mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 13:50:04 +00:00
75e86051c2
Uses Kuka IIWA model description and 4 methods: Selectively Damped Least Squares,Damped Least Squares, Jacobi Transpose, Jacobi Pseudo Inverse Tweak some PD values in Inverse Dynamics example and Robot example.
823 lines
24 KiB
C++
823 lines
24 KiB
C++
/*
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*
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* Mathematics Subpackage (VrMath)
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*
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*
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* Author: Samuel R. Buss, sbuss@ucsd.edu.
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* Web page: http://math.ucsd.edu/~sbuss/MathCG
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*
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*
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*
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*
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*/
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#include "MathMisc.h"
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#include "LinearR3.h"
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#include "Spherical.h"
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// ******************************************************
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// * VectorR3 class - math library functions *
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// * * * * * * * * * * * * * * * * * * * * * * * * * * **
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const VectorR3 UnitVecIR3(1.0, 0.0, 0.0);
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const VectorR3 UnitVecJR3(0.0, 1.0, 0.0);
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const VectorR3 UnitVecKR3(0.0, 0.0, 1.0);
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const VectorR3 VectorR3::Zero(0.0, 0.0, 0.0);
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const VectorR3 VectorR3::UnitX( 1.0, 0.0, 0.0);
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const VectorR3 VectorR3::UnitY( 0.0, 1.0, 0.0);
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const VectorR3 VectorR3::UnitZ( 0.0, 0.0, 1.0);
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const VectorR3 VectorR3::NegUnitX(-1.0, 0.0, 0.0);
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const VectorR3 VectorR3::NegUnitY( 0.0,-1.0, 0.0);
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const VectorR3 VectorR3::NegUnitZ( 0.0, 0.0,-1.0);
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const Matrix3x3 Matrix3x3::Identity(1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0);
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const Matrix3x4 Matrix3x4::Identity(1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0);
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double VectorR3::MaxAbs() const
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{
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register double m;
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m = (x>0.0) ? x : -x;
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if ( y>m ) m=y;
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else if ( -y >m ) m = -y;
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if ( z>m ) m=z;
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else if ( -z>m ) m = -z;
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return m;
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}
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VectorR3& VectorR3::Set( const Quaternion& q )
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{
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double sinhalf = sqrt( Square(q.x)+Square(q.y)+Square(q.z) );
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if (sinhalf>0.0) {
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double theta = atan2( sinhalf, q.w );
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theta += theta;
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this->Set( q.x, q.y, q.z );
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(*this) *= (theta/sinhalf);
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}
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else {
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this->SetZero();
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}
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return *this;
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}
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// *********************************************************************
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// Rotation routines *
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// *********************************************************************
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// s.Rotate(theta, u) rotates s and returns s
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// rotated theta degrees around unit vector w.
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VectorR3& VectorR3::Rotate( double theta, const VectorR3& w)
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{
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double c = cos(theta);
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double s = sin(theta);
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double dotw = (x*w.x + y*w.y + z*w.z);
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double v0x = dotw*w.x;
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double v0y = dotw*w.y; // v0 = provjection onto w
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double v0z = dotw*w.z;
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double v1x = x-v0x;
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double v1y = y-v0y; // v1 = projection onto plane normal to w
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double v1z = z-v0z;
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double v2x = w.y*v1z - w.z*v1y;
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double v2y = w.z*v1x - w.x*v1z; // v2 = w * v1 (cross product)
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double v2z = w.x*v1y - w.y*v1x;
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x = v0x + c*v1x + s*v2x;
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y = v0y + c*v1y + s*v2y;
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z = v0z + c*v1z + s*v2z;
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return ( *this );
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}
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// Rotate unit vector x in the direction of "dir": length of dir is rotation angle.
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// x must be a unit vector. dir must be perpindicular to x.
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VectorR3& VectorR3::RotateUnitInDirection ( const VectorR3& dir)
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{
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double theta = dir.NormSq();
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if ( theta==0.0 ) {
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return *this;
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}
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else {
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theta = sqrt(theta);
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double costheta = cos(theta);
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double sintheta = sin(theta);
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VectorR3 dirUnit = dir/theta;
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*this = costheta*(*this) + sintheta*dirUnit;
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return ( *this );
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}
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}
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// ******************************************************
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// * Matrix3x3 class - math library functions *
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// * * * * * * * * * * * * * * * * * * * * * * * * * * **
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Matrix3x3& Matrix3x3::ReNormalize() // Re-normalizes nearly orthonormal matrix
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{
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register double alpha = m11*m11+m21*m21+m31*m31; // First column's norm squared
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register double beta = m12*m12+m22*m22+m32*m32; // Second column's norm squared
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register double gamma = m13*m13+m23*m23+m33*m33; // Third column's norm squared
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alpha = 1.0 - 0.5*(alpha-1.0); // Get mult. factor
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beta = 1.0 - 0.5*(beta-1.0);
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gamma = 1.0 - 0.5*(gamma-1.0);
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m11 *= alpha; // Renormalize first column
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m21 *= alpha;
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m31 *= alpha;
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m12 *= beta; // Renormalize second column
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m22 *= beta;
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m32 *= beta;
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m13 *= gamma;
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m23 *= gamma;
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m33 *= gamma;
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alpha = m11*m12+m21*m22+m31*m32; // First and second column dot product
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beta = m11*m13+m21*m23+m31*m33; // First and third column dot product
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gamma = m12*m13+m22*m23+m32*m33; // Second and third column dot product
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alpha *= 0.5;
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beta *= 0.5;
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gamma *= 0.5;
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register double temp1, temp2;
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temp1 = m11-alpha*m12-beta*m13; // Update row1
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temp2 = m12-alpha*m11-gamma*m13;
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m13 -= beta*m11+gamma*m12;
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m11 = temp1;
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m12 = temp2;
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temp1 = m21-alpha*m22-beta*m23; // Update row2
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temp2 = m22-alpha*m21-gamma*m23;
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m23 -= beta*m21+gamma*m22;
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m21 = temp1;
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m22 = temp2;
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temp1 = m31-alpha*m32-beta*m33; // Update row3
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temp2 = m32-alpha*m31-gamma*m33;
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m33 -= beta*m31+gamma*m32;
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m31 = temp1;
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m32 = temp2;
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return *this;
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}
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void Matrix3x3::OperatorTimesEquals(const Matrix3x3& B) // Matrix product
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{
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double t1, t2; // temporary values
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t1 = m11*B.m11 + m12*B.m21 + m13*B.m31;
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t2 = m11*B.m12 + m12*B.m22 + m13*B.m32;
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m13 = m11*B.m13 + m12*B.m23 + m13*B.m33;
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m11 = t1;
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m12 = t2;
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t1 = m21*B.m11 + m22*B.m21 + m23*B.m31;
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t2 = m21*B.m12 + m22*B.m22 + m23*B.m32;
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m23 = m21*B.m13 + m22*B.m23 + m23*B.m33;
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m21 = t1;
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m22 = t2;
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t1 = m31*B.m11 + m32*B.m21 + m33*B.m31;
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t2 = m31*B.m12 + m32*B.m22 + m33*B.m32;
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m33 = m31*B.m13 + m32*B.m23 + m33*B.m33;
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m31 = t1;
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m32 = t2;
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return;
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}
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VectorR3 Matrix3x3::Solve(const VectorR3& u) const // Returns solution
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{ // based on Cramer's rule
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double sd11 = m22*m33-m23*m32;
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double sd21 = m32*m13-m12*m33;
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double sd31 = m12*m23-m22*m13;
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double sd12 = m31*m23-m21*m33;
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double sd22 = m11*m33-m31*m13;
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double sd32 = m21*m13-m11*m23;
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double sd13 = m21*m32-m31*m22;
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double sd23 = m31*m12-m11*m32;
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double sd33 = m11*m22-m21*m12;
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register double detInv = 1.0/(m11*sd11 + m12*sd12 + m13*sd13);
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double rx = (u.x*sd11 + u.y*sd21 + u.z*sd31)*detInv;
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double ry = (u.x*sd12 + u.y*sd22 + u.z*sd32)*detInv;
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double rz = (u.x*sd13 + u.y*sd23 + u.z*sd33)*detInv;
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return ( VectorR3( rx, ry, rz ) );
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}
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// ******************************************************
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// * Matrix3x4 class - math library functions *
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// * * * * * * * * * * * * * * * * * * * * * * * * * * **
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Matrix3x4& Matrix3x4::ReNormalize() // Re-normalizes nearly orthonormal matrix
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{
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register double alpha = m11*m11+m21*m21+m31*m31; // First column's norm squared
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register double beta = m12*m12+m22*m22+m32*m32; // Second column's norm squared
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register double gamma = m13*m13+m23*m23+m33*m33; // Third column's norm squared
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alpha = 1.0 - 0.5*(alpha-1.0); // Get mult. factor
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beta = 1.0 - 0.5*(beta-1.0);
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gamma = 1.0 - 0.5*(gamma-1.0);
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m11 *= alpha; // Renormalize first column
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m21 *= alpha;
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m31 *= alpha;
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m12 *= beta; // Renormalize second column
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m22 *= beta;
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m32 *= beta;
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m13 *= gamma;
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m23 *= gamma;
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m33 *= gamma;
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alpha = m11*m12+m21*m22+m31*m32; // First and second column dot product
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beta = m11*m13+m21*m23+m31*m33; // First and third column dot product
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gamma = m12*m13+m22*m23+m32*m33; // Second and third column dot product
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alpha *= 0.5;
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beta *= 0.5;
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gamma *= 0.5;
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register double temp1, temp2;
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temp1 = m11-alpha*m12-beta*m13; // Update row1
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temp2 = m12-alpha*m11-gamma*m13;
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m13 -= beta*m11+gamma*m12;
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m11 = temp1;
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m12 = temp2;
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temp1 = m21-alpha*m22-beta*m23; // Update row2
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temp2 = m22-alpha*m21-gamma*m23;
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m23 -= beta*m21+gamma*m22;
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m21 = temp1;
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m22 = temp2;
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temp1 = m31-alpha*m32-beta*m33; // Update row3
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temp2 = m32-alpha*m31-gamma*m33;
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m33 -= beta*m31+gamma*m32;
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m31 = temp1;
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m32 = temp2;
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return *this;
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}
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void Matrix3x4::OperatorTimesEquals (const Matrix3x4& B) // Composition
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{
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m14 += m11*B.m14 + m12*B.m24 + m13*B.m34;
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m24 += m21*B.m14 + m22*B.m24 + m23*B.m34;
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m34 += m31*B.m14 + m32*B.m24 + m33*B.m34;
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double t1, t2; // temporary values
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t1 = m11*B.m11 + m12*B.m21 + m13*B.m31;
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t2 = m11*B.m12 + m12*B.m22 + m13*B.m32;
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m13 = m11*B.m13 + m12*B.m23 + m13*B.m33;
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m11 = t1;
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m12 = t2;
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t1 = m21*B.m11 + m22*B.m21 + m23*B.m31;
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t2 = m21*B.m12 + m22*B.m22 + m23*B.m32;
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m23 = m21*B.m13 + m22*B.m23 + m23*B.m33;
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m21 = t1;
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m22 = t2;
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t1 = m31*B.m11 + m32*B.m21 + m33*B.m31;
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t2 = m31*B.m12 + m32*B.m22 + m33*B.m32;
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m33 = m31*B.m13 + m32*B.m23 + m33*B.m33;
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m31 = t1;
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m32 = t2;
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}
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void Matrix3x4::OperatorTimesEquals (const Matrix3x3& B) // Composition
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{
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double t1, t2; // temporary values
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t1 = m11*B.m11 + m12*B.m21 + m13*B.m31;
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t2 = m11*B.m12 + m12*B.m22 + m13*B.m32;
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m13 = m11*B.m13 + m12*B.m23 + m13*B.m33;
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m11 = t1;
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m12 = t2;
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t1 = m21*B.m11 + m22*B.m21 + m23*B.m31;
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t2 = m21*B.m12 + m22*B.m22 + m23*B.m32;
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m23 = m21*B.m13 + m22*B.m23 + m23*B.m33;
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m21 = t1;
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m22 = t2;
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t1 = m31*B.m11 + m32*B.m21 + m33*B.m31;
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t2 = m31*B.m12 + m32*B.m22 + m33*B.m32;
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m33 = m31*B.m13 + m32*B.m23 + m33*B.m33;
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m31 = t1;
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m32 = t2;
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}
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// ******************************************************
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// * LinearMapR3 class - math library functions *
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// * * * * * * * * * * * * * * * * * * * * * * * * * * **
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LinearMapR3 operator* ( const LinearMapR3& A, const LinearMapR3& B)
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{
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return( LinearMapR3( A.m11*B.m11 + A.m12*B.m21 + A.m13*B.m31,
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A.m21*B.m11 + A.m22*B.m21 + A.m23*B.m31,
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A.m31*B.m11 + A.m32*B.m21 + A.m33*B.m31,
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A.m11*B.m12 + A.m12*B.m22 + A.m13*B.m32,
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A.m21*B.m12 + A.m22*B.m22 + A.m23*B.m32,
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A.m31*B.m12 + A.m32*B.m22 + A.m33*B.m32,
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A.m11*B.m13 + A.m12*B.m23 + A.m13*B.m33,
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A.m21*B.m13 + A.m22*B.m23 + A.m23*B.m33,
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A.m31*B.m13 + A.m32*B.m23 + A.m33*B.m33 ) );
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}
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double LinearMapR3::Determinant () const // Returns the determinant
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{
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return ( m11*(m22*m33-m23*m32)
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- m12*(m21*m33-m31*m23)
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+ m13*(m21*m23-m31*m22) );
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}
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LinearMapR3 LinearMapR3::Inverse() const // Returns inverse
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{
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double sd11 = m22*m33-m23*m32;
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double sd21 = m32*m13-m12*m33;
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double sd31 = m12*m23-m22*m13;
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double sd12 = m31*m23-m21*m33;
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double sd22 = m11*m33-m31*m13;
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double sd32 = m21*m13-m11*m23;
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double sd13 = m21*m32-m31*m22;
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double sd23 = m31*m12-m11*m32;
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double sd33 = m11*m22-m21*m12;
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register double detInv = 1.0/(m11*sd11 + m12*sd12 + m13*sd13);
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return( LinearMapR3( sd11*detInv, sd12*detInv, sd13*detInv,
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sd21*detInv, sd22*detInv, sd23*detInv,
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sd31*detInv, sd32*detInv, sd33*detInv ) );
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}
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LinearMapR3& LinearMapR3::Invert() // Converts into inverse.
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{
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double sd11 = m22*m33-m23*m32;
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double sd21 = m32*m13-m12*m33;
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double sd31 = m12*m23-m22*m13;
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double sd12 = m31*m23-m21*m33;
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double sd22 = m11*m33-m31*m13;
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double sd32 = m21*m13-m11*m23;
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double sd13 = m21*m32-m31*m22;
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double sd23 = m31*m12-m11*m32;
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double sd33 = m11*m22-m21*m12;
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register double detInv = 1.0/(m11*sd11 + m12*sd12 + m13*sd13);
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m11 = sd11*detInv;
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m12 = sd21*detInv;
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m13 = sd31*detInv;
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m21 = sd12*detInv;
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m22 = sd22*detInv;
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m23 = sd32*detInv;
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m31 = sd13*detInv;
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m32 = sd23*detInv;
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m33 = sd33*detInv;
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return ( *this );
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}
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// ******************************************************
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// * AffineMapR3 class - math library functions *
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// * * * * * * * * * * * * * * * * * * * * * * * * * * **
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AffineMapR3 operator* ( const AffineMapR3& A, const AffineMapR3& B )
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{
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return( AffineMapR3( A.m11*B.m11 + A.m12*B.m21 + A.m13*B.m31,
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A.m21*B.m11 + A.m22*B.m21 + A.m23*B.m31,
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A.m31*B.m11 + A.m32*B.m21 + A.m33*B.m31,
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A.m11*B.m12 + A.m12*B.m22 + A.m13*B.m32,
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A.m21*B.m12 + A.m22*B.m22 + A.m23*B.m32,
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A.m31*B.m12 + A.m32*B.m22 + A.m33*B.m32,
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A.m11*B.m13 + A.m12*B.m23 + A.m13*B.m33,
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A.m21*B.m13 + A.m22*B.m23 + A.m23*B.m33,
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A.m31*B.m13 + A.m32*B.m23 + A.m33*B.m33,
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A.m11*B.m14 + A.m12*B.m24 + A.m13*B.m34 + A.m14,
|
|
A.m21*B.m14 + A.m22*B.m24 + A.m23*B.m34 + A.m24,
|
|
A.m31*B.m14 + A.m32*B.m24 + A.m33*B.m34 + A.m34));
|
|
}
|
|
|
|
AffineMapR3 operator* ( const LinearMapR3& A, const AffineMapR3& B )
|
|
{
|
|
return( AffineMapR3( A.m11*B.m11 + A.m12*B.m21 + A.m13*B.m31,
|
|
A.m21*B.m11 + A.m22*B.m21 + A.m23*B.m31,
|
|
A.m31*B.m11 + A.m32*B.m21 + A.m33*B.m31,
|
|
A.m11*B.m12 + A.m12*B.m22 + A.m13*B.m32,
|
|
A.m21*B.m12 + A.m22*B.m22 + A.m23*B.m32,
|
|
A.m31*B.m12 + A.m32*B.m22 + A.m33*B.m32,
|
|
A.m11*B.m13 + A.m12*B.m23 + A.m13*B.m33,
|
|
A.m21*B.m13 + A.m22*B.m23 + A.m23*B.m33,
|
|
A.m31*B.m13 + A.m32*B.m23 + A.m33*B.m33,
|
|
A.m11*B.m14 + A.m12*B.m24 + A.m13*B.m34,
|
|
A.m21*B.m14 + A.m22*B.m24 + A.m23*B.m34,
|
|
A.m31*B.m14 + A.m32*B.m24 + A.m33*B.m34 ));
|
|
|
|
}
|
|
|
|
AffineMapR3 operator* ( const AffineMapR3& A, const LinearMapR3& B )
|
|
{
|
|
return( AffineMapR3( A.m11*B.m11 + A.m12*B.m21 + A.m13*B.m31,
|
|
A.m21*B.m11 + A.m22*B.m21 + A.m23*B.m31,
|
|
A.m31*B.m11 + A.m32*B.m21 + A.m33*B.m31,
|
|
A.m11*B.m12 + A.m12*B.m22 + A.m13*B.m32,
|
|
A.m21*B.m12 + A.m22*B.m22 + A.m23*B.m32,
|
|
A.m31*B.m12 + A.m32*B.m22 + A.m33*B.m32,
|
|
A.m11*B.m13 + A.m12*B.m23 + A.m13*B.m33,
|
|
A.m21*B.m13 + A.m22*B.m23 + A.m23*B.m33,
|
|
A.m31*B.m13 + A.m32*B.m23 + A.m33*B.m33,
|
|
A.m14,
|
|
A.m24,
|
|
A.m34 ) );
|
|
}
|
|
|
|
|
|
AffineMapR3 AffineMapR3::Inverse() const // Returns inverse
|
|
{
|
|
double sd11 = m22*m33-m23*m32;
|
|
double sd21 = m32*m13-m12*m33;
|
|
double sd31 = m12*m23-m22*m13;
|
|
double sd12 = m31*m23-m21*m33;
|
|
double sd22 = m11*m33-m31*m13;
|
|
double sd32 = m21*m13-m11*m23;
|
|
double sd13 = m21*m32-m31*m22;
|
|
double sd23 = m31*m12-m11*m32;
|
|
double sd33 = m11*m22-m21*m12;
|
|
|
|
register double detInv = 1.0/(m11*sd11 + m12*sd12 + m13*sd13);
|
|
|
|
// Make sd's hold the (transpose of) the inverse of the 3x3 part
|
|
sd11 *= detInv;
|
|
sd12 *= detInv;
|
|
sd13 *= detInv;
|
|
sd21 *= detInv;
|
|
sd22 *= detInv;
|
|
sd23 *= detInv;
|
|
sd31 *= detInv;
|
|
sd32 *= detInv;
|
|
sd33 *= detInv;
|
|
double sd41 = -(m14*sd11 + m24*sd21 + m34*sd31);
|
|
double sd42 = -(m14*sd12 + m24*sd22 + m34*sd32);
|
|
double sd43 = -(m14*sd12 + m24*sd23 + m34*sd33);
|
|
|
|
return( AffineMapR3( sd11, sd12, sd13,
|
|
sd21, sd22, sd23,
|
|
sd31, sd32, sd33,
|
|
sd41, sd42, sd43 ) );
|
|
}
|
|
|
|
AffineMapR3& AffineMapR3::Invert() // Converts into inverse.
|
|
{
|
|
double sd11 = m22*m33-m23*m32;
|
|
double sd21 = m32*m13-m12*m33;
|
|
double sd31 = m12*m23-m22*m13;
|
|
double sd12 = m31*m23-m21*m33;
|
|
double sd22 = m11*m33-m31*m13;
|
|
double sd32 = m21*m13-m11*m23;
|
|
double sd13 = m21*m32-m31*m22;
|
|
double sd23 = m31*m12-m11*m32;
|
|
double sd33 = m11*m22-m21*m12;
|
|
|
|
register double detInv = 1.0/(m11*sd11 + m12*sd12 + m13*sd13);
|
|
|
|
m11 = sd11*detInv;
|
|
m12 = sd21*detInv;
|
|
m13 = sd31*detInv;
|
|
m21 = sd12*detInv;
|
|
m22 = sd22*detInv;
|
|
m23 = sd32*detInv;
|
|
m31 = sd13*detInv;
|
|
m32 = sd23*detInv;
|
|
m33 = sd33*detInv;
|
|
double sd41 = -(m14*m11 + m24*m12 + m34*m13); // Compare to ::Inverse.
|
|
double sd42 = -(m14*m21 + m24*m22 + m34*m23);
|
|
double sd43 = -(m14*m31 + m24*m32 + m34*m33);
|
|
m14 = sd41;
|
|
m24 = sd42;
|
|
m34 = sd43;
|
|
|
|
return ( *this );
|
|
}
|
|
|
|
// **************************************************************
|
|
// * RotationMapR3 class - math library functions *
|
|
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * **
|
|
|
|
RotationMapR3 operator*(const RotationMapR3& A, const RotationMapR3& B)
|
|
// Matrix product (composition)
|
|
{
|
|
return(RotationMapR3(A.m11*B.m11 + A.m12*B.m21 + A.m13*B.m31,
|
|
A.m21*B.m11 + A.m22*B.m21 + A.m23*B.m31,
|
|
A.m31*B.m11 + A.m32*B.m21 + A.m33*B.m31,
|
|
A.m11*B.m12 + A.m12*B.m22 + A.m13*B.m32,
|
|
A.m21*B.m12 + A.m22*B.m22 + A.m23*B.m32,
|
|
A.m31*B.m12 + A.m32*B.m22 + A.m33*B.m32,
|
|
A.m11*B.m13 + A.m12*B.m23 + A.m13*B.m33,
|
|
A.m21*B.m13 + A.m22*B.m23 + A.m23*B.m33,
|
|
A.m31*B.m13 + A.m32*B.m23 + A.m33*B.m33 ) );
|
|
}
|
|
|
|
RotationMapR3& RotationMapR3::Set( const Quaternion& quat )
|
|
{
|
|
double wSq = quat.w*quat.w;
|
|
double xSq = quat.x*quat.x;
|
|
double ySq = quat.y*quat.y;
|
|
double zSq = quat.z*quat.z;
|
|
double Dqwx = 2.0*quat.w*quat.x;
|
|
double Dqwy = 2.0*quat.w*quat.y;
|
|
double Dqwz = 2.0*quat.w*quat.z;
|
|
double Dqxy = 2.0*quat.x*quat.y;
|
|
double Dqyz = 2.0*quat.y*quat.z;
|
|
double Dqxz = 2.0*quat.x*quat.z;
|
|
m11 = wSq+xSq-ySq-zSq;
|
|
m22 = wSq-xSq+ySq-zSq;
|
|
m33 = wSq-xSq-ySq+zSq;
|
|
m12 = Dqxy-Dqwz;
|
|
m21 = Dqxy+Dqwz;
|
|
m13 = Dqxz+Dqwy;
|
|
m31 = Dqxz-Dqwy;
|
|
m23 = Dqyz-Dqwx;
|
|
m32 = Dqyz+Dqwx;
|
|
return *this;
|
|
}
|
|
|
|
RotationMapR3& RotationMapR3::Set( const VectorR3& u, double theta )
|
|
{
|
|
assert ( fabs(u.NormSq()-1.0)<2.0e-6 );
|
|
register double c = cos(theta);
|
|
register double s = sin(theta);
|
|
register double mc = 1.0-c;
|
|
double xmc = u.x*mc;
|
|
double xymc = xmc*u.y;
|
|
double xzmc = xmc*u.z;
|
|
double yzmc = u.y*u.z*mc;
|
|
double xs = u.x*s;
|
|
double ys = u.y*s;
|
|
double zs = u.z*s;
|
|
Matrix3x3::Set( u.x*u.x*mc+c, xymc+zs, xzmc-ys,
|
|
xymc-zs, u.y*u.y*mc+c, yzmc+xs,
|
|
xzmc+ys, yzmc-xs, u.z*u.z*mc+c );
|
|
return *this;
|
|
}
|
|
|
|
// The rotation axis vector u MUST be a UNIT vector!!!
|
|
RotationMapR3& RotationMapR3::Set( const VectorR3& u, double s, double c )
|
|
{
|
|
assert ( fabs(u.NormSq()-1.0)<2.0e-6 );
|
|
double mc = 1.0-c;
|
|
double xmc = u.x*mc;
|
|
double xymc = xmc*u.y;
|
|
double xzmc = xmc*u.z;
|
|
double yzmc = u.y*u.z*mc;
|
|
double xs = u.x*s;
|
|
double ys = u.y*s;
|
|
double zs = u.z*s;
|
|
Matrix3x3::Set( u.x*u.x*mc+c, xymc+zs, xzmc-ys,
|
|
xymc-zs, u.y*u.y*mc+c, yzmc+xs,
|
|
xzmc+ys, yzmc-xs, u.z*u.z*mc+c );
|
|
return *this;
|
|
}
|
|
|
|
|
|
// ToAxisAndAngle - find a unit vector in the direction of the rotation axis,
|
|
// and the angle theta of rotation. Returns true if the rotation angle is non-zero,
|
|
// and false if it is zero.
|
|
bool RotationMapR3::ToAxisAndAngle( VectorR3* u, double *theta ) const
|
|
{
|
|
double alpha = m11+m22+m33-1.0;
|
|
double beta = sqrt(Square(m32-m23)+Square(m13-m31)+Square(m21-m12));
|
|
if ( beta==0.0 ) {
|
|
*u = VectorR3::UnitY;
|
|
*theta = 0.0;
|
|
return false;
|
|
}
|
|
else {
|
|
u->Set(m32-m23, m13-m31, m21-m12);
|
|
*u /= beta;
|
|
*theta = atan2( beta, alpha );
|
|
return true;
|
|
}
|
|
}
|
|
|
|
// VrRotate is similar to glRotate. Returns a matrix (LinearMapR3)
|
|
// that will perform the rotation when multiplied on the left.
|
|
// u is supposed to be a *unit* vector. Otherwise, the LinearMapR3
|
|
// returned will be garbage!
|
|
RotationMapR3 VrRotate( double theta, const VectorR3& u )
|
|
{
|
|
RotationMapR3 ret;
|
|
ret.Set( u, theta );
|
|
return ret;
|
|
}
|
|
|
|
// This version of rotate takes the cosine and sine of theta
|
|
// instead of theta. u must still be a unit vector.
|
|
|
|
RotationMapR3 VrRotate( double c, double s, const VectorR3& u )
|
|
{
|
|
RotationMapR3 ret;
|
|
ret.Set( u, s, c );
|
|
return ret;
|
|
}
|
|
|
|
// Returns a RotationMapR3 which rotates the fromVec to be colinear
|
|
// with toVec.
|
|
|
|
RotationMapR3 VrRotateAlign( const VectorR3& fromVec, const VectorR3& toVec)
|
|
{
|
|
VectorR3 crossVec = fromVec;
|
|
crossVec *= toVec;
|
|
double sinetheta = crossVec.Norm(); // Not yet normalized!
|
|
if ( sinetheta < 1.0e-40 ) {
|
|
return ( RotationMapR3(
|
|
1.0, 0.0, 0.0,
|
|
0.0, 1.0, 0.0,
|
|
0.0, 0.0, 1.0) );
|
|
}
|
|
crossVec /= sinetheta; // Normalize the vector
|
|
double scale = 1.0/sqrt(fromVec.NormSq()*toVec.NormSq());
|
|
sinetheta *= scale;
|
|
double cosinetheta = (fromVec^toVec)*scale;
|
|
return ( VrRotate( cosinetheta, sinetheta, crossVec) );
|
|
}
|
|
|
|
// RotateToMap returns a rotation map which rotates fromVec to have the
|
|
// same direction as toVec.
|
|
// fromVec and toVec should be unit vectors
|
|
RotationMapR3 RotateToMap( const VectorR3& fromVec, const VectorR3& toVec)
|
|
{
|
|
VectorR3 crossVec = fromVec;
|
|
crossVec *= toVec;
|
|
double sintheta = crossVec.Norm();
|
|
double costheta = fromVec^toVec;
|
|
if ( sintheta <= 1.0e-40 ) {
|
|
if ( costheta>0.0 ) {
|
|
return ( RotationMapR3(
|
|
1.0, 0.0, 0.0,
|
|
0.0, 1.0, 0.0,
|
|
0.0, 0.0, 1.0) );
|
|
}
|
|
else {
|
|
GetOrtho ( toVec, crossVec ); // Get arbitrary orthonormal vector
|
|
return( VrRotate(costheta, sintheta, crossVec ) );
|
|
}
|
|
}
|
|
else {
|
|
crossVec /= sintheta; // Normalize the vector
|
|
return ( VrRotate( costheta, sintheta, crossVec) );
|
|
}
|
|
}
|
|
|
|
// **************************************************************
|
|
// * RigidMapR3 class - math library functions *
|
|
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * **
|
|
|
|
// The rotation axis vector u MUST be a UNIT vector!!!
|
|
RigidMapR3& RigidMapR3::SetRotationPart( const VectorR3& u, double theta )
|
|
{
|
|
assert ( fabs(u.NormSq()-1.0)<2.0e-6 );
|
|
register double c = cos(theta);
|
|
register double s = sin(theta);
|
|
register double mc = 1.0-c;
|
|
double xmc = u.x*mc;
|
|
double xymc = xmc*u.y;
|
|
double xzmc = xmc*u.z;
|
|
double yzmc = u.y*u.z*mc;
|
|
double xs = u.x*s;
|
|
double ys = u.y*s;
|
|
double zs = u.z*s;
|
|
Matrix3x4::Set3x3( u.x*u.x*mc+c, xymc+zs, xzmc-ys,
|
|
xymc-zs, u.y*u.y*mc+c, yzmc+xs,
|
|
xzmc+ys, yzmc-xs, u.z*u.z*mc+c );
|
|
return *this;
|
|
}
|
|
|
|
// The rotation axis vector u MUST be a UNIT vector!!!
|
|
RigidMapR3& RigidMapR3::SetRotationPart( const VectorR3& u, double s, double c )
|
|
{
|
|
assert ( fabs(u.NormSq()-1.0)<2.0e-6 );
|
|
double mc = 1.0-c;
|
|
double xmc = u.x*mc;
|
|
double xymc = xmc*u.y;
|
|
double xzmc = xmc*u.z;
|
|
double yzmc = u.y*u.z*mc;
|
|
double xs = u.x*s;
|
|
double ys = u.y*s;
|
|
double zs = u.z*s;
|
|
Matrix3x4::Set3x3( u.x*u.x*mc+c, xymc+zs, xzmc-ys,
|
|
xymc-zs, u.y*u.y*mc+c, yzmc+xs,
|
|
xzmc+ys, yzmc-xs, u.z*u.z*mc+c );
|
|
return *this;
|
|
}
|
|
|
|
|
|
// CalcGlideRotation - converts a rigid map into an equivalent
|
|
// glide rotation (screw motion). It returns the rotation axis
|
|
// as base point u, and a rotation axis v. The vectors u and v are
|
|
// always orthonormal. v will be a unit vector.
|
|
// It also returns the glide distance, which is the translation parallel
|
|
// to v. Further, it returns the signed rotation angle theta (right hand rule
|
|
// specifies the direction.
|
|
// The glide rotation means a rotation around the point u with axis direction v.
|
|
// Return code "true" if the rotation amount is non-zero. "false" if pure translation.
|
|
bool RigidMapR3::CalcGlideRotation( VectorR3* u, VectorR3* v,
|
|
double *glideDist, double *rotation ) const
|
|
{
|
|
// Compare to the code for ToAxisAndAngle.
|
|
double alpha = m11+m22+m33-1.0;
|
|
double beta = sqrt(Square(m32-m23)+Square(m13-m31)+Square(m21-m12));
|
|
if ( beta==0.0 ) {
|
|
double vN = m14*m14 + m24*m24 + m34*m34;
|
|
if ( vN>0.0 ) {
|
|
vN = sqrt(vN);
|
|
v->Set( m14, m24, m34 );
|
|
*v /= vN;
|
|
*glideDist = vN;
|
|
}
|
|
else {
|
|
*v = VectorR3::UnitX;
|
|
*glideDist = 0.0;
|
|
}
|
|
u->SetZero();
|
|
*rotation = 0;
|
|
return false;
|
|
}
|
|
else {
|
|
v->Set(m32-m23, m13-m31, m21-m12);
|
|
*v /= beta; // v - unit vector, rotation axis
|
|
*rotation = atan2( beta, alpha );
|
|
u->Set( m14, m24, m34 );
|
|
*glideDist = ((*u)^(*v));
|
|
VectorR3 temp = *v;
|
|
temp *= *glideDist;
|
|
*u -= temp; // Subtract component in direction of rot. axis v
|
|
temp = *v;
|
|
temp *= *u;
|
|
temp /= tan((*rotation)/2); // temp = (v \times u) / tan(rotation/2)
|
|
*u += temp;
|
|
*u *= 0.5;
|
|
return true;
|
|
}
|
|
|
|
}
|
|
|
|
// ***************************************************************
|
|
// Linear Algebra Utilities *
|
|
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
|
|
|
|
// Returns a righthanded orthonormal basis to complement vector u
|
|
void GetOrtho( const VectorR3& u, VectorR3& v, VectorR3& w)
|
|
{
|
|
if ( u.x > 0.5 || u.x<-0.5 || u.y > 0.5 || u.y<-0.5 ) {
|
|
v.Set ( u.y, -u.x, 0.0 );
|
|
}
|
|
else {
|
|
v.Set ( 0.0, u.z, -u.y);
|
|
}
|
|
v.Normalize();
|
|
w = u;
|
|
w *= v;
|
|
w.Normalize();
|
|
// w.NormalizeFast();
|
|
return;
|
|
}
|
|
|
|
// Returns a vector v orthonormal to unit vector u
|
|
void GetOrtho( const VectorR3& u, VectorR3& v )
|
|
{
|
|
if ( u.x > 0.5 || u.x<-0.5 || u.y > 0.5 || u.y<-0.5 ) {
|
|
v.Set ( u.y, -u.x, 0.0 );
|
|
}
|
|
else {
|
|
v.Set ( 0.0, u.z, -u.y);
|
|
}
|
|
v.Normalize();
|
|
return;
|
|
}
|
|
|
|
// ***************************************************************
|
|
// Stream Output Routines *
|
|
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
|
|
|
|
ostream& operator<< ( ostream& os, const VectorR3& u )
|
|
{
|
|
return (os << "<" << u.x << "," << u.y << "," << u.z << ">");
|
|
}
|
|
|
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ostream& operator<< ( ostream& os, const Matrix3x3& A )
|
|
{
|
|
os << " <" << A.m11 << ", " << A.m12 << ", " << A.m13 << ">\n"
|
|
<< " <" << A.m21 << ", " << A.m22 << ", " << A.m23 << ">\n"
|
|
<< " <" << A.m31 << ", " << A.m32 << ", " << A.m33 << ">\n" ;
|
|
return (os);
|
|
}
|
|
|
|
ostream& operator<< ( ostream& os, const Matrix3x4& A )
|
|
{
|
|
os << " <" << A.m11 << ", " << A.m12 << ", " << A.m13
|
|
<< "; " << A.m14 << ">\n"
|
|
<< " <" << A.m21 << ", " << A.m22 << ", " << A.m23
|
|
<< "; " << A.m24 << ">\n"
|
|
<< " <" << A.m31 << ", " << A.m32 << ", " << A.m33
|
|
<< "; " << A.m34 << ">\n" ;
|
|
return (os);
|
|
}
|
|
|