1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
|
/************************************************************************
*
* 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());
glm::dvec4 in;
in[0] = _input[0];
in[1] = _input[1];
in[2] = _input[2];
in[3] = 1;
glm::dvec4 out = in * mat;
_output = {out[0], out[1], out[2]};
}
// ----------------------------------------------------------------------------
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
|
