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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);
}
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);
}
@ -140,7 +146,7 @@ void TransformationMatrix::mirror(const Axis &axis)
this->applyLeft(mat);
}
void TransformationMatrix::mirror(const Pointf3 & normal)
void TransformationMatrix::mirror(const Vectorf3 & normal)
{
TransformationMatrix mat = mat_mirror(normal);
this->applyLeft(mat);
@ -152,7 +158,7 @@ void TransformationMatrix::rotate(double angle_rad, const Axis & axis)
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);
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);
}
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;
s = sin(angle_rad/2);
@ -298,7 +304,7 @@ TransformationMatrix TransformationMatrix::mat_rotation(double angle_rad, const
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
@ -322,7 +328,7 @@ TransformationMatrix TransformationMatrix::mat_rotation(Pointf3 origin, Pointf3
rec_length = 1.0 / sqrt(length_sq);
target.scale(rec_length);
Pointf3 cross;
Vectorf3 cross;
cross.x = origin.y*target.z - origin.z*target.y;
cross.y = origin.z*target.x - origin.x*target.z;
cross.z = origin.x*target.y - origin.y*target.x;
@ -336,20 +342,20 @@ TransformationMatrix TransformationMatrix::mat_rotation(Pointf3 origin, Pointf3
}
else
{
Pointf3 help;
Vectorf3 help;
// make help garanteed not colinear
if (abs(abs(origin.x) - 1) < 0.02)
help.z = 1.0; // origin mainly in x direction
else
help.x = 1.0;
Pointf3 proj = Pointf3(origin);
Vectorf3 proj = origin;
// projection of axis onto unit vector origin
dot = origin.x*help.x + origin.y*help.y + origin.z*help.z;
proj.scale(dot);
// 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
return mat_rotation(PI, axis);
@ -387,7 +393,7 @@ TransformationMatrix TransformationMatrix::mat_mirror(const Axis &axis)
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
// et Informaticae, Vol 40 (2012) pp 175-186

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

@ -25,85 +25,86 @@ public:
/// matrix entries
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
std::vector<double> matrix3x4f() const;
/// Return the determinante of the matrix
/// return the determinante of the matrix
double determinante() const;
/// Returns the inverse of the matrix
/// returns the inverse of the matrix
bool inverse(TransformationMatrix &inverse) const;
/// Perform Translation
/// performs translation
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);
/// Perform per-axis scale
/// performs per-axis scale
void scale(double x, double y, double z);
/// Perform mirroring along given axis
/// performs mirroring along given axis
void mirror(const Axis &axis);
/// Perform mirroring along given axis
void mirror(const Pointf3 &normal);
/// performs mirroring along given axis
void mirror(const Vectorf3 &normal);
/// Perform rotation around given axis
/// performs rotation around given axis
void rotate(double angle_rad, const Axis &axis);
/// Perform rotation around arbitrary axis
void rotate(double angle_rad, const Pointf3 &axis);
/// performs rotation around arbitrary 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);
/// 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);
/// 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);
/// 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);
/// 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);
/// Generate an eye matrix.
/// generates an eye matrix.
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);
/// Generate a uniform scaling matrix
/// generates an uniform scaling matrix
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);
/// Generate a reflection matrix by arbitrary vector
static TransformationMatrix mat_mirror(const Pointf3 &normal);
/// generates a reflection matrix by arbitrary vector
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);
/// Generate a rotation matrix around coodinate axis
/// generates a rotation matrix around coodinate 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);
/// Generate a rotation matrix around arbitrary axis
static TransformationMatrix mat_rotation(double angle_rad, const Pointf3 &axis);
/// generates a rotation matrix around arbitrary 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)
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);
};