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Added GLM_GTX_matrix_interpolation extension

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This commit is contained in:
Christophe Riccio 2011-05-06 13:24:05 +01:00
parent 13ca4eabcc
commit 58053e5b89
3 changed files with 192 additions and 0 deletions
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1
glm/ext.hpp
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#include "./gtx/intersect.hpp"
#include "./gtx/log_base.hpp"
#include "./gtx/matrix_cross_product.hpp"
#include "./gtx/matrix_interpolation.hpp"
#include "./gtx/matrix_major_storage.hpp"
#include "./gtx/matrix_operation.hpp"
#include "./gtx/matrix_query.hpp"

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glm/gtx/matrix_interpolation.hpp Normal file
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///////////////////////////////////////////////////////////////////////////////////////////////////
// OpenGL Mathematics Copyright (c) 2005 - 2011 G-Truc Creation (www.g-truc.net)
///////////////////////////////////////////////////////////////////////////////////////////////////
// Created : 2011-03-05
// Updated : 2011-03-05
// Licence : This source is under MIT License
// File : glm/gtx/matrix_interpolation.hpp
///////////////////////////////////////////////////////////////////////////////////////////////////
// Dependency:
// - GLM core
// - GLM_GTX_matric_interpolation
///////////////////////////////////////////////////////////////////////////////////////////////////
// This extension has been written by Ghenadii Ursachi (the.asteroth@gmail.com)
///////////////////////////////////////////////////////////////////////////////////////////////////
#ifndef glm_gtx_matrix_interpolation
#define glm_gtx_matrix_interpolation
// Dependency:
//#include "../glm.hpp"
#if(defined(GLM_MESSAGES) && !defined(glm_ext))
# pragma message("GLM: GLM_GTX_matrix_interpolation extension included")
#endif
namespace glm
{
namespace test{
void main_gtx_transform();
}//namespace test
namespace gtx{
//! GLM_GTX_matrix_interpolation extension: Add transformation matrices
namespace matrix_interpolation
{
/// \addtogroup gtx_matrix_interpolation
///@{
//! Get the axis and angle of the rotation from a matrix.
//! From GLM_GTX_matrix_interpolation extension.
template <typename T>
void axisAngle(
detail::tmat4x4<T> const & mat,
detail::tvec3<T> & axis,
T & angle);
//! Build a matrix from axis and angle.
//! From GLM_GTX_matrix_interpolation extension.
template <typename T>
detail::tmat4x4<T> axisAngleMatrix(
detail::tvec3<T> const & axis,
T const angle);
//! Build a interpolation of 4 * 4 matrixes.
//! From GLM_GTX_matrix_interpolation extension.
//! Warning! works only with rotation and/or translation matrixes, scale will generate unexpected results.
template <typename T>
detail::tmat4x4<T> interpolate(
detail::tmat4x4<T> const & m1,
detail::tmat4x4<T> const & m2,
T const delta);
///@}
}//namespace matrix_interpolation
}//namespace gtx
}//namespace glm
#include "matrix_interpolation.inl"
namespace glm{using namespace gtx::matrix_interpolation;}
#endif//glm_gtx_transform

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glm/gtx/matrix_interpolation.inl Normal file
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///////////////////////////////////////////////////////////////////////////////////////////////////
// OpenGL Mathematics Copyright (c) 2005 - 2011 G-Truc Creation (www.g-truc.net)
///////////////////////////////////////////////////////////////////////////////////////////////////
// Created : 2011-03-05
// Updated : 2011-03-05
// Licence : This source is under MIT License
// File : glm/gtx/matrix_interpolation.inl
///////////////////////////////////////////////////////////////////////////////////////////////////
namespace glm{
namespace gtx{
namespace matrix_interpolation
{
template <typename T>
inline void axisAngle(
detail::tmat4x4<T> const & mat,
detail::tvec3<T> & axis,
T & angle)
{
T epsilon = (T)0.01;
T epsilon2 = (T)0.1;
if ((fabs(mat[1][0] - mat[0][1]) < epsilon) && (fabs(mat[2][0] - mat[0][2]) < epsilon) && (fabs(mat[2][1] - mat[1][2]) < epsilon)) {
if ((fabs(mat[1][0] + mat[0][1]) < epsilon2) && (fabs(mat[2][0] + mat[0][2]) < epsilon2) && (fabs(mat[2][1] + mat[1][2]) < epsilon2) && (fabs(mat[0][0] + mat[1][1] + mat[2][2] - (T)3.0) < epsilon2)) {
angle = (T)0.0;
axis.x = (T)1.0;
axis.y = (T)0.0;
axis.z = (T)0.0;
return;
}
angle = M_1_PI;
T xx = (mat[0][0] + (T)1.0) / (T)2.0;
T yy = (mat[1][1] + (T)1.0) / (T)2.0;
T zz = (mat[2][2] + (T)1.0) / (T)2.0;
T xy = (mat[1][0] + mat[0][1]) / (T)4.0;
T xz = (mat[2][0] + mat[0][2]) / (T)4.0;
T yz = (mat[2][1] + mat[1][2]) / (T)4.0;
if ((xx > yy) && (xx > zz)) {
if (xx < epsilon) {
axis.x = (T)0.0;
axis.y = (T)0.7071;
axis.z = (T)0.7071;
} else {
axis.x = sqrt(xx);
axis.y = xy / axis.x;
axis.z = xz / axis.x;
}
} else if (yy > zz) {
if (yy < epsilon) {
axis.x = (T)0.7071;
axis.y = (T)0.0;
axis.z = (T)0.7071;
} else {
axis.y = sqrt(yy);
axis.x = xy / axis.y;
axis.z = yz / axis.y;
}
} else {
if (zz < epsilon) {
axis.x = (T)0.7071;
axis.y = (T)0.7071;
axis.z = (T)0.0;
} else {
axis.z = sqrt(zz);
axis.x = xz / axis.z;
axis.y = yz / axis.z;
}
}
return;
}
T s = sqrt((mat[2][1] - mat[1][2]) * (mat[2][1] - mat[1][2]) + (mat[2][0] - mat[0][2]) * (mat[2][0] - mat[0][2]) + (mat[1][0] - mat[0][1]) * (mat[1][0] - mat[0][1]));
if (fabs(s) < 0.001)
s = (T)1.0;
angle = acos((mat[0][0] + mat[1][1] + mat[2][2] - (T)1.0) / (T)2.0);
axis.x = (mat[1][2] - mat[2][1]) / s;
axis.y = (mat[2][0] - mat[0][2]) / s;
axis.z = (mat[0][1] - mat[1][0]) / s;
}
template <typename T>
inline detail::tmat4x4<T> axisAngleMatrix(
detail::tvec3<T> const & axis,
T const angle)
{
T c = cos(angle);
T s = sin(angle);
T t = 1.0 - c;
detail::tvec3<T> n = normalize(axis);
return detail::tmat4x4<T>(
t * n.x * n.x + c, t * n.x * n.y + n.z * s, t * n.x * n.z - n.y * s, 0.0,
t * n.x * n.y - n.z * s, t * n.y * n.y + c, t * n.y * n.z + n.x * s, 0.0,
t * n.x * n.z + n.y * s, t * n.y * n.z - n.x * s, t * n.z * n.z + c, 0.0,
0.0, 0.0, 0.0, 1.0
);
}
template <typename T>
inline detail::tmat4x4<T> interpolate(
detail::tmat4x4<T> const & m1,
detail::tmat4x4<T> const & m2,
T const delta)
{
detail::tmat4x4<T> dltRotation = m2 * transpose(m1);
detail::tvec3<T> dltAxis;
T dltAngle;
axisAngle(dltRotation, dltAxis, dltAngle);
detail::tmat4x4<T> out = axisAngleMatrix(dltAxis, dltAngle * delta) * rotationMatrix(m1);
out[3][0] = m1[3][0] + delta * (m2[3][0] - m1[3][0]);
out[3][1] = m1[3][1] + delta * (m2[3][1] - m1[3][1]);
out[3][2] = m1[3][2] + delta * (m2[3][2] - m1[3][2]);
return out;
}
}//namespace transform
}//namespace gtx
}//namespace glm