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/************************************************************************
*
* Copyright (C) 2009-2025 IRCAD France
* Copyright (C) 2012-2018 IHU Strasbourg
*
* This file is part of Sight.
*
* Sight is free software: you can redistribute it and/or modify it under
* the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Sight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with Sight. If not, see <https://www.gnu.org/licenses/>.
*
***********************************************************************/
#include "geometry/data/matrix4.hpp"
#include <data/matrix4.hpp>
#include <data/point.hpp>
#include <glm/gtc/type_ptr.hpp>
#include <glm/matrix.hpp>
namespace sight::geometry::data
{
//------------------------------------------------------------------------------
bool invert(
const sight::data::matrix4& _input,
sight::data::matrix4& _output
)
{
// Normally we should transpose matrices since GLM uses a column-major layout and Sight uses row-major layout
// However the transposition has a cost and inversion does not care about the layout, so we skip it
const glm::dmat4x4 mat = glm::make_mat4<double>(_input.data());
const glm::dmat4x4 mat_inverse = glm::inverse(mat);
for(std::size_t i = 0 ; i < 4 ; ++i)
{
const std::size_t row_dst = i * 4;
const auto row_src = static_cast<glm::length_t>(i);
for(std::size_t j = 0 ; j < 4 ; ++j)
{
const auto col_src = static_cast<glm::length_t>(j);
_output[row_dst + j] = mat_inverse[row_src][col_src];
}
}
return true;
}
// ----------------------------------------------------------------------------
void multiply(
const sight::data::matrix4& _trf_a,
const sight::data::matrix4& _trf_b,
sight::data::matrix4& _output
)
{
// Normally we should transpose matrices since GLM uses a column-major layout and Sight uses row-major layout
// However the transposition has a cost, so it is faster to not transpose them
// and perform the inverse multiplication
const glm::dmat4x4 mat_a = glm::make_mat4<double>(_trf_a.data());
const glm::dmat4x4 mat_b = glm::make_mat4<double>(_trf_b.data());
const glm::dmat4x4 mat_c = mat_b * mat_a;
for(std::size_t i = 0 ; i < 4 ; ++i)
{
const std::size_t row_dst = i * 4;
const auto row_src = static_cast<glm::length_t>(i);
for(std::size_t j = 0 ; j < 4 ; ++j)
{
const auto col_src = static_cast<glm::length_t>(j);
_output[row_dst + j] = mat_c[row_src][col_src];
}
}
}
// ----------------------------------------------------------------------------
void identity(sight::data::matrix4& _trf)
{
for(std::size_t i = 0 ; i < 4 ; ++i)
{
for(std::size_t j = 0 ; j < 4 ; ++j)
{
_trf(i, j) = i == j ? 1 : 0;
}
}
}
// ----------------------------------------------------------------------------
void multiply(
const sight::data::matrix4& _trf,
const sight::data::point& _input,
sight::data::point& _output
)
{
// Normally we should transpose matrices since GLM uses a column-major layout and Sight uses row-major layout
// However the transposition has a cost, so it is faster to not transpose them
// and perform the inverse multiplication
const glm::dmat4x4 mat = glm::make_mat4<double>(_trf.data());
const auto& in_coord = _input.get_coord();
glm::dvec4 in;
in[0] = in_coord[0];
in[1] = in_coord[1];
in[2] = in_coord[2];
in[3] = 1;
glm::dvec4 out = in * mat;
std::array<double, 3> res = {{out[0], out[1], out[2]}};
_output.set_coord(res);
}
// ----------------------------------------------------------------------------
bool is_identity(const sight::data::matrix4& _trf, const double _epsilon)
{
static const sight::data::matrix4 s_IDENTITY;
for(std::size_t i = 0 ; i < s_IDENTITY.size() ; ++i)
{
if(std::abs(s_IDENTITY[i] - _trf[i]) > _epsilon)
{
return false;
}
}
return true;
}
// ----------------------------------------------------------------------------
bool is_orthogonal(const sight::data::matrix4& _trf, double _epsilon)
{
const auto mat = to_glm_mat(_trf);
const glm::dvec3 v1(mat[0]);
const glm::dvec3 v2(mat[1]);
const glm::dvec3 v3(mat[2]);
const glm::dmat3 rot(v1, v2, v3);
const auto rot_t = glm::transpose(rot);
const auto res = rot_t * rot;
const auto identity = glm::identity<glm::dmat3>();
for(glm::length_t i = 0 ; i < 3 ; ++i)
{
for(glm::length_t j = 0 ; j < 3 ; ++j)
{
if(std::abs(identity[i][j] - res[i][j]) > _epsilon)
{
return false;
}
}
}
return true;
}
// ----------------------------------------------------------------------------
bool is_homogeneous(const sight::data::matrix4& _trf, double _epsilon)
{
static const sight::data::matrix4 s_IDENTITY;
for(std::size_t i = 12 ; i < s_IDENTITY.size() ; ++i)
{
if(std::abs(s_IDENTITY[i] - _trf[i]) > _epsilon)
{
return false;
}
}
return true;
}
// ----------------------------------------------------------------------------
} // namespace sight::geometry::data
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