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Added initial commit for GLM_GTX_matrix_decompose #227

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Christophe Riccio ago%!(EXTRA string=11 years)
parent 842cea8747
commit 3b7aadc2e3
7 changed files with 312 additions and 7 deletions
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  1. 2
      glm/gtc/matrix_transform.hpp
  2. 5
      glm/gtx/closest_point.inl
  3. 66
      glm/gtx/matrix_decompose.hpp
  4. 227
      glm/gtx/matrix_decompose.inl
  5. 1
      test/gtx/CMakeLists.txt
  6. 1
      test/gtx/gtx_component_wise.cpp
  7. 17
      test/gtx/gtx_matrix_decompose.cpp

2
glm/gtc/matrix_transform.hpp
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@ -46,7 +46,7 @@
#ifndef GLM_GTC_matrix_transform
#define GLM_GTC_matrix_transform
// Dependency:
// Dependencies
#include "../mat4x4.hpp"
#include "../vec2.hpp"
#include "../vec3.hpp"

5
glm/gtx/closest_point.inl
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@ -7,9 +7,6 @@
// File : glm/gtx/closest_point.inl
///////////////////////////////////////////////////////////////////////////////////////////////////
#ifndef glm_gtx_closest_point
#define glm_gtx_closest_point
namespace glm
{
template <typename T, precision P>
@ -32,5 +29,3 @@ namespace glm
return a + LineDirection * Distance;
}
}//namespace glm
#endif//glm_gtx_closest_point

66
glm/gtx/matrix_decompose.hpp
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///////////////////////////////////////////////////////////////////////////////////
/// OpenGL Mathematics (glm.g-truc.net)
///
/// Copyright (c) 2005 - 2014 G-Truc Creation (www.g-truc.net)
/// Permission is hereby granted, free of charge, to any person obtaining a copy
/// of this software and associated documentation files (the "Software"), to deal
/// in the Software without restriction, including without limitation the rights
/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
/// copies of the Software, and to permit persons to whom the Software is
/// furnished to do so, subject to the following conditions:
///
/// The above copyright notice and this permission notice shall be included in
/// all copies or substantial portions of the Software.
///
/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
/// THE SOFTWARE.
///
/// @ref gtx_decomposition
/// @file glm/gtx/decomposition.hpp
/// @date 2014-08-29 / 2014-08-29
/// @author Christophe Riccio
///
/// @see core (dependence)
///
/// @defgroup gtx_decomposition GLM_GTX_decomposition
/// @ingroup gtx
///
/// @brief Decomposes a model matrix to translations, rotation and scale components
///
/// <glm/gtx/decomposition.hpp> need to be included to use these functionalities.
///////////////////////////////////////////////////////////////////////////////////
#pragma once
// Dependencies
#include "../mat4x4.hpp"
#include "../vec3.hpp"
#include "../vec4.hpp"
#include "../gtc/quaternion.hpp"
#include "../gtc/matrix_transform.hpp"
#if(defined(GLM_MESSAGES) && !defined(GLM_EXT_INCLUDED))
# pragma message("GLM: GLM_GTX_decomposition extension included")
#endif
namespace glm
{
/// @addtogroup gtx_decomposition
/// @{
/// Decomposes a model matrix to translations, rotation and scale components
/// @see gtx_decomposition
template <typename T, precision P>
GLM_FUNC_DECL bool decompose(
detail::tmat4x4<T, P> const & modelMatrix,
detail::tvec3<T, P> & scale, detail::tquat<T, P> & orientation, detail::tvec3<T, P> & translation, detail::tvec3<T, P> & skew, detail::tvec4<T, P> & perspective);
/// @}
}//namespace glm
#include "matrix_decompose.inl"

227
glm/gtx/matrix_decompose.inl
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@ -0,0 +1,227 @@
///////////////////////////////////////////////////////////////////////////////////
/// OpenGL Mathematics (glm.g-truc.net)
///
/// Copyright (c) 2005 - 2014 G-Truc Creation (www.g-truc.net)
/// Permission is hereby granted, free of charge, to any person obtaining a copy
/// of this software and associated documentation files (the "Software"), to deal
/// in the Software without restriction, including without limitation the rights
/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
/// copies of the Software, and to permit persons to whom the Software is
/// furnished to do so, subject to the following conditions:
///
/// The above copyright notice and this permission notice shall be included in
/// all copies or substantial portions of the Software.
///
/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
/// THE SOFTWARE.
///
/// @ref gtx_decomposition
/// @file glm/gtx/decomposition.inl
/// @date 2014-08-29 / 2014-08-29
/// @author Christophe Riccio
///////////////////////////////////////////////////////////////////////////////////
namespace glm
{
/// Make a linear combination of two vectors and return the result.
// result = (a * ascl) + (b * bscl)
template <typename T, precision P>
GLM_FUNC_QUALIFIER detail::tvec3<T, P> combine(
detail::tvec3<T, P> const & a,
detail::tvec3<T, P> const & b,
T ascl, T bscl)
{
return (a * ascl) + (b * bscl);
}
template <typename T, precision P>
GLM_FUNC_QUALIFIER void v3Scale(detail::tvec3<T, P> & v, T desiredLength)
{
T len = glm::length(v);
if(len != 0)
{
T l = desiredLength / len;
v[0] *= l;
v[1] *= l;
v[2] *= l;
}
}
/**
* Matrix decompose
* http://www.opensource.apple.com/source/WebCore/WebCore-514/platform/graphics/transforms/TransformationMatrix.cpp
* Decomposes the mode matrix to translations,rotation scale components
*
*/
template <typename T, precision P>
GLM_FUNC_QUALIFIER bool decompose(detail::tmat4x4<T, P> const & ModelMatrix, detail::tvec3<T, P> & Scale, detail::tquat<T, P> & Orientation, detail::tvec3<T, P> & Translation, detail::tvec3<T, P> & Skew, detail::tvec4<T, P> & Perspective)
{
detail::tmat4x4<T, P> LocalMatrix(ModelMatrix);
// Normalize the matrix.
if(LocalMatrix[3][3] == static_cast<T>(0))
return false;
for(length_t i = 0; i < 4; i++)
for(length_t j = 0; j < 4; j++)
LocalMatrix[i][j] /= LocalMatrix[3][3];
// perspectiveMatrix is used to solve for perspective, but it also provides
// an easy way to test for singularity of the upper 3x3 component.
detail::tmat4x4<T, P> PerspectiveMatrix(LocalMatrix);
for(length_t i = 0; i < 3; i++)
PerspectiveMatrix[i][3] = 0;
PerspectiveMatrix[3][3] = 1;
/// TODO: Fixme!
if(determinant(PerspectiveMatrix) == static_cast<T>(0))
return false;
// First, isolate perspective. This is the messiest.
if(LocalMatrix[0][3] != 0 || LocalMatrix[1][3] != 0 || LocalMatrix[2][3] != 0)
{
// rightHandSide is the right hand side of the equation.
detail::tvec4<T, P> RightHandSide;
RightHandSide[0] = LocalMatrix[0][3];
RightHandSide[1] = LocalMatrix[1][3];
RightHandSide[2] = LocalMatrix[2][3];
RightHandSide[3] = LocalMatrix[3][3];
// Solve the equation by inverting PerspectiveMatrix and multiplying
// rightHandSide by the inverse. (This is the easiest way, not
// necessarily the best.)
detail::tmat4x4<T, P> InversePerspectiveMatrix = glm::inverse(PerspectiveMatrix);// inverse(PerspectiveMatrix, inversePerspectiveMatrix);
detail::tmat4x4<T, P> TransposedInversePerspectiveMatrix = glm::transpose(InversePerspectiveMatrix);// transposeMatrix4(inversePerspectiveMatrix, transposedInversePerspectiveMatrix);
Perspective = TransposedInversePerspectiveMatrix * RightHandSide;
// v4MulPointByMatrix(rightHandSide, transposedInversePerspectiveMatrix, perspectivePoint);
// Clear the perspective partition
LocalMatrix[0][3] = LocalMatrix[1][3] = LocalMatrix[2][3] = 0;
LocalMatrix[3][3] = 1;
}
else
{
// No perspective.
Perspective = detail::tvec4<T, P>(0, 0, 0, 1);
}
// Next take care of translation (easy).
Translation = detail::tvec3<T, P>(LocalMatrix[3]);
LocalMatrix[3] = detail::tvec4<T, P>(0, 0, 0, LocalMatrix[3].w);
detail::tvec3<T, P> Row[3], Pdum3;
// Now get scale and shear.
for(length_t i = 0; i < 3; ++i)
Row[i] = LocalMatrix[i];
// Compute X scale factor and normalize first row.
Scale.x = length(Row[0]);// v3Length(Row[0]);
v3Scale(Row[0], 1.0);
// Compute XY shear factor and make 2nd row orthogonal to 1st.
Skew.z = dot(Row[0], Row[1]);
Row[1] = combine(Row[1], Row[0], 1.0, -Skew.z);
// Now, compute Y scale and normalize 2nd row.
Scale.y = length(Row[1]);
v3Scale(Row[1], 1.0);
Skew.z /= Scale.y;
// Compute XZ and YZ shears, orthogonalize 3rd row.
Skew.y = glm::dot(Row[0], Row[2]);
Row[2] = combine(Row[2], Row[0], 1.0, -Skew.y);
Skew.x = glm::dot(Row[1], Row[2]);
Row[2] = combine(Row[2], Row[1], 1.0, -Skew.x);
// Next, get Z scale and normalize 3rd row.
Scale.z = length(Row[2]);
v3Scale(Row[2], 1.0);
Skew.y /= Scale.z;
Skew.x /= Scale.z;
// At this point, the matrix (in rows[]) is orthonormal.
// Check for a coordinate system flip. If the determinant
// is -1, then negate the matrix and the scaling factors.
Pdum3 = cross(Row[1], Row[2]); // v3Cross(row[1], row[2], Pdum3);
if(dot(Row[0], Pdum3) < 0)
{
for(length_t i = 0; i < 3; i++)
{
Scale.x *= static_cast<T>(-1);
Row[i] *= static_cast<T>(-1);
}
}
// Now, get the rotations out, as described in the gem.
// FIXME - Add the ability to return either quaternions (which are
// easier to recompose with) or Euler angles (rx, ry, rz), which
// are easier for authors to deal with. The latter will only be useful
// when we fix https://bugs.webkit.org/show_bug.cgi?id=23799, so I
// will leave the Euler angle code here for now.
// ret.rotateY = asin(-Row[0][2]);
// if (cos(ret.rotateY) != 0) {
// ret.rotateX = atan2(Row[1][2], Row[2][2]);
// ret.rotateZ = atan2(Row[0][1], Row[0][0]);
// } else {
// ret.rotateX = atan2(-Row[2][0], Row[1][1]);
// ret.rotateZ = 0;
// }
T s, t, x, y, z, w;
t = Row[0][0] + Row[1][1] + Row[2][2] + 1.0;
if(t > 1e-4)
{
s = 0.5 / sqrt(t);
w = 0.25 / s;
x = (Row[2][1] - Row[1][2]) * s;
y = (Row[0][2] - Row[2][0]) * s;
z = (Row[1][0] - Row[0][1]) * s;
}
else if(Row[0][0] > Row[1][1] && Row[0][0] > Row[2][2])
{
s = sqrt (1.0 + Row[0][0] - Row[1][1] - Row[2][2]) * 2.0; // S=4*qx
x = 0.25 * s;
y = (Row[0][1] + Row[1][0]) / s;
z = (Row[0][2] + Row[2][0]) / s;
w = (Row[2][1] - Row[1][2]) / s;
}
else if(Row[1][1] > Row[2][2])
{
s = sqrt (1.0 + Row[1][1] - Row[0][0] - Row[2][2]) * 2.0; // S=4*qy
x = (Row[0][1] + Row[1][0]) / s;
y = 0.25 * s;
z = (Row[1][2] + Row[2][1]) / s;
w = (Row[0][2] - Row[2][0]) / s;
}
else
{
s = sqrt(1.0 + Row[2][2] - Row[0][0] - Row[1][1]) * 2.0; // S=4*qz
x = (Row[0][2] + Row[2][0]) / s;
y = (Row[1][2] + Row[2][1]) / s;
z = 0.25 * s;
w = (Row[1][0] - Row[0][1]) / s;
}
Orientation.x = x;
Orientation.y = y;
Orientation.z = z;
Orientation.w = w;
return true;
}
}//namespace glm

1
test/gtx/CMakeLists.txt
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@ -19,6 +19,7 @@ glmCreateTestGTC(gtx_intersect)
glmCreateTestGTC(gtx_io)
glmCreateTestGTC(gtx_log_base)
glmCreateTestGTC(gtx_matrix_cross_product)
glmCreateTestGTC(gtx_matrix_decompose)
glmCreateTestGTC(gtx_matrix_interpolation)
glmCreateTestGTC(gtx_matrix_major_storage)
glmCreateTestGTC(gtx_matrix_operation)

1
test/gtx/gtx_component_wise.cpp
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@ -7,7 +7,6 @@
// File : test/gtx/component_wise.cpp
///////////////////////////////////////////////////////////////////////////////////////////////////
#define GLM_FORCE_RADIANS
#include <glm/gtc/type_precision.hpp>
#include <glm/gtx/component_wise.hpp>

17
test/gtx/gtx_matrix_decompose.cpp
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@ -0,0 +1,17 @@
///////////////////////////////////////////////////////////////////////////////////////////////////
// OpenGL Mathematics Copyright (c) 2005 - 2014 G-Truc Creation (www.g-truc.net)
///////////////////////////////////////////////////////////////////////////////////////////////////
// Created : 2014-08-31
// Updated : 2014-08-31
// Licence : This source is under MIT licence
// File : test/gtx/decomposition.cpp
///////////////////////////////////////////////////////////////////////////////////////////////////
#include <glm/gtx/matrix_decompose.hpp>
int main()
{
int Error(0);
return Error;
}
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