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/*=========================================================================
Program: Visualization Toolkit
Module: vtkLinearTransform.cxx
Copyright (c) Ken Martin, Will Schroeder, Bill Lorensen
All rights reserved.
See Copyright.txt or http://www.kitware.com/Copyright.htm for details.
This software is distributed WITHOUT ANY WARRANTY; without even
the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
PURPOSE. See the above copyright notice for more information.
=========================================================================*/
#include "vtkLinearTransform.h"
#include "vtkDataArray.h"
#include "vtkMath.h"
#include "vtkMatrix4x4.h"
#include "vtkPoints.h"
//------------------------------------------------------------------------
void vtkLinearTransform::PrintSelf(ostream& os, vtkIndent indent)
{
this->Superclass::PrintSelf(os, indent);
}
//------------------------------------------------------------------------
template <class T1, class T2, class T3>
inline void vtkLinearTransformPoint(T1 matrix[4][4],
T2 in[3], T3 out[3])
{
T3 x = static_cast<T3>(
matrix[0][0]*in[0]+matrix[0][1]*in[1]+matrix[0][2]*in[2]+matrix[0][3]);
T3 y = static_cast<T3>(
matrix[1][0]*in[0]+matrix[1][1]*in[1]+matrix[1][2]*in[2]+matrix[1][3]);
T3 z = static_cast<T3>(
matrix[2][0]*in[0]+matrix[2][1]*in[1]+matrix[2][2]*in[2]+matrix[2][3]);
out[0] = x;
out[1] = y;
out[2] = z;
}
//------------------------------------------------------------------------
template <class T1, class T2, class T3, class T4>
inline void vtkLinearTransformDerivative(T1 matrix[4][4],
T2 in[3], T3 out[3],
T4 derivative[3][3])
{
vtkLinearTransformPoint(matrix,in,out);
for (int i = 0; i < 3; i++)
{
derivative[0][i] = static_cast<T4>(matrix[0][i]);
derivative[1][i] = static_cast<T4>(matrix[1][i]);
derivative[2][i] = static_cast<T4>(matrix[2][i]);
}
}
//------------------------------------------------------------------------
template <class T1, class T2, class T3>
inline void vtkLinearTransformVector(T1 matrix[4][4],
T2 in[3], T3 out[3])
{
T3 x = static_cast<T3>(
matrix[0][0]*in[0] + matrix[0][1]*in[1] + matrix[0][2]*in[2]);
T3 y = static_cast<T3>(
matrix[1][0]*in[0] + matrix[1][1]*in[1] + matrix[1][2]*in[2]);
T3 z = static_cast<T3>(
matrix[2][0]*in[0] + matrix[2][1]*in[1] + matrix[2][2]*in[2]);
out[0] = x;
out[1] = y;
out[2] = z;
}
//------------------------------------------------------------------------
template <class T1, class T2, class T3>
inline void vtkLinearTransformNormal(T1 mat[4][4],
T2 in[3], T3 out[3])
{
// to transform the normal, multiply by the transposed inverse matrix
T1 matrix[4][4];
memcpy(*matrix,*mat,16*sizeof(T1));
vtkMatrix4x4::Invert(*matrix,*matrix);
vtkMatrix4x4::Transpose(*matrix,*matrix);
vtkLinearTransformVector(matrix,in,out);
vtkMath::Normalize(out);
}
//------------------------------------------------------------------------
void vtkLinearTransform::InternalTransformPoint(const float in[3],
float out[3])
{
vtkLinearTransformPoint(this->Matrix->Element,in,out);
}
//------------------------------------------------------------------------
void vtkLinearTransform::InternalTransformPoint(const double in[3],
double out[3])
{
vtkLinearTransformPoint(this->Matrix->Element,in,out);
}
//------------------------------------------------------------------------
void vtkLinearTransform::InternalTransformNormal(const float in[3],
float out[3])
{
vtkLinearTransformNormal(this->Matrix->Element,in,out);
}
//------------------------------------------------------------------------
void vtkLinearTransform::InternalTransformNormal(const double in[3],
double out[3])
{
vtkLinearTransformNormal(this->Matrix->Element,in,out);
}
//------------------------------------------------------------------------
void vtkLinearTransform::InternalTransformVector(const float in[3],
float out[3])
{
vtkLinearTransformVector(this->Matrix->Element,in,out);
}
//------------------------------------------------------------------------
void vtkLinearTransform::InternalTransformVector(const double in[3],
double out[3])
{
vtkLinearTransformVector(this->Matrix->Element,in,out);
}
//----------------------------------------------------------------------------
void vtkLinearTransform::InternalTransformDerivative(const float in[3],
float out[3],
float derivative[3][3])
{
vtkLinearTransformDerivative(this->Matrix->Element,in,out,derivative);
}
//----------------------------------------------------------------------------
void vtkLinearTransform::InternalTransformDerivative(const double in[3],
double out[3],
double derivative[3][3])
{
vtkLinearTransformDerivative(this->Matrix->Element,in,out,derivative);
}
//----------------------------------------------------------------------------
// Transform the normals and vectors using the derivative of the
// transformation. Either inNms or inVrs can be set to NULL.
// Normals are multiplied by the inverse transpose of the transform
// derivative, while vectors are simply multiplied by the derivative.
// Note that the derivative of the inverse transform is simply the
// inverse of the derivative of the forward transform.
void vtkLinearTransform::TransformPointsNormalsVectors(vtkPoints *inPts,
vtkPoints *outPts,
vtkDataArray *inNms,
vtkDataArray *outNms,
vtkDataArray *inVrs,
vtkDataArray *outVrs)
{
this->TransformPoints(inPts,outPts);
if (inNms)
{
this->TransformNormals(inNms,outNms);
}
if (inVrs)
{
this->TransformVectors(inVrs,outVrs);
}
}
//----------------------------------------------------------------------------
void vtkLinearTransform::TransformPoints(vtkPoints *inPts,
vtkPoints *outPts)
{
vtkIdType n = inPts->GetNumberOfPoints();
double (*matrix)[4] = this->Matrix->Element;
double point[3];
this->Update();
for (vtkIdType i = 0; i < n; i++)
{
inPts->GetPoint(i,point);
vtkLinearTransformPoint(matrix,point,point);
outPts->InsertNextPoint(point);
}
}
//----------------------------------------------------------------------------
void vtkLinearTransform::TransformNormals(vtkDataArray *inNms,
vtkDataArray *outNms)
{
vtkIdType n = inNms->GetNumberOfTuples();
double norm[3];
double matrix[4][4];
this->Update();
// to transform the normal, multiply by the transposed inverse matrix
vtkMatrix4x4::DeepCopy(*matrix,this->Matrix);
vtkMatrix4x4::Invert(*matrix,*matrix);
vtkMatrix4x4::Transpose(*matrix,*matrix);
for (vtkIdType i = 0; i < n; i++)
{
inNms->GetTuple(i,norm);
// use TransformVector because matrix is already transposed & inverted
vtkLinearTransformVector(matrix,norm,norm);
vtkMath::Normalize(norm);
outNms->InsertNextTuple(norm);
}
}
//----------------------------------------------------------------------------
void vtkLinearTransform::TransformVectors(vtkDataArray *inNms,
vtkDataArray *outNms)
{
vtkIdType n = inNms->GetNumberOfTuples();
double vec[3];
this->Update();
double (*matrix)[4] = this->Matrix->Element;
for (vtkIdType i = 0; i < n; i++)
{
inNms->GetTuple(i,vec);
vtkLinearTransformVector(matrix,vec,vec);
outNms->InsertNextTuple(vec);
}
}
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