void VrmlNodeTransform::inverseTransform(Viewer *viewer)
{
VrmlNode *parentTransform = getParentTransform();
if (parentTransform)
parentTransform->inverseTransform(viewer);
// Build the inverse
float trans[3] = {
-d_translation.x(),
-d_translation.y(),
-d_translation.z()
};
float rot[4] = {
d_rotation.x(),
d_rotation.y(),
d_rotation.z(),
-d_rotation.r()
};
// Invert scale (1/x)
float scale[3] = { d_scale.x(), d_scale.y(), d_scale.z() };
if (!FPZERO(scale[0]))
scale[0] = 1.0f / scale[0];
if (!FPZERO(scale[1]))
scale[1] = 1.0f / scale[1];
if (!FPZERO(scale[2]))
scale[2] = 1.0f / scale[2];
// Apply transforms (this may need to be broken into separate
// calls to perform the ops in reverse order...)
viewer->setTransform(d_center.get(),
rot,
scale,
d_scaleOrientation.get(),
trans, true);
}
void VrmlNodeTransform::inverseTransform(double *m)
{
VrmlNode *parentTransform = getParentTransform();
if (strncmp(name(), "StaticCave", 10) == 0)
{
Midentity(m);
}
else
{
if (parentTransform)
{
parentTransform->inverseTransform(m);
}
else
Midentity(m);
}
// Invert this transform
float rot[4] = {
d_rotation.x(),
d_rotation.y(),
d_rotation.z(),
-d_rotation.r()
};
float nsrot[4] = {
d_scaleOrientation.x(),
d_scaleOrientation.y(),
d_scaleOrientation.z(),
-d_scaleOrientation.r()
};
float srot[4] = {
d_scaleOrientation.x(),
d_scaleOrientation.y(),
d_scaleOrientation.z(),
d_scaleOrientation.r()
};
float trans[3] = { (-d_translation.x()), (-d_translation.y()), (-d_translation.z()) };
float center[3] = { (d_center.x()), (d_center.y()), (d_center.z()) };
float ncenter[3] = { (-d_center.x()), (-d_center.y()), (-d_center.z()) };
double M[16];
Mtrans(M, trans);
MM(m, M);
Mtrans(M, ncenter);
MM(m, M);
// Invert scale (1/x)
float scale[3] = { d_scale.x(), d_scale.y(), d_scale.z() };
if (!FPZERO(scale[0]))
scale[0] = 1.0f / scale[0];
if (!FPZERO(scale[1]))
scale[1] = 1.0f / scale[1];
if (!FPZERO(scale[2]))
scale[2] = 1.0f / scale[2];
Mrotation(M, rot);
MM(m, M);
if (!FPEQUAL(scale[0], 1.0) || !FPEQUAL(scale[1], 1.0) || !FPEQUAL(scale[2], 1.0))
{
//fprintf(stderr, "invTr: scale\n");
if (!FPZERO(srot[3]))
{
//fprintf(stderr, "invTr: rot\n");
Mrotation(M, nsrot);
MM(m, M);
Mscale(M, scale);
MM(m, M);
Mrotation(M, srot);
MM(m, M);
}
else
{
Mscale(M, scale);
MM(m, M);
}
}
Mtrans(M, center);
MM(m, M);
}