AnimaL

Tutorial

Documentation

---

Documentation

• Overview
• Modules
• Namespace List
• Class Hierarchy
• Alphabetical List
• Compound List
• File List
• Namespace Members
• Compound Members
• File Members
• Examples

---

Frame.cpp

Go to the documentation of this file.

#include "Frame.h"
#include "assertions.h"

#include "ConstrainedVertex.h"

namespace animal
{
namespace octree
{

Frame::Frame() :
    _frame(3)
{
    _matrix.resize(4,4);
    _invMatrix.resize(4,4);
}

Frame::Frame( const Vec3d origin, const Vec3d u, const Vec3d v, const Vec3d w ) :
    _frame(3), _origin(origin), _invMatrixComputed(false)
{
    _frame[0] = u;
    _frame[1] = v;
    _frame[2] = w;
    
    _matrix.resize(4,4);
    _invMatrix.resize(4,4);
    
    for( unsigned short i=0 ; i<3 ; ++i )
        for( unsigned short j=0 ; j<3 ; ++j )
            _matrix[i][j] = this->getVector(j)[i];
    
    for( unsigned short i=0 ; i<3 ; ++i )
        _matrix[i][3] = this->getOrigin()[i];
    
    _matrix[3][0] = 0; _matrix[3][1] = 0; _matrix[3][2] = 0; _matrix[3][3] = 1;
}
    
Frame::~Frame()
{}

void Frame::setVector( unsigned int i, Vec3d v )
{
    _frame[i] = v;
    
    for( unsigned short j=0 ; j<3 ; ++j )
        _matrix[j][i] = v[j];
}

void Frame::setOrigin( Vec3d v )
{
    _origin = v;
    for( unsigned short i=0 ; i<3 ; ++i )
        _matrix[i][3] = this->getOrigin()[i];
}


Vec3d Frame::getVector( unsigned int i ) const
{
    Require( i < 3 );
    return _frame[i];
}
Vec3d Frame::operator[]( unsigned int i ) const
{
    return getVector(i);
}
    
Vec3d Frame::computePosition( Vec3d params, Vec3d scaling ) const
{
//  Vec3d U( _matrix[0][0], _matrix[1][0], _matrix[2][0] );
//  Vec3d V( _matrix[0][1], _matrix[1][1], _matrix[2][1] );
//  Vec3d W( _matrix[0][2], _matrix[1][2], _matrix[2][2] );
//  Vec3d P( _matrix[0][3], _matrix[1][3], _matrix[2][3] );
    
    return (getOrigin() + scaling[0]*params[0]*getVector(0) + scaling[1]*params[1]*getVector(1) + scaling[2]*params[2]*getVector(2) );
    
    
//  HVec res(4);
//  HMat &myMat = _matrix;
//  
//  for( unsigned int i=0 ; i<3 ; ++i )
//  {
//      myMat[0][i] *= scaling[i];
//      myMat[1][i] *= scaling[i];
//      myMat[2][i] *= scaling[i];
//  }
//  
//  v_eq_Ab( res, myMat, Vec3dToHVec(params) );
//  return HVecToVec3d( res );
    
    
    //return getOrigin()->getPosition() + getVector(0)*params[0] + getVector(1)*params[1] + getVector(2)*params[2];
}

Vec3d Frame::getLocalCoordinates( Vec3d Q )
{
    if( !_invMatrixComputed )
    {
        _invMatrix = getMatrixInverse( _matrix );
        _invMatrixComputed = true;
    }
    
    HVec res(4);
    v_eq_Ab( res, _invMatrix, Vec3dToHVec(Q) );
    return HVecToVec3d( res );  
}

}
}

---