation defined by unit quaternion
|
||||
void rotate(float q1, float q2, float q3, float q4);
|
||||
void rotate(double q1, double q2, double q3, double q4);
|
||||
|
||||
/// Multiplies the Parameter-Matrix from the left (this=left*this)
|
||||
void multiplyLeft(TransformationMatrix &left);
|
||||
void multiplyLeft(const TransformationMatrix &left);
|
||||
|
||||
/// Multiplies the Parameter-Matrix from the right (this=this*right)
|
||||
void multiplyRight(TransformationMatrix &right);
|
||||
void multiplyRight(const TransformationMatrix &right);
|
||||
|
||||
/// Generate an eye matrix.
|
||||
static TransformationMatrix mat_eye();
|
||||
|
||||
/// Generate a per axis scaling matrix
|
||||
static TransformationMatrix mat_scale(float x, float y, float z);
|
||||
static TransformationMatrix mat_scale(double x, double y, double z);
|
||||
|
||||
/// Generate a uniform scaling matrix
|
||||
static TransformationMatrix mat_scale(float scale);
|
||||
static TransformationMatrix mat_scale(double scale);
|
||||
|
||||
/// Generate a reflection matrix by coordinate axis
|
||||
static TransformationMatrix mat_mirror(const Axis &axis);
|
||||
@ -78,16 +81,20 @@ public:
|
||||
static TransformationMatrix mat_mirror(const Pointf3 &normal);
|
||||
|
||||
/// Generate a translation matrix
|
||||
static TransformationMatrix mat_translation(float x, float y, float z);
|
||||
static TransformationMatrix mat_translation(double x, double y, double z);
|
||||
|
||||
/// Generate a rotation matrix around coodinate axis
|
||||
static TransformationMatrix mat_rotation(float angle_rad, const Axis &axis);
|
||||
static TransformationMatrix mat_rotation(double angle_rad, const Axis &axis);
|
||||
|
||||
/// Generate a rotation matrix defined by unit quaternion q1*i + q2*j + q3*k + q4
|
||||
static TransformationMatrix mat_rotation(float q1, float q2, float q3, float q4);
|
||||
static TransformationMatrix mat_rotation(double q1, double q2, double q3, double q4);
|
||||
|
||||
/// Generate a rotation matrix around arbitrary axis
|
||||
static TransformationMatrix mat_rotation(float angle_rad, const Pointf3 &axis);
|
||||
static TransformationMatrix mat_rotation(double angle_rad, const Pointf3 &axis);
|
||||
|
||||
/// Generate a rotation matrix by specifying a vector (origin) that is to be rotated
|
||||
/// to be colinear with another vector (target)
|
||||
static TransformationMatrix mat_rotation(Pointf3 origin, Pointf3 target);
|
||||
|
||||
/// Performs a matrix multiplication
|
||||
static TransformationMatrix multiply(const TransformationMatrix &left, const TransformationMatrix &right);
|
||||
|
||||
Loading…
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Reference in New Issue
Block a user