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/************************************************************************
*
* Copyright (C) 2024 IRCAD France
*
* 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/>.
*
***********************************************************************/
// cspell:ignore slerp lerp
#include "module/geometry/__/weighted_mean_matrix.hpp"
#include <core/com/signal.hxx>
#include <core/com/slots.hxx>
#include <geometry/data/matrix4.hpp>
#include <glm/common.hpp>
namespace sight::module::geometry
{
//-----------------------------------------------------------------------------
weighted_mean_matrix::weighted_mean_matrix() :
filter(m_signals)
{
}
//-----------------------------------------------------------------------------
void weighted_mean_matrix::configuring(const config_t& /*unused*/)
{
}
//-----------------------------------------------------------------------------
void weighted_mean_matrix::starting()
{
}
//-----------------------------------------------------------------------------
service::connections_t weighted_mean_matrix::auto_connections() const
{
return {
{m_matrix_in, data::object::MODIFIED_SIG, sight::service::slots::UPDATE}
};
}
//-----------------------------------------------------------------------------
void weighted_mean_matrix::updating()
{
auto current_mat = m_matrix_in.const_lock();
if(!m_enabled.value())
{
auto output = m_matrix_out.lock();
output->deep_copy(current_mat.get_shared());
output->signal<data::object::modified_signal_t>(data::object::MODIFIED_SIG)->async_emit();
this->signal<signals::computed_t>(signals::COMPUTED)->async_emit();
m_initialized = false;
return;
}
glm::dmat4 glm_matrix = sight::geometry::data::to_glm_mat(*current_mat);
glm::dquat orientation = glm::quat_cast(glm_matrix);
glm::dvec3 translation = glm_matrix[3];
if(!m_initialized)
{
m_current_weighted_orientation = orientation;
m_current_weighted_translation = translation;
m_initialized = true;
}
SIGHT_ASSERT("Weight value (" << *m_weight << ") should be > 0 and <= 1", *m_weight > 0. && *m_weight <= 1.);
// slerp rotation
m_current_weighted_orientation = glm::slerp(m_current_weighted_orientation, orientation, *m_weight);
// interpolate position
m_current_weighted_translation = glm::mix(m_current_weighted_translation, translation, *m_weight);
// recombine to a matrix
glm::dmat4 glm_output = glm::mat4_cast(m_current_weighted_orientation);
glm_output[3][0] = m_current_weighted_translation[0];
glm_output[3][1] = m_current_weighted_translation[1];
glm_output[3][2] = m_current_weighted_translation[2];
{
auto output = m_matrix_out.lock();
sight::geometry::data::from_glm_mat(*output, glm_output);
output->signal<data::object::modified_signal_t>(data::object::MODIFIED_SIG)->async_emit();
}
this->signal<signals::computed_t>(signals::COMPUTED)->async_emit();
}
//-----------------------------------------------------------------------------
void weighted_mean_matrix::stopping()
{
m_initialized = false;
}
} // namespace sight::module::geometry
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