+++ /dev/null
-///////////////////////////////////////////////////////////////////////////
-//
-// Copyright (c) 2002, Industrial Light & Magic, a division of Lucas
-// Digital Ltd. LLC
-//
-// All rights reserved.
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are
-// met:
-// * Redistributions of source code must retain the above copyright
-// notice, this list of conditions and the following disclaimer.
-// * Redistributions in binary form must reproduce the above
-// copyright notice, this list of conditions and the following disclaimer
-// in the documentation and/or other materials provided with the
-// distribution.
-// * Neither the name of Industrial Light & Magic nor the names of
-// its contributors may be used to endorse or promote products derived
-// from this software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
-// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
-// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
-// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
-// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
-// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
-// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-//
-///////////////////////////////////////////////////////////////////////////
-
-
-
-#ifndef INCLUDED_IMATHFRAME_H
-#define INCLUDED_IMATHFRAME_H
-
-namespace Imath {
-
-template<class T> class Vec3;
-template<class T> class Matrix44;
-
-//
-// These methods compute a set of reference frames, defined by their
-// transformation matrix, along a curve. It is designed so that the
-// array of points and the array of matrices used to fetch these routines
-// don't need to be ordered as the curve.
-//
-// A typical usage would be :
-//
-// m[0] = Imath::firstFrame( p[0], p[1], p[2] );
-// for( int i = 1; i < n - 1; i++ )
-// {
-// m[i] = Imath::nextFrame( m[i-1], p[i-1], p[i], t[i-1], t[i] );
-// }
-// m[n-1] = Imath::lastFrame( m[n-2], p[n-2], p[n-1] );
-//
-// See Graphics Gems I for the underlying algorithm.
-//
-
-template<class T> Matrix44<T> firstFrame( const Vec3<T>&, // First point
- const Vec3<T>&, // Second point
- const Vec3<T>& ); // Third point
-
-template<class T> Matrix44<T> nextFrame( const Matrix44<T>&, // Previous matrix
- const Vec3<T>&, // Previous point
- const Vec3<T>&, // Current point
- Vec3<T>&, // Previous tangent
- Vec3<T>& ); // Current tangent
-
-template<class T> Matrix44<T> lastFrame( const Matrix44<T>&, // Previous matrix
- const Vec3<T>&, // Previous point
- const Vec3<T>& ); // Last point
-
-//
-// firstFrame - Compute the first reference frame along a curve.
-//
-// This function returns the transformation matrix to the reference frame
-// defined by the three points 'pi', 'pj' and 'pk'. Note that if the two
-// vectors <pi,pj> and <pi,pk> are colinears, an arbitrary twist value will
-// be choosen.
-//
-// Throw 'NullVecExc' if 'pi' and 'pj' are equals.
-//
-
-template<class T> Matrix44<T> firstFrame
-(
- const Vec3<T>& pi, // First point
- const Vec3<T>& pj, // Second point
- const Vec3<T>& pk ) // Third point
-{
- Vec3<T> t = pj - pi; t.normalizeExc();
-
- Vec3<T> n = t.cross( pk - pi ); n.normalize();
- if( n.length() == 0.0f )
- {
- int i = fabs( t[0] ) < fabs( t[1] ) ? 0 : 1;
- if( fabs( t[2] ) < fabs( t[i] )) i = 2;
-
- Vec3<T> v( 0.0, 0.0, 0.0 ); v[i] = 1.0;
- n = t.cross( v ); n.normalize();
- }
-
- Vec3<T> b = t.cross( n );
-
- Matrix44<T> M;
-
- M[0][0] = t[0]; M[0][1] = t[1]; M[0][2] = t[2]; M[0][3] = 0.0,
- M[1][0] = n[0]; M[1][1] = n[1]; M[1][2] = n[2]; M[1][3] = 0.0,
- M[2][0] = b[0]; M[2][1] = b[1]; M[2][2] = b[2]; M[2][3] = 0.0,
- M[3][0] = pi[0]; M[3][1] = pi[1]; M[3][2] = pi[2]; M[3][3] = 1.0;
-
- return M;
-}
-
-//
-// nextFrame - Compute the next reference frame along a curve.
-//
-// This function returns the transformation matrix to the next reference
-// frame defined by the previously computed transformation matrix and the
-// new point and tangent vector along the curve.
-//
-
-template<class T> Matrix44<T> nextFrame
-(
- const Matrix44<T>& Mi, // Previous matrix
- const Vec3<T>& pi, // Previous point
- const Vec3<T>& pj, // Current point
- Vec3<T>& ti, // Previous tangent vector
- Vec3<T>& tj ) // Current tangent vector
-{
- Vec3<T> a(0.0, 0.0, 0.0); // Rotation axis.
- T r = 0.0; // Rotation angle.
-
- if( ti.length() != 0.0 && tj.length() != 0.0 )
- {
- ti.normalize(); tj.normalize();
- T dot = ti.dot( tj );
-
- //
- // This is *really* necessary :
- //
-
- if( dot > 1.0 ) dot = 1.0;
- else if( dot < -1.0 ) dot = -1.0;
-
- r = acosf( dot );
- a = ti.cross( tj );
- }
-
- if( a.length() != 0.0 && r != 0.0 )
- {
- Matrix44<T> R; R.setAxisAngle( a, r );
- Matrix44<T> Tj; Tj.translate( pj );
- Matrix44<T> Ti; Ti.translate( -pi );
-
- return Mi * Ti * R * Tj;
- }
- else
- {
- Matrix44<T> Tr; Tr.translate( pj - pi );
-
- return Mi * Tr;
- }
-}
-
-//
-// lastFrame - Compute the last reference frame along a curve.
-//
-// This function returns the transformation matrix to the last reference
-// frame defined by the previously computed transformation matrix and the
-// last point along the curve.
-//
-
-template<class T> Matrix44<T> lastFrame
-(
- const Matrix44<T>& Mi, // Previous matrix
- const Vec3<T>& pi, // Previous point
- const Vec3<T>& pj ) // Last point
-{
- Matrix44<T> Tr; Tr.translate( pj - pi );
-
- return Mi * Tr;
-}
-
-} // namespace Imath
-
-#endif
projects / opencv / blobdiff