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comments and floating type adaptation

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Michael Kirsch 2019-05-26 15:04:45 +02:00 committed by Joseph Lenox
parent 438e462d11
commit dcf83706a1
2 changed files with 50 additions and 43 deletions
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28
xs/src/libslic3r/TransformationMatrix.cpp
View File

@ -117,9 +117,15 @@ void TransformationMatrix::translate(double x, double y, double z)
this->applyLeft(mat); this->applyLeft(mat);
} }
void TransformationMatrix::translateXY(Slic3r::Pointf position) void TransformationMatrix::translate(Vectorf3 vector)
{ {
TransformationMatrix mat = mat_translation(position.x, position.y, 0.0); TransformationMatrix mat = mat_translation(x, y, z);
this->applyLeft(mat);
}
void TransformationMatrix::translateXY(Vectorf vector)
{
TransformationMatrix mat = mat_translation(vector.x, vector.y, 0.0);
this->applyLeft(mat); this->applyLeft(mat);
} }
@ -140,7 +146,7 @@ void TransformationMatrix::mirror(const Axis &axis)
this->applyLeft(mat); this->applyLeft(mat);
} }
void TransformationMatrix::mirror(const Pointf3 & normal) void TransformationMatrix::mirror(const Vectorf3 & normal)
{ {
TransformationMatrix mat = mat_mirror(normal); TransformationMatrix mat = mat_mirror(normal);
this->applyLeft(mat); this->applyLeft(mat);
@ -152,7 +158,7 @@ void TransformationMatrix::rotate(double angle_rad, const Axis & axis)
this->applyLeft(mat); this->applyLeft(mat);
} }
void TransformationMatrix::rotate(double angle_rad, const Pointf3 & axis) void TransformationMatrix::rotate(double angle_rad, const Vectorf3 & axis)
{ {
TransformationMatrix mat = mat_rotation(angle_rad, axis); TransformationMatrix mat = mat_rotation(angle_rad, axis);
this->applyLeft(mat); this->applyLeft(mat);
@ -285,7 +291,7 @@ TransformationMatrix TransformationMatrix::mat_rotation(double q1, double q2, do
2.0 * (q1*q3 - q2*q4), 2.0 * (q2*q3 + q1*q4), 1.0 - 2.0 * (q1*q1 + q2*q2), 0.0); 2.0 * (q1*q3 - q2*q4), 2.0 * (q2*q3 + q1*q4), 1.0 - 2.0 * (q1*q1 + q2*q2), 0.0);
} }
TransformationMatrix TransformationMatrix::mat_rotation(double angle_rad, const Pointf3 &axis) TransformationMatrix TransformationMatrix::mat_rotation(double angle_rad, const Vectorf3 &axis)
{ {
double s, factor, q1, q2, q3, q4; double s, factor, q1, q2, q3, q4;
s = sin(angle_rad/2); s = sin(angle_rad/2);
@ -298,7 +304,7 @@ TransformationMatrix TransformationMatrix::mat_rotation(double angle_rad, const
return mat_rotation(q1, q2, q3, q4); return mat_rotation(q1, q2, q3, q4);
} }
TransformationMatrix TransformationMatrix::mat_rotation(Pointf3 origin, Pointf3 target) TransformationMatrix TransformationMatrix::mat_rotation(Vectorf3 origin, Vectorf3 target)
{ {
// TODO: there is a lot of float <-> double conversion going on here // TODO: there is a lot of float <-> double conversion going on here
@ -322,7 +328,7 @@ TransformationMatrix TransformationMatrix::mat_rotation(Pointf3 origin, Pointf3
rec_length = 1.0 / sqrt(length_sq); rec_length = 1.0 / sqrt(length_sq);
target.scale(rec_length); target.scale(rec_length);
Pointf3 cross; Vectorf3 cross;
cross.x = origin.y*target.z - origin.z*target.y; cross.x = origin.y*target.z - origin.z*target.y;
cross.y = origin.z*target.x - origin.x*target.z; cross.y = origin.z*target.x - origin.x*target.z;
cross.z = origin.x*target.y - origin.y*target.x; cross.z = origin.x*target.y - origin.y*target.x;
@ -336,20 +342,20 @@ TransformationMatrix TransformationMatrix::mat_rotation(Pointf3 origin, Pointf3
} }
else else
{ {
Pointf3 help; Vectorf3 help;
// make help garanteed not colinear // make help garanteed not colinear
if (abs(abs(origin.x) - 1) < 0.02) if (abs(abs(origin.x) - 1) < 0.02)
help.z = 1.0; // origin mainly in x direction help.z = 1.0; // origin mainly in x direction
else else
help.x = 1.0; help.x = 1.0;
Pointf3 proj = Pointf3(origin); Vectorf3 proj = origin;
// projection of axis onto unit vector origin // projection of axis onto unit vector origin
dot = origin.x*help.x + origin.y*help.y + origin.z*help.z; dot = origin.x*help.x + origin.y*help.y + origin.z*help.z;
proj.scale(dot); proj.scale(dot);
// help - proj is normal to origin -> rotation axis // help - proj is normal to origin -> rotation axis
Pointf3 axis = (Pointf3)proj.vector_to(help); Vectorf3 axis = ((Pointf3)proj).vector_to((Pointf3)help);
// axis is not unit length -> gets normalized in called function // axis is not unit length -> gets normalized in called function
return mat_rotation(PI, axis); return mat_rotation(PI, axis);
@ -387,7 +393,7 @@ TransformationMatrix TransformationMatrix::mat_mirror(const Axis &axis)
return mat; return mat;
} }
TransformationMatrix TransformationMatrix::mat_mirror(const Pointf3 &normal) TransformationMatrix TransformationMatrix::mat_mirror(const Vectorf3 &normal)
{ {
// Kov<6F>cs, E. Rotation about arbitrary axis and reflection through an arbitrary plane, Annales Mathematicae // Kov<6F>cs, E. Rotation about arbitrary axis and reflection through an arbitrary plane, Annales Mathematicae
// et Informaticae, Vol 40 (2012) pp 175-186 // et Informaticae, Vol 40 (2012) pp 175-186

65
xs/src/libslic3r/TransformationMatrix.hpp
View File

@ -25,85 +25,86 @@ public:
/// matrix entries /// matrix entries
double 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 /// return the row-major form of the represented transformation matrix
/// for admesh transform /// for admesh transform
std::vector<double> matrix3x4f() const; std::vector<double> matrix3x4f() const;
/// Return the determinante of the matrix /// return the determinante of the matrix
double determinante() const; double determinante() const;
/// Returns the inverse of the matrix /// returns the inverse of the matrix
bool inverse(TransformationMatrix &inverse) const; bool inverse(TransformationMatrix &inverse) const;
/// Perform Translation /// performs translation
void translate(double x, double y, double z); void translate(double x, double y, double z);
void translateXY(Slic3r::Pointf position); void translate(Vectorf3 vector);
void translateXY(Vectorf vector);
/// Perform uniform scale /// performs uniform scale
void scale(double factor); void scale(double factor);
/// Perform per-axis scale /// performs per-axis scale
void scale(double x, double y, double z); void scale(double x, double y, double z);
/// Perform mirroring along given axis /// performs mirroring along given axis
void mirror(const Axis &axis); void mirror(const Axis &axis);
/// Perform mirroring along given axis /// performs mirroring along given axis
void mirror(const Pointf3 &normal); void mirror(const Vectorf3 &normal);
/// Perform rotation around given axis /// performs rotation around given axis
void rotate(double angle_rad, const Axis &axis); void rotate(double angle_rad, const Axis &axis);
/// Perform rotation around arbitrary axis /// performs rotation around arbitrary axis
void rotate(double angle_rad, const Pointf3 &axis); void rotate(double angle_rad, const Vectorf3 &axis);
/// Perform rotation defined by unit quaternion /// performs rotation defined by unit quaternion
void rotate(double q1, double q2, double q3, double q4); void rotate(double q1, double q2, double q3, double q4);
/// Multiplies the Parameter-Matrix from the left (this=left*this) /// multiplies the parameter-matrix from the left (this=left*this)
void applyLeft(const TransformationMatrix &left); void applyLeft(const TransformationMatrix &left);
/// Multiplies the Parameter-Matrix from the left (out=left*this) /// multiplies the parameter-matrix from the left (out=left*this)
TransformationMatrix multiplyLeft(const TransformationMatrix &left); TransformationMatrix multiplyLeft(const TransformationMatrix &left);
/// Multiplies the Parameter-Matrix from the right (this=this*right) /// multiplies the parameter-matrix from the right (this=this*right)
void applyRight(const TransformationMatrix &right); void applyRight(const TransformationMatrix &right);
/// Multiplies the Parameter-Matrix from the right (out=this*right) /// multiplies the parameter-matrix from the right (out=this*right)
TransformationMatrix multiplyRight(const TransformationMatrix &right); TransformationMatrix multiplyRight(const TransformationMatrix &right);
/// Generate an eye matrix. /// generates an eye matrix.
static TransformationMatrix mat_eye(); static TransformationMatrix mat_eye();
/// Generate a per axis scaling matrix /// generates a per axis scaling matrix
static TransformationMatrix mat_scale(double x, double y, double z); static TransformationMatrix mat_scale(double x, double y, double z);
/// Generate a uniform scaling matrix /// generates an uniform scaling matrix
static TransformationMatrix mat_scale(double scale); static TransformationMatrix mat_scale(double scale);
/// Generate a reflection matrix by coordinate axis /// generates a reflection matrix by coordinate axis
static TransformationMatrix mat_mirror(const Axis &axis); static TransformationMatrix mat_mirror(const Axis &axis);
/// Generate a reflection matrix by arbitrary vector /// generates a reflection matrix by arbitrary vector
static TransformationMatrix mat_mirror(const Pointf3 &normal); static TransformationMatrix mat_mirror(const Vectorf3 &normal);
/// Generate a translation matrix /// generates a translation matrix
static TransformationMatrix mat_translation(double x, double y, double z); static TransformationMatrix mat_translation(double x, double y, double z);
/// Generate a rotation matrix around coodinate axis /// generates a rotation matrix around coodinate axis
static TransformationMatrix mat_rotation(double 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 /// generates a rotation matrix defined by unit quaternion q1*i + q2*j + q3*k + q4
static TransformationMatrix mat_rotation(double q1, double q2, double q3, double q4); static TransformationMatrix mat_rotation(double q1, double q2, double q3, double q4);
/// Generate a rotation matrix around arbitrary axis /// generates a rotation matrix around arbitrary axis
static TransformationMatrix mat_rotation(double angle_rad, const Pointf3 &axis); static TransformationMatrix mat_rotation(double angle_rad, const Vectorf3 &axis);
/// Generate a rotation matrix by specifying a vector (origin) that is to be rotated /// generates a rotation matrix by specifying a vector (origin) that is to be rotated
/// to be colinear with another vector (target) /// to be colinear with another vector (target)
static TransformationMatrix mat_rotation(Pointf3 origin, Pointf3 target); static TransformationMatrix mat_rotation(Vectorf3 origin, Vectorf3 target);
/// Performs a matrix multiplication /// performs a matrix multiplication
static TransformationMatrix multiply(const TransformationMatrix &left, const TransformationMatrix &right); static TransformationMatrix multiply(const TransformationMatrix &left, const TransformationMatrix &right);
}; };