Added initial commit for GLM_GTX_matrix_decompose #227

glm/gtc/matrix_transform.hpp

@@ -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"

glm/gtx/closest_point.inl

@@ -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

glm/gtx/matrix_decompose.hpp

@@ -0,0 +1,66 @@
+///////////////////////////////////////////////////////////////////////////////////
+/// 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"

glm/gtx/matrix_decompose.inl

@@ -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

test/gtx/CMakeLists.txt

@@ -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)

test/gtx/gtx_component_wise.cpp

@@ -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>
 

test/gtx/gtx_matrix_decompose.cpp

@@ -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;
+}