mirror of
https://gitlab.kitware.com/vtk/vtk-m
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5dbcb33259
The new implementation assumes that the fourth component of the homogeneous coordinate is not changed, which is true for all common transforms except perspective projections. This should save several math instructions to compute the fourth component and then divide the others by it. If needed we can make a second method that does the complete transform. I am hoping that this will also solve what appears to be an optimization bug on one of the dashboards.
221 lines
7.0 KiB
C++
221 lines
7.0 KiB
C++
//=============================================================================
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//
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// Copyright (c) Kitware, Inc.
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// All rights reserved.
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// See LICENSE.txt for details.
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//
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// This software is distributed WITHOUT ANY WARRANTY; without even
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// the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
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// PURPOSE. See the above copyright notice for more information.
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//
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// Copyright 2016 Sandia Corporation.
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// Copyright 2016 UT-Battelle, LLC.
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// Copyright 2016 Los Alamos National Security.
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//
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// Under the terms of Contract DE-AC04-94AL85000 with Sandia Corporation,
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// the U.S. Government retains certain rights in this software.
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// Under the terms of Contract DE-AC52-06NA25396 with Los Alamos National
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// Laboratory (LANL), the U.S. Government retains certain rights in
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// this software.
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//
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//=============================================================================
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#ifndef vtk_m_Transform3D_h
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#define vtk_m_Transform3D_h
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// This header file contains a collection of math functions useful in the
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// linear transformation of homogeneous points for rendering in 3D.
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#include <vtkm/Matrix.h>
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#include <vtkm/VectorAnalysis.h>
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namespace vtkm {
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/// \brief Transform a 3D point by a transformation matrix.
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///
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/// Given a 4x4 transformation matrix and a 3D point, returns the point
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/// transformed by the given matrix in homogeneous coordinates.
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///
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/// This method ignores any change in the fourth component of the transformed
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/// homogeneous coordinate, assuming that it is always 1 (that is, the last row
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/// of the matrix is 0, 0, 0, 1). This will be true for affine transformations
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/// (such as translate, scale, and rotate), but not for perspective
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/// transformations.
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///
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template<typename T>
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VTKM_EXEC_CONT_EXPORT
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vtkm::Vec<T,3> Transform3DPoint(const vtkm::Matrix<T,4,4> &matrix,
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const vtkm::Vec<T,3> &point)
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{
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vtkm::Vec<T,4> homogeneousPoint(point[0], point[1], point[2], T(1));
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return vtkm::Vec<T,3>(
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vtkm::dot(vtkm::MatrixGetRow(matrix,0), homogeneousPoint),
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vtkm::dot(vtkm::MatrixGetRow(matrix,1), homogeneousPoint),
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vtkm::dot(vtkm::MatrixGetRow(matrix,2), homogeneousPoint));
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}
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/// \brief Transform a 3D point by a transformation matrix.
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///
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/// Given a 4x4 transformation matrix and a 3D point, returns the point
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/// transformed by the given matrix in homogeneous coordinates.
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///
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template<typename T>
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VTKM_EXEC_CONT_EXPORT
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vtkm::Vec<T,3> Transform3DVector(const vtkm::Matrix<T,4,4> &matrix,
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const vtkm::Vec<T,3> &vector)
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{
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vtkm::Vec<T,4> homogeneousVector(vector[0], vector[1], vector[2], T(0));
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homogeneousVector = vtkm::MatrixMultiply(matrix, homogeneousVector);
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return vtkm::Vec<T,3>(
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homogeneousVector[0],
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homogeneousVector[1],
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homogeneousVector[2]);
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}
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/// \brief Returns a scale matrix.
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///
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/// Given a scale factor for the x, y, and z directions, returns a
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/// transformation matrix for those scales.
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///
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template<typename T>
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VTKM_EXEC_CONT_EXPORT
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vtkm::Matrix<T,4,4>
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Transform3DScale(const T &scaleX, const T &scaleY, const T &scaleZ)
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{
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vtkm::Matrix<T,4,4> scaleMatrix(T(0));
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scaleMatrix(0,0) = scaleX;
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scaleMatrix(1,1) = scaleY;
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scaleMatrix(2,2) = scaleZ;
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scaleMatrix(3,3) = T(1);
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return scaleMatrix;
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}
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/// \brief Returns a scale matrix.
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///
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/// Given a scale factor for the x, y, and z directions (defined in a Vec),
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/// returns a transformation matrix for those scales.
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///
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template<typename T>
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VTKM_EXEC_CONT_EXPORT
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vtkm::Matrix<T,4,4> Transform3DScale(const vtkm::Vec<T,3> &scaleVec)
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{
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return vtkm::Transform3DScale(scaleVec[0], scaleVec[1], scaleVec[2]);
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}
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/// \brief Returns a scale matrix.
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///
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/// Given a uniform scale factor, returns a transformation matrix for those
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/// scales.
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///
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template<typename T>
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VTKM_EXEC_CONT_EXPORT
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vtkm::Matrix<T,4,4> Transform3DScale(const T &scale)
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{
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return vtkm::Transform3DScale(scale, scale, scale);
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}
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/// \brief Returns a translation matrix.
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///
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template<typename T>
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VTKM_EXEC_CONT_EXPORT
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vtkm::Matrix<T,4,4> Transform3DTranslate(const T &x, const T &y, const T &z)
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{
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vtkm::Matrix<T,4,4> translateMatrix;
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vtkm::MatrixIdentity(translateMatrix);
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translateMatrix(0,3) = x;
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translateMatrix(1,3) = y;
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translateMatrix(2,3) = z;
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return translateMatrix;
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}
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template<typename T>
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VTKM_EXEC_CONT_EXPORT
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vtkm::Matrix<T,4,4> Transform3DTranslate(const vtkm::Vec<T,3> &v)
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{
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return vtkm::Transform3DTranslate(v[0], v[1], v[2]);
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}
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/// \brief Returns a rotation matrix.
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///
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/// Given an angle (in radians) and an axis of rotation, returns a
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/// transformation matrix that rotates around the given axis. The rotation
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/// follows the right-hand rule, so if the vector points toward the user, the
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/// rotation will be counterclockwise.
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///
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/// Note that, unlike with OpenGL, the angle is given in radians, not degrees.
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///
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template<typename T>
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VTKM_EXEC_CONT_EXPORT
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vtkm::Matrix<T,4,4> Transform3DRotate(T angleRadians,
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const vtkm::Vec<T,3> &axisOfRotation)
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{
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const vtkm::Vec<T,3> normAxis = vtkm::Normal(axisOfRotation);
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T sinAngle = vtkm::Sin(angleRadians);
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T cosAngle = vtkm::Cos(angleRadians);
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vtkm::Matrix<T,4,4> matrix;
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matrix(0,0) = normAxis[0]*normAxis[0]*(1-cosAngle) + cosAngle;
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matrix(0,1) = normAxis[0]*normAxis[1]*(1-cosAngle) - normAxis[2]*sinAngle;
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matrix(0,2) = normAxis[0]*normAxis[2]*(1-cosAngle) + normAxis[1]*sinAngle;
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matrix(0,3) = T(0);
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matrix(1,0) = normAxis[1]*normAxis[0]*(1-cosAngle) + normAxis[2]*sinAngle;
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matrix(1,1) = normAxis[1]*normAxis[1]*(1-cosAngle) + cosAngle;
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matrix(1,2) = normAxis[1]*normAxis[2]*(1-cosAngle) - normAxis[0]*sinAngle;
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matrix(1,3) = T(0);
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matrix(2,0) = normAxis[2]*normAxis[0]*(1-cosAngle) - normAxis[1]*sinAngle;
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matrix(2,1) = normAxis[2]*normAxis[1]*(1-cosAngle) + normAxis[0]*sinAngle;
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matrix(2,2) = normAxis[2]*normAxis[2]*(1-cosAngle) + cosAngle;
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matrix(2,3) = T(0);
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matrix(3,0) = T(0);
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matrix(3,1) = T(0);
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matrix(3,2) = T(0);
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matrix(3,3) = T(1);
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return matrix;
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}
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template<typename T>
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VTKM_EXEC_CONT_EXPORT
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vtkm::Matrix<T,4,4> Transform3DRotate(T angleRadians, T x, T y, T z)
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{
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return vtkm::Transform3DRotate(angleRadians, vtkm::Vec<T,3>(x,y,z));
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}
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/// \brief Returns a rotation matrix.
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///
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/// Returns a transformation matrix that rotates around the x axis.
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///
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template<typename T>
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VTKM_EXEC_CONT_EXPORT
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vtkm::Matrix<T,4,4> Transform3DRotateX(T angleRadians)
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{
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return vtkm::Transform3DRotate(angleRadians, T(1), T(0), T(0));
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}
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/// \brief Returns a rotation matrix.
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///
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/// Returns a transformation matrix that rotates around the y axis.
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///
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template<typename T>
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VTKM_EXEC_CONT_EXPORT
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vtkm::Matrix<T,4,4> Transform3DRotateY(T angleRadians)
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{
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return vtkm::Transform3DRotate(angleRadians, T(0), T(1), T(0));
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}
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/// \brief Returns a rotation matrix.
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///
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/// Returns a transformation matrix that rotates around the z axis.
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///
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template<typename T>
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VTKM_EXEC_CONT_EXPORT
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vtkm::Matrix<T,4,4> Transform3DRotateZ(T angleRadians)
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{
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return vtkm::Transform3DRotate(angleRadians, T(0), T(0), T(1));
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}
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} // namespace vtkm
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#endif //vtk_m_Transform3D_h
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