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// Copyright (c) Fabrice Robinet
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
// THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "GLTF.h"
#include "../GLTFOpenCOLLADA.h"
#include "mathHelpers.h"
using namespace rapidjson;
#if __cplusplus <= 199711L
using namespace std::tr1;
#endif
using namespace std;
namespace GLTF
{
enum unmatrix_indices {
U_SCALEX,
U_SCALEY,
U_SCALEZ,
U_SHEARXY,
U_SHEARXZ,
U_SHEARYZ,
U_ROTATEX,
U_ROTATEY,
U_ROTATEZ,
U_ROTATEW,
U_TRANSX,
U_TRANSY,
U_TRANSZ,
};
/* Originally from: http://tog.acm.org/resources/GraphicsGems/gemsii/unmatrix.c
* Simplified version without Shear and Perspective decomposition
*
* unmatrix.c - given a 4x4 matrix, decompose it into standard operations.
*
* Author: Spencer W. Thomas
* University of Michigan
*/
static bool unmatrix(COLLADABU::Math::Matrix4 mat, double *tran)
{
int i, j;
COLLADABU::Math::Matrix4 locmat;
COLLADABU::Math::Matrix4 pmat, invpmat, tinvpmat;
COLLADABU::Math::Vector3 row[3], pdum3;
locmat = mat;
/* Normalize the matrix. */
for ( i=0; i<4;i++ )
for ( j=0; j<4; j++ )
locmat.setElement(i, j, locmat.getElement(i,j) / locmat[3][3]) ;
/* pmat is used to solve for perspective, but it also provides
* an easy way to test for singularity of the upper 3x3 component.
*/
pmat = locmat;
for ( i=0; i<3; i++ )
pmat.setElement(i,3, 0);
pmat.setElement(3,3, 1);
if ( pmat.determinant() == 0.0 )
return false;
/* First, isolate perspective. This is the messiest. */
if ( locmat.getElement(0,3) != 0 ||
locmat.getElement(1,3) != 0 ||
locmat.getElement(2,3) != 0 ) {
locmat.setElement(0, 3, 0);
locmat.setElement(1, 3, 0);
locmat.setElement(2, 3, 0);
locmat.setElement(3, 3, 1);
}
for ( i=0; i<3; i++ ) {
tran[U_TRANSX + i] = locmat[3][i];
locmat.setElement(3,i, 0);
}
/* Now get scale and shear. */
for ( i=0; i<3; i++ ) {
row[i].x = locmat[i][0];
row[i].y = locmat[i][1];
row[i].z = locmat[i][2];
}
/* Compute X scale factor and normalize first row. */
tran[U_SCALEX] = row[0].length();
row[0].normalise();
/* Compute XY shear factor and make 2nd row orthogonal to 1st. */
//tran[U_SHEARXY] = row[0].Dot(row[1]);
//(void)V3Combine(&row[1], &row[0], &row[1], 1.0, -tran[U_SHEARXY]);
/* Now, compute Y scale and normalize 2nd row. */
tran[U_SCALEY] = row[1].length();
row[1].normalise();
// tran[U_SHEARXY] /= tran[U_SCALEY];
/* Compute XZ and YZ shears, orthogonalize 3rd row. */
//tran[U_SHEARXZ] = V3Dot(&row[0], &row[2]);
//(void)V3Combine(&row[2], &row[0], &row[2], 1.0, -tran[U_SHEARXZ]);
//tran[U_SHEARYZ] = V3Dot(&row[1], &row[2]);
//(void)V3Combine(&row[2], &row[1], &row[2], 1.0, -tran[U_SHEARYZ]);
/* Next, get Z scale and normalize 3rd row. */
tran[U_SCALEZ] = row[2].length();
row[2].normalise();
//tran[U_SHEARXZ] /= tran[U_SCALEZ];
//tran[U_SHEARYZ] /= tran[U_SCALEZ];
/* 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.
*/
if ( row[0].dotProduct(row[1].crossProduct(row[2]) ) < 0 ) {
for ( i = 0; i < 3; i++ ) {
tran[U_SCALEX+i] *= -1;
row[i].x *= -1;
row[i].y *= -1;
row[i].z *= -1;
}
}
COLLADABU::Math::Matrix3 amat3( row[0][0], row[1][0], row[2][0],
row[0][1], row[1][1], row[2][1],
row[0][2], row[1][2], row[2][2]);
COLLADABU::Math::Real angle;
COLLADABU::Math::Vector3 axis;
//COLLADABU::Math::Quaternion aquat = QuaternionFromMatrix(amat3);
COLLADABU::Math::Quaternion aquat;
aquat.fromRotationMatrix(amat3);
aquat.normalise();
aquat.toAngleAxis(angle, axis);
tran[U_ROTATEX] = axis.x;
tran[U_ROTATEY] = axis.y;
tran[U_ROTATEZ] = axis.z;
tran[U_ROTATEW] = angle;
return true;
}
void decomposeMatrix(COLLADABU::Math::Matrix4 &matrix, float *translation, float *rotation, float *scale) {
COLLADABU::Math::Matrix4 tr = matrix.transpose();
tr.setElement(0,3, 0);
tr.setElement(1,3, 0);
tr.setElement(2,3, 0);
tr.setElement(3,3, 1);
double tran[20];
if (!unmatrix(tr, tran)) {
printf("WARNING: matrix can't be decomposed \n");
}
if (translation) {
translation[0] = (float)tran[U_TRANSX];
translation[1] = (float)tran[U_TRANSY];
translation[2] = (float)tran[U_TRANSZ];
}
if (rotation) {
rotation[0] = (float)tran[U_ROTATEX];
rotation[1] = (float)tran[U_ROTATEY];
rotation[2] = (float)tran[U_ROTATEZ];
rotation[3] = (float)tran[U_ROTATEW];
}
if (scale) {
scale[0] = (float)tran[U_SCALEX];
scale[1] = (float)tran[U_SCALEY];
scale[2] = (float)tran[U_SCALEZ];
}
}
//converted to C++ from gl-matrix by Brandon Jones ( https://github.com/toji/gl-matrix )
void buildLookAtMatrix(COLLADAFW::Lookat *lookat, COLLADABU::Math::Matrix4& matrix)
{
assert(lookat);
const COLLADABU::Math::Vector3& eye = lookat->getEyePosition();
const COLLADABU::Math::Vector3& center = lookat->getInterestPointPosition();
const COLLADABU::Math::Vector3& up = lookat->getUpAxisDirection();
if ((eye.x == center.x) && (eye.y == center.y) && (eye.z == center.z)) {
matrix = COLLADABU::Math::Matrix4::IDENTITY;
return;
}
COLLADABU::Math::Vector3 z = (eye - center);
z.normalise(); // TODO: OpenCOLLADA typo should be normalize (with a z).
COLLADABU::Math::Vector3 x = up.crossProduct(z);
x.normalise();
COLLADABU::Math::Vector3 y = z.crossProduct(x);
y.normalise();
matrix.setAllElements(x.x,
y.x,
z.x,
0,
x.y,
y.y,
z.y,
0,
x.z,
y.z,
z.z,
0,
-(x.x * eye.x + x.y * eye.y + x.z * eye.z),
-(y.x * eye.x + y.y * eye.y + y.z * eye.z),
-(z.x * eye.x + z.y * eye.y + z.z * eye.z),
1);
matrix = matrix.inverse();
matrix = matrix.transpose();
}
BBOX::BBOX() {
this->_min = COLLADABU::Math::Vector3(DBL_MAX, DBL_MAX, DBL_MAX);
this->_max = COLLADABU::Math::Vector3(DBL_MIN, DBL_MIN, DBL_MIN);
}
BBOX::BBOX(const COLLADABU::Math::Vector3 &min, const COLLADABU::Math::Vector3 &max) {
this->_min = min;
this->_max = max;
}
const COLLADABU::Math::Vector3& BBOX::getMin3() {
return this->_min;
}
const COLLADABU::Math::Vector3& BBOX::getMax3() {
return this->_max;
}
void BBOX::merge(BBOX* bbox) {
this->_min.makeFloor(bbox->getMin3());
this->_max.makeCeil(bbox->getMax3());
}
void BBOX::transform(const COLLADABU::Math::Matrix4& mat4) {
COLLADABU::Math::Vector3 min = COLLADABU::Math::Vector3(DBL_MAX, DBL_MAX, DBL_MAX);
COLLADABU::Math::Vector3 max = COLLADABU::Math::Vector3(DBL_MIN, DBL_MIN, DBL_MIN);
COLLADABU::Math::Vector3 pt0 = mat4 * COLLADABU::Math::Vector3(this->_min.x, this->_min.y, this->_min.z);
COLLADABU::Math::Vector3 pt1 = mat4 * COLLADABU::Math::Vector3(this->_max.x, this->_min.y, this->_min.z);
COLLADABU::Math::Vector3 pt2 = mat4 * COLLADABU::Math::Vector3(this->_min.x, this->_max.y, this->_min.z);
COLLADABU::Math::Vector3 pt3 = mat4 * COLLADABU::Math::Vector3(this->_max.x, this->_max.y, this->_min.z);
COLLADABU::Math::Vector3 pt4 = mat4 * COLLADABU::Math::Vector3(this->_min.x, this->_min.y, this->_max.z);
COLLADABU::Math::Vector3 pt5 = mat4 * COLLADABU::Math::Vector3(this->_max.x, this->_min.y, this->_max.z);
COLLADABU::Math::Vector3 pt6 = mat4 * COLLADABU::Math::Vector3(this->_min.x, this->_max.y, this->_max.z);
COLLADABU::Math::Vector3 pt7 = mat4 * COLLADABU::Math::Vector3(this->_max.x, this->_max.y, this->_max.z);
min.makeFloor(pt0); max.makeCeil(pt0);
min.makeFloor(pt1); max.makeCeil(pt1);
min.makeFloor(pt2); max.makeCeil(pt2);
min.makeFloor(pt3); max.makeCeil(pt3);
min.makeFloor(pt4); max.makeCeil(pt4);
min.makeFloor(pt5); max.makeCeil(pt5);
min.makeFloor(pt6); max.makeCeil(pt6);
min.makeFloor(pt7); max.makeCeil(pt7);
this->_min = min;
this->_max = max;
}
}
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