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/************************************************************************
*
* Copyright (C) 2020-2024 IRCAD France
* Copyright (C) 2019 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/>.
*
***********************************************************************/
#pragma once
#include <geometry/data/matrix4.hpp>
#include <service/filter.hpp>
namespace sight::module::geometry
{
/**
* @brief This service decomposes a matrix into a 3 by 3 rotation matrix, a 3 dimensional translation vector
* and a 3 by 3 scaling matrix. The skew and the perspective are also decomposed. These information are not in
* data::matrix4 data for the moment but it is possible to do it later.
*
* @section XML XML Configuration
*
* @code{.xml}
<service uid="..." type="sight::module::geometry::decompose_matrix">
<in key="source" uid="..." auto_connect="true" />
<inout key="translation" uid="..." />
<inout key="rotation" uid="..." />
<inout key="scale" uid="..." />
</service>
@endcode
* @subsection Input Input:
* - \b matrix [sight::data::matrix4]: matrix to decompose.
* @subsection In-Out In-Out:
* - \b translation [sight::data::matrix4] (optional): translation matrix.
* - \b rotation [sight::data::matrix4] (optional): rotation matrix.
* - \b scale [sight::data::matrix4] (optional): scaling matrix.
*
*/
class decompose_matrix : public sight::service::filter
{
public:
SIGHT_DECLARE_SERVICE(decompose_matrix, sight::service::filter);
/**
* @brief Constructor.
*/
decompose_matrix() noexcept;
/**
* @brief Destructor.
*/
~decompose_matrix() noexcept override =
default;
protected:
/// This method is used to configure the service.
void configuring() override;
/// This method is used to initialize the service.
void starting() override;
/// Does nothing.
void stopping() override;
/// Does nothing.
void updating() override;
/**
* @brief Returns proposals to connect service slots to associated object signals,
* this method is used for obj/srv auto connection
*
* Connect Object::MODIFIED_SIG to service::slots::UPDATE
*/
connections_t auto_connections() const override;
static constexpr std::string_view SOURCE_INPUT = "source";
static constexpr std::string_view TRANSLATION_INOUT = "translation";
static constexpr std::string_view ROTATION_INOUT = "rotation";
static constexpr std::string_view SCALE_INOUT = "scale";
data::ptr<data::matrix4, sight::data::access::in> m_source {this, SOURCE_INPUT};
data::ptr<data::matrix4, sight::data::access::inout> m_translation {this, TRANSLATION_INOUT};
data::ptr<data::matrix4, sight::data::access::inout> m_rotation {this, ROTATION_INOUT};
data::ptr<data::matrix4, sight::data::access::inout> m_scale {this, SCALE_INOUT};
};
} //namespace sight::module::geometry
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