OMK::Type::Transform

OMK::Type::Transform Class Reference

Type Transform. More...

#include <OMKTransform.h>

Collaboration diagram for OMK::Type::Transform:

Collaboration graph
[legend]
List of all members.

Public Member Functions

void resetToIdentity ()
 Sets the transformation to the identity.
void resetUnitScale ()
 Sets the scales to 1 in each direction.
bool getOrientation (float &head, float &pitch, float &roll) const
 Get the object orientation using Euler angles.
void setOrientation (float head, float pitch, float roll)
 Set the object orientation using Euler angles.
float getNorm () const
 Gets the norm of the transformation.
Wm4::Vector3f applyForward (const Wm4::Vector3f &input) const
 Applies the transformation to the input vector.
std::vector< Wm4::Vector3f > applyForward (const std::vector< Wm4::Vector3f > &input) const
 Applies the transformation to the input vector.
Wm4::Vector3f applyInverse (const Wm4::Vector3f &input) const
 Applies the inverse transformation to the input vector.
std::vector< Wm4::Vector3f > applyInverse (const std::vector< Wm4::Vector3f > &input) const
 Applies the inverse transformation to the input vector.
Wm4::Vector3f invertVector (const Wm4::Vector3f &input) const
 Inverse-transforms the input vector.
Wm4::Plane3f applyForward (const Wm4::Plane3f &input) const
 Transforms the plane.
Transform inverse () const
 Compute the inverse transformation.
Wm4::Matrix4f getHomogeneous () const
 To get the 4x4 matrix.
State of the transformation.
The following informations are implications.

So if they return false, it does not mean that the transformation is not an identity, a rotate and scale transformation or without a uniform scale, it means that this information is unknown

bool isIdentity () const
 Is the tranformation an identity ?
bool isUniformScale () const
 Does the transformation have a uniform scale?
Member access.
void updateFlags ()
 Update the flags to optimize computation.
void setTranslate (const Wm4::Vector3f &translate)
 Set the translate vector.
void setRotate (const Wm4::Matrix3f &rotate)
 Set the rotate matrix.
void setRotate (const Wm4::Quaternionf &rotate)
 Set the rotate matrix.
void setScale (const Wm4::Vector3f &scale)
 Set the translate vector.
void setUniformScale (float scale)
 Set the translate vector.
const Wm4::Matrix3f & getRotate () const
 Returns the rotate.
Wm4::Quaternionf getQuaternionRotate () const
 Returns the rotate.
const Wm4::Vector3f & getTranslate () const
 Returns the translate vector.
const Wm4::Vector3f & getScale () const
 Returns the scale.
float getUniformScale () const
 Returns the uniform scale.
Wm4::Vector3f getRight () const
 Get accessor to the right vector.
Wm4::Vector3f getUp () const
 Get accessor to the up vector.
Wm4::Vector3f getDirection () const
 Get accessor to the direction vector.

Static Public Attributes

static const Transform sk_identity
 The identity transformation.

Private Attributes

Wm4::Matrix3f _matrix
 The matrix.
Wm4::Vector3f _translate
 The translate vector.
Wm4::Vector3f _scale
 The scale vector.
bool _identity
 This flag is set if the transformation is an identity.
bool _uniformScale
 This flag is set if the transformation has an uniform scale.

Friends

Transform OMK_API product (const Transform &A, const Transform &B)
 Computes the product of the two transformations.
OMK_API bool operator== (const Transform &t0, const Transform &t1)
 equality operator
OMK_API bool operator!= (const Transform &t0, const Transform &t1)
 inequality operator
Friend stream operators.
std::ostream & operator<< (std::ostream &out, const Transform &q)
 stream operator for ostream.
std::istream & operator>> (std::istream &in, Transform &q)
 stream operator for istream.
OMK::OutgoingSynchronisationMessage & operator<< (OMK::OutgoingSynchronisationMessage &out, const Transform &q)
 stream operator for OutgoingSynchronisationMessage.
OMK::IncomingSynchronisationMessage & operator>> (OMK::IncomingSynchronisationMessage &in, Transform &q)
 stream operator for IncomingSynchronisationMessage.

Detailed Description

Type Transform.

Author:
Benoit Chanclou, Michaël Rouillé, bunraku <bchanclo@irisa.fr>
Date:
2006-12-12
The transformation is $ Y=M.X+T $, where $ M $ is a 3x3 matrix and $ T $ is a translation vector. In our case, $ M=R.S $, where $ R $ is a rotation matrix and $ S $ is a diagonal matrix whose diagonal entries are positive scales.

This Transform doesn't support modeling packages that allow reflections and nonuniform scales.

The vector $ X $ is transformed in the forward direction to $ Y $. The inverse direction transforms $ Y $ to $ X $, namely $ X = M^{-1}.(Y-T) $ in the general case. In the our case of $ M = R.S $, the inverse direction is $ X = S^{-1}.R^t.(Y-T) $.

Definition at line 87 of file OMKTransform.h.

Constructor & Destructor Documentation

Transform::Transform (  ) 

Default constructor of Transform.

This constructor produces the identity transformation.

Definition at line 33 of file OMKTransform.cpp.

00034 : _matrix   ( 1.0f, 0.0f, 0.0f, 
00035               0.0f, 1.0f, 0.0f, 
00036               0.0f, 0.0f, 1.0f ),
00037   _translate( 0.0f, 0.0f, 0.0f ),
00038   _scale    ( 1.0f, 1.0f, 1.0f ),
00039   _identity    ( true ),
00040   _uniformScale( true )
00041 {
00042 }

Transform::Transform ( const Wm4::Vector3f &  translate,
const Wm4::Matrix3f &  rotate = Wm4::Matrix3f(1.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 1.0f),
float  scale = 1.0f 
)

Constructor for a translate, rotate and uniform scale transformation.

Definition at line 47 of file OMKTransform.cpp.

References OMASSERTM, and updateFlags().

00050 : _matrix   ( rotate              ),
00051   _translate( translate           ),
00052   _scale    ( scale, scale, scale ),
00053   _identity    ( false     ),
00054   _uniformScale( true      )
00055 {
00056   OMASSERTM( scale != 0.0f, "scale cannot be null" ) ;
00057   updateFlags() ;
00058 }

Transform::Transform ( const Wm4::Vector3f &  translate,
const Wm4::Quaternionf &  rotate,
float  scale = 1.0f 
)

Constructor for a translate, rotate and uniform scale transformation.

Definition at line 63 of file OMKTransform.cpp.

References _matrix, OMASSERTM, and updateFlags().

00066 : _matrix   (),
00067   _translate( translate           ),
00068   _scale    ( scale, scale, scale ),
00069   _identity    ( false     ),
00070   _uniformScale( true      )
00071 {
00072   rotate.ToRotationMatrix( _matrix ) ;
00073   OMASSERTM( scale != 0.0f, "scale cannot be null" ) ;
00074   updateFlags() ;
00075 }

Transform::Transform ( const Wm4::Vector3f &  translate,
const Wm4::Matrix3f &  rotate,
const Wm4::Vector3f &  scale 
)

Constructor for a translate, rotate and scale transformation.

Definition at line 80 of file OMKTransform.cpp.

References OMASSERTM, and updateFlags().

00083 : _matrix   ( rotate           ),
00084   _translate( translate        ),
00085   _scale    ( scale            ),
00086   _identity    ( false     ),
00087   _uniformScale( false     )
00088 {                
00089   OMASSERTM( ( scale.X() != 0.0f 
00090             && scale.Y() != 0.0f
00091             && scale.Z() != 0.0f ), "scale cannot be a null vector" ) ;
00092   updateFlags() ;
00093 }

Transform::Transform ( const Wm4::Vector3f &  translate,
const Wm4::Quaternionf &  rotate,
const Wm4::Vector3f &  scale 
)

Constructor for a translate, rotate and scale transformation.

Definition at line 98 of file OMKTransform.cpp.

References _matrix, OMASSERTM, and updateFlags().

00101 : _matrix   (),
00102   _translate( translate        ),
00103   _scale    ( scale            ),
00104   _identity    ( false     ),
00105   _uniformScale( false     )
00106 {         
00107   rotate.ToRotationMatrix( _matrix ) ;
00108   OMASSERTM( ( scale.X() != 0.0f 
00109             && scale.Y() != 0.0f
00110             && scale.Z() != 0.0f ), "scale cannot be a null vector" ) ;
00111   updateFlags() ;
00112 }

Transform::~Transform (  )  [virtual]

Destructor of Transform.

Definition at line 117 of file OMKTransform.cpp.

00118 {
00119 }

Transform::Transform (  ) 

Default constructor of Transform.

This constructor produces the identity transformation.

Definition at line 33 of file OMKTransform.cpp.

00034 : _matrix   ( 1.0f, 0.0f, 0.0f, 
00035               0.0f, 1.0f, 0.0f, 
00036               0.0f, 0.0f, 1.0f ),
00037   _translate( 0.0f, 0.0f, 0.0f ),
00038   _scale    ( 1.0f, 1.0f, 1.0f ),
00039   _identity    ( true ),
00040   _uniformScale( true )
00041 {
00042 }

Transform::Transform ( const Wm4::Vector3f &  translate,
const Wm4::Matrix3f &  rotate = Wm4::Matrix3f(1.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 1.0f),
float  scale = 1.0f 
)

Constructor for a translate, rotate and uniform scale transformation.

Definition at line 47 of file OMKTransform.cpp.

References OMASSERTM, and updateFlags().

00050 : _matrix   ( rotate              ),
00051   _translate( translate           ),
00052   _scale    ( scale, scale, scale ),
00053   _identity    ( false     ),
00054   _uniformScale( true      )
00055 {
00056   OMASSERTM( scale != 0.0f, "scale cannot be null" ) ;
00057   updateFlags() ;
00058 }

Transform::Transform ( const Wm4::Vector3f &  translate,
const Wm4::Quaternionf &  rotate,
float  scale = 1.0f 
)

Constructor for a translate, rotate and uniform scale transformation.

Definition at line 63 of file OMKTransform.cpp.

References _matrix, OMASSERTM, and updateFlags().

00066 : _matrix   (),
00067   _translate( translate           ),
00068   _scale    ( scale, scale, scale ),
00069   _identity    ( false     ),
00070   _uniformScale( true      )
00071 {
00072   rotate.ToRotationMatrix( _matrix ) ;
00073   OMASSERTM( scale != 0.0f, "scale cannot be null" ) ;
00074   updateFlags() ;
00075 }

Transform::Transform ( const Wm4::Vector3f &  translate,
const Wm4::Matrix3f &  rotate,
const Wm4::Vector3f &  scale 
)

Constructor for a translate, rotate and scale transformation.

Definition at line 80 of file OMKTransform.cpp.

References OMASSERTM, and updateFlags().

00083 : _matrix   ( rotate           ),
00084   _translate( translate        ),
00085   _scale    ( scale            ),
00086   _identity    ( false     ),
00087   _uniformScale( false     )
00088 {                
00089   OMASSERTM( ( scale.X() != 0.0f 
00090             && scale.Y() != 0.0f
00091             && scale.Z() != 0.0f ), "scale cannot be a null vector" ) ;
00092   updateFlags() ;
00093 }

Transform::Transform ( const Wm4::Vector3f &  translate,
const Wm4::Quaternionf &  rotate,
const Wm4::Vector3f &  scale 
)

Constructor for a translate, rotate and scale transformation.

Definition at line 98 of file OMKTransform.cpp.

References _matrix, OMASSERTM, and updateFlags().

00101 : _matrix   (),
00102   _translate( translate        ),
00103   _scale    ( scale            ),
00104   _identity    ( false     ),
00105   _uniformScale( false     )
00106 {         
00107   rotate.ToRotationMatrix( _matrix ) ;
00108   OMASSERTM( ( scale.X() != 0.0f 
00109             && scale.Y() != 0.0f
00110             && scale.Z() != 0.0f ), "scale cannot be a null vector" ) ;
00111   updateFlags() ;
00112 }

Transform::~Transform (  )  [virtual]

Destructor of Transform.

Definition at line 117 of file OMKTransform.cpp.

00118 {
00119 }

Member Function Documentation

void OMK::Type::Transform::resetToIdentity (  )  [inline]

Sets the transformation to the identity.

Definition at line 122 of file OMKTransform.h.

Referenced by operator>>().

00122 { *this = sk_identity ; }

void Transform::resetUnitScale (  ) 

Sets the scales to 1 in each direction.

Definition at line 125 of file OMKTransform.cpp.

References _scale, and _uniformScale.

00126 {
00127   _scale = Wm4::Vector3f( 1.0f, 1.0f, 1.0f );
00128   _uniformScale = true;
00129 }

bool OMK::Type::Transform::isIdentity (  )  const [inline]

Is the tranformation an identity ?

Returns:
true if the tranformation is the identity transformation.

Definition at line 364 of file OMKTransform.h.

References _identity.

Referenced by applyForward(), invertVector(), operator<<(), and OMK::Type::product().

00365 { 
00366   return _identity ; 
00367 }

bool OMK::Type::Transform::isUniformScale (  )  const [inline]

Does the transformation have a uniform scale?

Returns:
true if the tranformation has a uniform scale.

Definition at line 373 of file OMKTransform.h.

References _uniformScale.

Referenced by applyForward(), applyInverse(), getUniformScale(), invertVector(), operator<<(), OMK::Type::product(), and OMK::ParametersAccessor::setValue().

00374 { 
00375   return _uniformScale ;
00376 }

void Transform::updateFlags (  ) 

Update the flags to optimize computation.

Sets the three flags _identity, _RSMatrix and _uniformScale according to the real value of the transform.

defined NDEBUG

Definition at line 532 of file OMKTransform.cpp.

References _identity, _matrix, _scale, _translate, _uniformScale, OMK_DEBUG_OMK_TYPE, and OMTRACEID.

Referenced by OMK::Iii::Joint::establishLink(), OMK::ParametersAccessor::getValue(), OMK::Iii::HingeSlideJoint::retroPropagation(), OMK::Iii::BallJoint::retroPropagation(), and Transform().

00533 {
00534   if( !_identity )
00535   { // Not declared identity
00536     if( ( _matrix == Wm4::Matrix3f::IDENTITY ) 
00537      && ( _translate == Wm4::Vector3f::ZERO )
00538      && ( _scale == Wm4::Vector3f::ONE ) )
00539     { // Test identity
00540       _identity = true ;
00541       _uniformScale = true ;
00542     }
00543     else
00544     {
00545 #if !defined NDEBUG      
00546       // is it a pure rotation
00547       if( ( ( _matrix != Wm4::Matrix3f::IDENTITY ) 
00548         && ( ( _matrix * _matrix.Transpose() != Wm4::Matrix3f::IDENTITY )
00549           || ( _matrix.Determinant() != 1.0f ) ) ) )
00550       {
00551         Wm4::Matrix3f m( _matrix * _matrix.Transpose() ) ;
00552         OMTRACEID( OMK_DEBUG_OMK_TYPE,
00553                    "This transform is not a pure RS one, may be you will encounter some problem with it" << std::endl << *this ) ;
00554       }
00555 #endif 
00556       // is it a uniform scale
00557       _uniformScale = ( _scale[0] == _scale[1] && _scale[1] == _scale[2] ) ;
00558     }
00559   }
00560 }

void Transform::setTranslate ( const Wm4::Vector3f &  translate  ) 

Set the translate vector.

Parameters:
[in] translate The translate vector
Sets the _translate to the translate vector.
Sets _identity to false, _RSMatrix unchanged and _uniformScale unchanged.

Definition at line 147 of file OMKTransform.cpp.

References _identity, and _translate.

Referenced by OMK::Trajectory::computeParameters(), OMK::Orbit::computeParameters(), OMK::Vis::convert(), OMK::ParametersAccessor::getValue(), OMK::Inp::DistributedCameraOgreListener::keyPressed(), OMK::Trajectory::loadParameters(), OMK::Inp::DistributedCameraOgreListener::mouseMoved(), operator>>(), OMK::Type::product(), OMK::Vis::VisualObject::readConfigurationParameters(), OMK::Iii::HingeSlideJoint::retroPropagation(), and OMK::Iii::BallJoint::retroPropagation().

00148 {
00149     _translate = translate ;
00150     _identity  = false     ;
00151 }

void Transform::setRotate ( const Wm4::Matrix3f &  rotate  ) 

Set the rotate matrix.

Parameters:
[in] rotate The rotate matrix
Sets the _matrix to the rotate matrix, the matrix is not tested, so if the matrix is not a rotate, it will malfunction.
Sets _identity to false, _RSMatrix to true and _uniformScale unchanged.

Definition at line 157 of file OMKTransform.cpp.

References _identity, and _matrix.

Referenced by OMK::Trajectory::computeParameters(), OMK::Orbit::computeParameters(), OMK::Vis::convert(), OMK::ParametersAccessor::getValue(), OMK::Inp::DistributedCameraOgreListener::mouseMoved(), operator>>(), OMK::Type::product(), OMK::Vis::VisualObject::readConfigurationParameters(), OMK::Iii::HingeSlideJoint::retroPropagation(), and OMK::Iii::BallJoint::retroPropagation().

00158 {
00159   _matrix   = rotate ;
00160   _identity = false  ;
00161 }

void Transform::setRotate ( const Wm4::Quaternionf &  rotate  ) 

Set the rotate matrix.

Parameters:
[in] rotate The rotate quaternion
Sets the _matrix according to the rotate quaternion.
Sets _identity to false, _RSMatrix to true and _uniformScale unchanged.

Definition at line 167 of file OMKTransform.cpp.

References _identity, and _matrix.

00168 {
00169   rotate.ToRotationMatrix( _matrix ) ;
00170   _identity = false  ;
00171 }

void Transform::setScale ( const Wm4::Vector3f &  scale  ) 

Set the translate vector.

Parameters:
[in] translate The translate vector
Sets the _scale to the scale vector.
Must be previously an Rotate and Scale transformation, you should use isRSMatrix before calling it.
Sets _identity to false, _RSMatrix unchanged and _uniformScale unchanged.

Definition at line 177 of file OMKTransform.cpp.

References _identity, _scale, _uniformScale, and OMASSERTM.

Referenced by OMK::Vis::convert(), OMK::ParametersAccessor::getValue(), operator>>(), OMK::Type::product(), and OMK::Vis::VisualObject::readConfigurationParameters().

00178 {
00179   OMASSERTM( ( scale.X() != 0.0f 
00180             && scale.Y() != 0.0f
00181             && scale.Z() != 0.0f ), "The scale vector cannot be null" ) ;
00182   _scale        = scale ;
00183   _identity     = false ;
00184   _uniformScale = false ;
00185 }

void Transform::setUniformScale ( float  scale  ) 

Set the translate vector.

Parameters:
[in] translate The translate vector
Sets the _scale to the vector with the uniforma scale.
Must be previously an Rotate and Scale transformation, you should use isRSMatrix before calling it.
Sets _identity to false, _RSMatrix unchanged and _uniformScale unchanged.

Definition at line 191 of file OMKTransform.cpp.

References _identity, _scale, _uniformScale, and OMASSERTM.

Referenced by OMK::ParametersAccessor::getValue(), operator>>(), OMK::Type::product(), and OMK::Vis::VisualObject::readConfigurationParameters().

00192 {
00193   OMASSERTM( scale != 0.0f, "The scale cannot be null" );
00194   _scale        = Wm4::Vector3f( scale, scale, scale ) ;
00195   _identity     = false ;
00196   _uniformScale = true  ;
00197 }

const Wm4::Matrix3f & OMK::Type::Transform::getRotate (  )  const [inline]

Returns the rotate.

Returns:
The rotate matrix.
Must be a Rotate and Scale tranformation. So you must check isRSMatrix before calling this method.

Definition at line 382 of file OMKTransform.h.

References _matrix.

Referenced by OMK::Trajectory::computeParameters(), OMK::Orbit::computeParameters(), inverse(), OMK::Inp::DistributedCameraOgreListener::mouseMoved(), operator<<(), OMK::Iii::HingeSlideJoint::retroPropagation(), OMK::Iii::BallJoint::retroPropagation(), and OMK::ParametersAccessor::setValue().

00383 {
00384   return _matrix ;
00385 }

Wm4::Quaternionf OMK::Type::Transform::getQuaternionRotate (  )  const [inline]

Returns the rotate.

Returns:
The rotate quaternion.
Must be a Rotate and Scale tranformation. So you must check isRSMatrix before calling this method.

Definition at line 391 of file OMKTransform.h.

References _matrix.

Referenced by OMK::Vis::convert().

00392 {
00393   return Wm4::Quaternionf().FromRotationMatrix( _matrix ) ;
00394 }

const Wm4::Vector3f & OMK::Type::Transform::getTranslate (  )  const [inline]

Returns the translate vector.

Returns:
The translate vector.

Definition at line 400 of file OMKTransform.h.

References _translate.

Referenced by OMK::Vis::convert(), OMK::Iii::HingeSlideJoint::establishLink(), OMK::Iii::BallJoint::establishLink(), OMK::Inp::DistributedCameraOgreListener::keyPressed(), OMK::Tracker::loadParameters(), OMK::Inp::DistributedCameraOgreListener::mouseMoved(), operator<<(), OMK::DistanceToExtension::preComputeParameters(), OMK::Iii::HingeSlideJoint::retroPropagation(), OMK::Iii::BallJoint::retroPropagation(), and OMK::ParametersAccessor::setValue().

00401 {
00402   return _translate;
00403 }

const Wm4::Vector3f & OMK::Type::Transform::getScale (  )  const [inline]

Returns the scale.

Returns:
The scale vector.
Must be a Rotate and Scale tranformation. So you must check isRSMatrix before calling this method.

Definition at line 409 of file OMKTransform.h.

References _scale.

Referenced by OMK::Vis::convert(), operator<<(), OMK::Type::product(), and OMK::ParametersAccessor::setValue().

00410 {
00411   return _scale ;
00412 }

float OMK::Type::Transform::getUniformScale (  )  const [inline]

Returns the uniform scale.

Returns:
The uniform scale value.
Must be a Rotate and Scale tranformation with an uniform scale. So you must check isUniformScale before calling this method.

Definition at line 418 of file OMKTransform.h.

References _scale, isUniformScale(), and OMASSERTM.

Referenced by applyForward(), applyInverse(), invertVector(), OMK::Type::product(), and OMK::ParametersAccessor::setValue().

00419 {
00420   OMASSERTM( isUniformScale(), "Must be a Rotate and Scale tranformation with uniform scale to return the scale value, you should use isUniformScale() before calling it" ) ;
00421   return _scale.X() ; // same as Y and Z
00422 }

Wm4::Vector3f OMK::Type::Transform::getRight (  )  const [inline]

Get accessor to the right vector.

Returns:
the right/X vector

Definition at line 427 of file OMKTransform.h.

References _matrix.

Referenced by OMK::Iii::ScrewJoint::establishLink(), OMK::Inp::DistributedCameraOgreListener::keyPressed(), and OMK::Iii::HingeSlideJoint::retroPropagation().

00428 {
00429     return _matrix.GetColumn( 0 ) ;
00430 }

Wm4::Vector3f OMK::Type::Transform::getUp (  )  const [inline]

Get accessor to the up vector.

Returns:
the up/Y vector

Definition at line 436 of file OMKTransform.h.

References _matrix.

Referenced by OMK::Iii::HingeSlideJoint::establishLink(), OMK::Inp::DistributedCameraOgreListener::keyPressed(), and OMK::Iii::HingeSlideJoint::retroPropagation().

00437 {
00438   return _matrix.GetColumn( 1 ) ;
00439 }

Wm4::Vector3f OMK::Type::Transform::getDirection (  )  const [inline]

Get accessor to the direction vector.

Returns:
the direction/Z vector

Definition at line 445 of file OMKTransform.h.

References _matrix.

Referenced by OMK::Inp::DistributedCameraOgreListener::keyPressed(), and OMK::Inp::DistributedCameraOgreListener::mouseMoved().

00446 {
00447   return _matrix.GetColumn( 2 ) ;
00448 }

bool OMK::Type::Transform::getOrientation ( float &  head,
float &  pitch,
float &  roll 
) const [inline]

Get the object orientation using Euler angles.

Parameters:
head rotation angle about the Up/Y vector (in radians).
pitch rotation angle about the Right/X vector (in radians).
roll rotation angle about the Direction/Z vector (in radians).

Definition at line 454 of file OMKTransform.h.

References _matrix.

00455 {
00456   return  _matrix.ToEulerAnglesYXZ( head, pitch, roll ) ;
00457 }

void OMK::Type::Transform::setOrientation ( float  head,
float  pitch,
float  roll 
) [inline]

Set the object orientation using Euler angles.

Parameters:
head rotation angle about the Up/Y vector (in radians).
pitch rotation angle about the Right/X vector (in radians).
roll rotation angle about the Direction/Z vector (in radians).

Definition at line 463 of file OMKTransform.h.

References _identity, and _matrix.

00464 {
00465   // build the rotation matrix from the head, pitch and roll angles
00466   _matrix.FromEulerAnglesYXZ( head, pitch, roll ) ;
00467   _identity = false ;
00468 }

float Transform::getNorm (  )  const

Gets the norm of the transformation.

Returns:
For $ M = R.S $, the largest value of $ S $ in absolute value is returned. For general $ M $, the max-row-sum norm is returned (and is guaranteed to be larger or equal to the largest eigenvalue of $ S $ in absolute value).

Definition at line 135 of file OMKTransform.cpp.

References _scale.

00136 {
00137   float sX = (float)::fabs( _scale.X() ) ;
00138   float sY = (float)::fabs( _scale.Y() ) ;
00139   float sZ = (float)::fabs( _scale.Z() ) ;
00140   return sX < sY ? ( sY < sZ ? sZ : sY ) : ( sX < sZ ? sZ : sX ) ;
00141 }

Wm4::Vector3f Transform::applyForward ( const Wm4::Vector3f &  input  )  const

Applies the transformation to the input vector.

Parameters:
[in] input The input vector $ V_{input} $
Returns:
Computes $ V_{output} = M.V_{input}+T $

Definition at line 203 of file OMKTransform.cpp.

References _matrix, _scale, _translate, and isIdentity().

00204 {
00205   Wm4::Vector3f output ;
00206   if( isIdentity() )
00207   { // Y = X
00208     output = input;
00209   }
00210   else
00211   {
00212     // Y = R*S*X + T
00213     output = Wm4::Vector3f( _scale.X() * input.X(), 
00214                             _scale.Y() * input.Y(),
00215                             _scale.Z() * input.Z() );
00216     output = _matrix * output + _translate;
00217   }
00218   return output;
00219 }

std::vector< Wm4::Vector3f > Transform::applyForward ( const std::vector< Wm4::Vector3f > &  input  )  const

Applies the transformation to the input vector.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. Version for a set of vectors.

Definition at line 225 of file OMKTransform.cpp.

References _matrix, _scale, _translate, and isIdentity().

00226 {
00227   std::vector<Wm4::Vector3f> output ;
00228   if ( isIdentity() )
00229   {
00230     // Y = X
00231     output = input ;
00232   }
00233   else
00234   {
00235     // Y = R*S*X + T
00236     output.resize( input.size() ) ;
00237     for( unsigned int i( 0 ) ; i < input.size() ; ++i )
00238   {
00239         output[i].X() = _scale.X() * input[i].X() ;
00240         output[i].Y() = _scale.Y() * input[i].Y() ;
00241         output[i].Z() = _scale.Z() * input[i].Z() ;
00242         output[i] = _matrix * output[i] + _translate;
00243     }
00244   }
00245   return output ;
00246 }

Wm4::Vector3f Transform::applyInverse ( const Wm4::Vector3f &  input  )  const

Applies the inverse transformation to the input vector.

Parameters:
[in] input The input vector $ V_{input} $
Returns:
Computes $ V_{output} = M^{-1}.(V_{input}-T) $

Definition at line 252 of file OMKTransform.cpp.

References _identity, _matrix, _scale, _translate, getUniformScale(), and isUniformScale().

00253 {
00254     Wm4::Vector3f output ;
00255     if (_identity)
00256     {
00257       // X = Y
00258       output = input;
00259     }
00260     else
00261     {
00262       output = input - _translate ;
00263       // X = S^{-1}*R^t*(Y - T)
00264       output = output * _matrix;
00265       if( isUniformScale() )
00266       {
00267         output /= getUniformScale();
00268       }
00269       else
00270       {
00271         // The direct inverse scaling is
00272         //   output.X() /= _scale.X();
00273         //   output.Y() /= _scale.Y();
00274         //   output.Z() /= _scale.Z();
00275         // When division is much more expensive than multiplication,
00276         // three divisions are replaced by one division and ten
00277         // multiplications.
00278         float SXY = _scale.X() * _scale.Y() ;
00279         float SXZ = _scale.X() * _scale.Z() ;
00280         float SYZ = _scale.Y() * _scale.Z() ;
00281         float invDet = 1.0f / ( SXY * _scale.Z() ) ;
00282         output.X() *= invDet * SYZ ;
00283         output.Y() *= invDet * SXZ ;
00284         output.Z() *= invDet * SXY ;
00285       }
00286     }
00287     return output;
00288 }

std::vector< Wm4::Vector3f > Transform::applyInverse ( const std::vector< Wm4::Vector3f > &  input  )  const

Applies the inverse transformation to the input vector.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. Version for a set of vectors.

Definition at line 294 of file OMKTransform.cpp.

References _identity, _matrix, _scale, _translate, getUniformScale(), and isUniformScale().

00295 {
00296   std::vector<Wm4::Vector3f> output ;
00297   if (_identity)
00298   {
00299     output = input ;
00300   }
00301   else
00302   {
00303     Wm4::Vector3f diff;
00304     // X = S^{-1}*R^t*(Y - T)
00305     if ( isUniformScale() )
00306     {
00307       float invScale = 1.0f / getUniformScale() ;
00308       for( unsigned int i( 0 ) ; i < input.size() ; ++i )
00309       {
00310         output.push_back( invScale * ( ( input[i] - _translate ) * _matrix ) );
00311       }
00312     }
00313     else
00314     {
00315       // The direct inverse scaling is
00316       //   invXScale = 1.0f/_scale.X();
00317       //   invYScale = 1.0f/_scale.Y();
00318       //   invZScale = 1.0f/_scale.Z();
00319       // When division is much more expensive than multiplication, three
00320       // divisions are replaced by one division and ten multiplications.
00321       float SXY = _scale.X() * _scale.Y() ;
00322       float SXZ = _scale.X() * _scale.Z() ;
00323       float SYZ = _scale.Y() * _scale.Z() ;
00324       float invDet = 1.0f / ( SXY * _scale.Z() ) ;
00325       float invXScale = invDet * SYZ ;
00326       float invYScale = invDet * SXZ ;
00327       float invZScale = invDet * SXY ;
00328       for( unsigned int i( 0 ) ; i < input.size() ; ++i )
00329       {
00330         output.push_back( ( input[i] - _translate ) * _matrix );
00331         output[i].X() *= invXScale;
00332         output[i].Y() *= invYScale;
00333         output[i].Z() *= invZScale;
00334       }
00335     }
00336   }
00337   return output ;
00338 }

Wm4::Vector3f Transform::invertVector ( const Wm4::Vector3f &  input  )  const

Inverse-transforms the input vector.

Parameters:
[in] input The input vector.
Returns:
The vector $ V_{output} = M^{-1}.V_{input} $

Definition at line 344 of file OMKTransform.cpp.

References _matrix, _scale, getUniformScale(), isIdentity(), and isUniformScale().

00345 {
00346   Wm4::Vector3f output;
00347   if( isIdentity() )
00348   {
00349     // X = Y
00350     output = input ;
00351   }
00352   else
00353   {
00354     // X = S^{-1}*R^t*Y
00355     output = input * _matrix ;
00356     if ( isUniformScale() )
00357     {
00358       output /= getUniformScale() ;
00359     }
00360     else
00361     {
00362       // The direct inverse scaling is
00363       //   output.X() /= _scale.X();
00364       //   output.Y() /= _scale.Y();
00365       //   output.Z() /= _scale.Z();
00366       // When division is much more expensive than multiplication,
00367       // three divisions are replaced by one division and ten
00368       // multiplications.
00369       float SXY = _scale.X() * _scale.Y() ;
00370       float SXZ = _scale.X() * _scale.Z() ;
00371       float SYZ = _scale.Y() * _scale.Z() ;
00372       float invDet = 1.0f/( SXY * _scale.Z() ) ;
00373       output.X() *= invDet * SYZ ;
00374       output.Y() *= invDet * SXZ ;
00375       output.Z() *= invDet * SXY ;
00376     }
00377   }
00378   return output;
00379 }

Wm4::Plane3f Transform::applyForward ( const Wm4::Plane3f &  input  )  const

Transforms the plane.

Transforms the plane $ Dot(N_0,X) = c_0 $ to $ Dot(N_1,Y) = c_1 $ where both $ N_0 $ and $ N_1 $ must be unit-length normals.

Definition at line 385 of file OMKTransform.cpp.

References _matrix, _scale, _translate, getUniformScale(), isIdentity(), and isUniformScale().

00386 {
00387   Wm4::Plane3f output ;
00388   if( isIdentity() )
00389   {
00390     output = input;
00391   }
00392   // Let X represent points in model space and Y = R*S*X+T represent
00393   // points in world space where S are the world scales, R is the world
00394   // rotation, and T is the world translation.  The inverse transform is
00395   // X = S^{-1}*R^t*(Y-T).  The model plane is Dot(N0,X) = C0.
00396   // Replacing the formula for X in it and applying some algebra leads
00397   // to the world plane Dot(N1,Y) = C1 where N1 = R*S^{-1}*N0 and
00398   // C1 = C0+Dot(N1,T).  If S is not the identity, then N1 is not unit
00399   // length.  We need to normalize N1 and adjust C1:  N1' = N1/|N1| and
00400   // C1' = C1/|N1|.
00401   else if ( isUniformScale() )
00402   {
00403     output.Normal   = _matrix * input.Normal ;
00404     output.Constant = getUniformScale() * input.Constant +
00405                       output.Normal.Dot( _translate );
00406   }
00407   else 
00408   {
00409     output.Normal = input.Normal ;
00410 
00411     // The direct inverse scaling is
00412     //   output.X() /= _scale.X();
00413     //   output.Y() /= _scale.Y();
00414     //   output.Z() /= _scale.Z();
00415     // When division is much more expensive than multiplication,
00416     // three divisions are replaced by one division and ten
00417     // multiplications.
00418     float SXY = _scale.X() * _scale.Y() ;
00419     float SXZ = _scale.X() * _scale.Z() ;
00420     float SYZ = _scale.Y() * _scale.Z() ;
00421     float invDet = 1.0f / ( SXY * _scale.Z() ) ;
00422     output.Normal.X() *= invDet * SYZ;
00423     output.Normal.Y() *= invDet * SXZ;
00424     output.Normal.Z() *= invDet * SXY;
00425     output.Normal = _matrix * output.Normal;
00426   
00427     float fInvLength = 1.0f / output.Normal.Length() ;
00428     output.Normal *= fInvLength ;
00429     output.Constant = fInvLength * input.Constant +
00430                       output.Normal.Dot( _translate );
00431   }
00432   return output;
00433 }

Transform Transform::inverse (  )  const

Compute the inverse transformation.

Returns:
the inverse transformation
If <$ M$,$ T$ > is the matrix-translation pair, the inverse is <$ M^{-1}$,$-M^{-1}.T$>

You should use updateFlags to update the flags according to the current values.

Definition at line 502 of file OMKTransform.cpp.

References _identity, _matrix, _scale, _translate, _uniformScale, and getRotate().

Referenced by OMK::Iii::Joint::establishLink(), OMK::Iii::HingeSlideJoint::retroPropagation(), and OMK::Iii::BallJoint::retroPropagation().

00503 { 
00504   Transform inverse ;
00505   if( _identity )
00506   {
00507     inverse = *this;
00508   }
00509   else 
00510   {
00511     if( _uniformScale )
00512     {
00513       inverse._matrix = getRotate().Transpose() / _scale[0];
00514       inverse._uniformScale = _scale[0] != 1.0 ;
00515     }
00516     else
00517     {
00518       Wm4::Matrix3f RS = _matrix.TimesDiagonal( _scale ) ;
00519       inverse._matrix = RS.Inverse() ;
00520       inverse._uniformScale = false;
00521     }
00522 
00523     inverse._translate = -( inverse._matrix * _translate );
00524     inverse._identity     = false;
00525   }
00526   return inverse ;
00527 }

Wm4::Matrix4f Transform::getHomogeneous (  )  const

To get the 4x4 matrix.

Changes the transformation into a 4 x 4 matrix.

Definition at line 566 of file OMKTransform.cpp.

References _matrix, _scale, and _translate.

00567 {
00568   Wm4::Matrix4f hMatrix ;
00569   hMatrix[0][0] = _scale[0] * _matrix[0][0] ;
00570   hMatrix[0][1] = _scale[0] * _matrix[1][0] ;
00571   hMatrix[0][2] = _scale[0] * _matrix[2][0] ;
00572   hMatrix[0][3] = 0.0f ;
00573   hMatrix[1][0] = _scale[1] * _matrix[0][1] ;
00574   hMatrix[1][1] = _scale[1] * _matrix[1][1] ;
00575   hMatrix[1][2] = _scale[1] * _matrix[2][1] ;
00576   hMatrix[1][3] = 0.0f ;
00577   hMatrix[2][0] = _scale[2] * _matrix[0][2] ;
00578   hMatrix[2][1] = _scale[2] * _matrix[1][2] ;
00579   hMatrix[2][2] = _scale[2] * _matrix[2][2] ;
00580   hMatrix[2][3] = 0.0f ;
00581   hMatrix[3][0] = _translate[0] ;
00582   hMatrix[3][1] = _translate[1] ;
00583   hMatrix[3][2] = _translate[2] ;
00584   hMatrix[3][3] = 1.0f ;
00585   
00586   return hMatrix ;
00587 }

Friends And Related Function Documentation

Transform OMK_API product ( const Transform &  A,
const Transform &  B 
) [friend]

Computes the product of the two transformations.

Parameters:
[in] A The first tranformation
[in] B The second tranformation
Returns:
$C=A.B$

Definition at line 439 of file OMKTransform.cpp.

00440 {
00441   Transform output ;
00442   if( A.isIdentity() )
00443   {
00444     output = B ;
00445   }
00446   else if( B.isIdentity() )
00447   {
00448     output = A ;
00449   }
00450   else
00451   {
00452     if( !A.isUniformScale() )
00453     {
00454       // set correctly "_uniformScale" boolean in A if needed
00455       const_cast< Transform& >( A )._uniformScale = ( A._scale[0] == A._scale[1] && A._scale[1] == A._scale[2] ) ;
00456     }
00457 
00458     output.setRotate( A._matrix * B._matrix ) ;
00459 
00460     if( A.isUniformScale() )
00461     {
00462       output.setTranslate( A.getUniformScale() * ( A._matrix * B._translate ) + A._translate ) ;
00463 
00464       if ( B.isUniformScale() )
00465       {
00466         output.setUniformScale( A.getUniformScale() * B.getUniformScale() ) ;
00467       }
00468       else
00469       {
00470         output.setScale( A.getUniformScale() * B.getScale() ) ;
00471       }
00472     }
00473     else
00474     {
00475       Wm4::Vector3f v0_translate( A._matrix * B._translate ) ;
00476       Wm4::Vector3f v1_translate( A.getScale()[0] * v0_translate[0],
00477                                   A.getScale()[1] * v0_translate[1],
00478                                   A.getScale()[2] * v0_translate[2] ) ;
00479       output.setTranslate( v1_translate + A._translate ) ;
00480 
00481       if ( B.isUniformScale() )
00482       {
00483         output.setScale( A.getScale() * B.getUniformScale() ) ;
00484       }
00485       else
00486       {
00487         Wm4::Vector3f v0_scale( A._matrix * B._scale ) ;
00488         Wm4::Vector3f v1_scale( A.getScale()[0] * v0_scale[0],
00489                                 A.getScale()[1] * v0_scale[1],
00490                                 A.getScale()[2] * v0_scale[2] ) ;
00491         output.setScale( v1_scale ) ;
00492       }
00493     }
00494   }
00495   return output ;
00496 }

OMK_API bool operator== ( const Transform &  t0,
const Transform &  t1 
) [friend]

equality operator

Definition at line 593 of file OMKTransform.cpp.

00594 {
00595   return (  t0._identity == t1._identity &&
00596             t0._uniformScale == t1._uniformScale && 
00597             t0._translate == t1._translate && 
00598             t0._scale == t1._scale && 
00599             t0._matrix == t1._matrix ) ;
00600 }

OMK_API bool operator!= ( const Transform &  t0,
const Transform &  t1 
) [friend]

inequality operator

Definition at line 606 of file OMKTransform.cpp.

00607 {
00608   return !( t0 == t1 ) ;
00609 }

std::ostream& operator<< ( std::ostream &  out,
const Transform &  q 
) [friend]

stream operator for ostream.

Use by SimpleTypeT::insertInStream.

Definition at line 613 of file OMKTransform.cpp.

00614 {
00615   out << q.isIdentity() << " " ;
00616   if( !q.isIdentity() )
00617   {
00618     out << q.isUniformScale()    << " "
00619         << q.getTranslate().X()  << " "
00620         << q.getTranslate().Y()  << " "
00621         << q.getTranslate().Z()  << " "
00622         << q.getRotate()( 0, 0 ) << " "
00623         << q.getRotate()( 0, 1 ) << " "
00624         << q.getRotate()( 0, 2 ) << " "
00625         << q.getRotate()( 1, 0 ) << " "
00626         << q.getRotate()( 1, 1 ) << " "
00627         << q.getRotate()( 1, 2 ) << " "
00628         << q.getRotate()( 2, 0 ) << " "
00629         << q.getRotate()( 2, 1 ) << " "
00630         << q.getRotate()( 2, 2 ) << " "
00631         << q.getScale().X()      << " "
00632         << q.getScale().Y()      << " "
00633         << q.getScale().Z()      << " "  ;
00634   }
00635   out << " " ;
00636   return out;
00637 }

std::istream& operator>> ( std::istream &  in,
Transform &  q 
) [friend]

stream operator for istream.

Use by SimpleTypeT::extract.

Definition at line 642 of file OMKTransform.cpp.

00643 {
00644   bool isIdentity = false ;
00645   in >> isIdentity ;
00646   if( isIdentity )
00647   {
00648     q.resetToIdentity() ;
00649   }
00650   else
00651   {
00652     bool isUniformScale ;
00653     Wm4::Vector3f translate ;
00654     Wm4::Matrix3f matrix ;
00655     Wm4::Vector3f scale ;
00656     in >> isUniformScale 
00657        >> translate.X()
00658        >> translate.Y()
00659        >> translate.Z() 
00660        >> matrix( 0, 0 ) 
00661        >> matrix( 0, 1 ) 
00662        >> matrix( 0, 2 ) 
00663        >> matrix( 1, 0 ) 
00664        >> matrix( 1, 1 ) 
00665        >> matrix( 1, 2 ) 
00666        >> matrix( 2, 0 ) 
00667        >> matrix( 2, 1 ) 
00668        >> matrix( 2, 2 ) 
00669        >> scale.X()  
00670        >> scale.Y()  
00671        >> scale.Z() ;
00672     q.setTranslate( translate ) ;
00673     q.setRotate( matrix ) ;
00674     if( isUniformScale ) q.setUniformScale( scale.X() ) ; else q.setScale( scale ) ;
00675   }
00676   return in;
00677 }

OMK::OutgoingSynchronisationMessage& operator<< ( OMK::OutgoingSynchronisationMessage &  out,
const Transform &  q 
) [friend]

stream operator for OutgoingSynchronisationMessage.

Use by SimpleTypeT::pack.

Definition at line 682 of file OMKTransform.cpp.

00683 {
00684   out << q.isIdentity() ;
00685   if( !q.isIdentity() )
00686   {
00687     out << q.isUniformScale()    
00688         << q.getTranslate().X()  
00689         << q.getTranslate().Y()  
00690         << q.getTranslate().Z()  
00691         << q.getRotate()( 0, 0 ) 
00692         << q.getRotate()( 0, 1 ) 
00693         << q.getRotate()( 0, 2 ) 
00694         << q.getRotate()( 1, 0 ) 
00695         << q.getRotate()( 1, 1 ) 
00696         << q.getRotate()( 1, 2 ) 
00697         << q.getRotate()( 2, 0 ) 
00698         << q.getRotate()( 2, 1 ) 
00699         << q.getRotate()( 2, 2 ) 
00700         << q.getScale().X()      
00701         << q.getScale().Y()      
00702         << q.getScale().Z()      ;
00703   }
00704   return out;
00705 }

OMK::IncomingSynchronisationMessage& operator>> ( OMK::IncomingSynchronisationMessage &  in,
Transform &  q 
) [friend]

stream operator for IncomingSynchronisationMessage.

Use by SimpleTypeT::unpack.

Definition at line 710 of file OMKTransform.cpp.

00711 {
00712   bool isIdentity = false ;
00713   in >> isIdentity ;
00714   if( isIdentity )
00715   {
00716     q.resetToIdentity() ;
00717   }
00718   else
00719   {
00720     bool isUniformScale ;
00721     Wm4::Vector3f translate ;
00722     Wm4::Matrix3f matrix ;
00723     Wm4::Vector3f scale ;
00724     in >> isUniformScale 
00725        >> translate.X()
00726        >> translate.Y()
00727        >> translate.Z() 
00728        >> matrix( 0, 0 ) 
00729        >> matrix( 0, 1 ) 
00730        >> matrix( 0, 2 ) 
00731        >> matrix( 1, 0 ) 
00732        >> matrix( 1, 1 ) 
00733        >> matrix( 1, 2 ) 
00734        >> matrix( 2, 0 ) 
00735        >> matrix( 2, 1 ) 
00736        >> matrix( 2, 2 ) 
00737        >> scale.X()  
00738        >> scale.Y()  
00739        >> scale.Z() ;
00740     q.setTranslate( translate ) ;
00741     q.setRotate( matrix ) ;
00742     if( isUniformScale ) q.setUniformScale( scale.X() ) ; else q.setScale( scale ) ;
00743   }
00744   return in;
00745 }

Member Data Documentation

const Transform Transform::sk_identity [static]

The identity transformation.

Definition at line 308 of file OMKTransform.h.

Referenced by OMK::ParametersAccessor::getValue().

Wm4::Matrix3f OMK::Type::Transform::_matrix [private]

The matrix.

This one is a rotate if _RSMatrix is set.

Definition at line 341 of file OMKTransform.h.

Referenced by applyForward(), applyInverse(), getDirection(), getHomogeneous(), getOrientation(), getQuaternionRotate(), getRight(), getRotate(), getUp(), inverse(), invertVector(), OMK::Type::operator==(), OMK::Type::product(), setOrientation(), setRotate(), Transform(), and updateFlags().

Wm4::Vector3f OMK::Type::Transform::_translate [private]

The translate vector.

Definition at line 344 of file OMKTransform.h.

Referenced by applyForward(), applyInverse(), getHomogeneous(), getTranslate(), inverse(), OMK::Type::operator==(), OMK::Type::product(), setTranslate(), and updateFlags().

Wm4::Vector3f OMK::Type::Transform::_scale [private]

The scale vector.

This one is valid only if _RSMatrix is set.

Definition at line 348 of file OMKTransform.h.

Referenced by applyForward(), applyInverse(), getHomogeneous(), getNorm(), getScale(), getUniformScale(), inverse(), invertVector(), OMK::Type::operator==(), OMK::Type::product(), resetUnitScale(), setScale(), setUniformScale(), and updateFlags().

bool OMK::Type::Transform::_identity [private]

This flag is set if the transformation is an identity.

The computations will be optimized in that case.

Definition at line 352 of file OMKTransform.h.

Referenced by applyInverse(), inverse(), isIdentity(), OMK::Type::operator==(), setOrientation(), setRotate(), setScale(), setTranslate(), setUniformScale(), and updateFlags().

bool OMK::Type::Transform::_uniformScale [private]

This flag is set if the transformation has an uniform scale.

The computations will be optimized in that case.
An uniform scale is a _scale with the same three values.

Definition at line 357 of file OMKTransform.h.

Referenced by inverse(), isUniformScale(), OMK::Type::operator==(), OMK::Type::product(), resetUnitScale(), setScale(), setUniformScale(), and updateFlags().

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Documentation generated on Mon Jun 9 11:46:05 2008

Generated with doxygen by Dimitri van Heesch ,   1997-2007