// matrix transform from destination to source
Matrix3x3
matInverseTransformCanonical(double translateX,
double translateY,
double scaleX,
double scaleY,
double skewX,
double skewY,
bool skewOrderYX,
double rads,
double centerX,
double centerY)
{
///1) We translate to the center of the transform.
///2) We scale
///3) We apply skewX and skewY in the right order
///4) We rotate
///5) We apply the global translation
///5) We translate back to the origin
// since this is the inverse, oerations are in reverse order
return matMul( matMul( matMul( matMul( matMul( matTranslation(centerX, centerY),
matScale(1. / scaleX, 1. / scaleY) ),
matSkewXY(-skewX, -skewY, !skewOrderYX) ),
matRotation(rads) ),
matTranslation(-translateX, -translateY) ),
matTranslation(-centerX, -centerY) );
}
// matrix transform from source to destination
Matrix3x3
matTransformCanonical(double translateX,
double translateY,
double scaleX,
double scaleY,
double skewX,
double skewY,
bool skewOrderYX,
double rads,
double centerX,
double centerY)
{
///1) We translate to the center of the transform.
///2) We scale
///3) We apply skewX and skewY in the right order
///4) We rotate
///5) We apply the global translation
///5) We translate back to the origin
return matMul( matMul( matMul( matMul( matMul( matTranslation(centerX, centerY),
matTranslation(translateX, translateY) ),
matRotation(-rads) ),
matSkewXY(skewX, skewY, skewOrderYX) ),
matScale(scaleX, scaleY) ),
matTranslation(-centerX, -centerY) );
}
static
Matrix3x3
matRotationAroundPoint(double rads,
double px,
double py)
{
return matMul( matTranslation(px, py), matMul( matRotation(rads), matTranslation(-px, -py) ) );
}
void Camera::rotateY(float angle)
{
if (angle == 0.0f) return;
mat4 matRotation(1.0f);
matRotation = glm::rotate(matRotation, angle, up);
vec4 dir = matRotation * vec4(lookAt-eye,1);
lookAt = eye + vec3(dir.x, dir.y, dir.z);
recalc();
}
//ds source: https://en.wikipedia.org/wiki/Rotation_matrix https://en.wikipedia.org/wiki/Rotation_formalisms_in_three_dimensions
const Eigen::Matrix3d CMiniVisionToolbox::fromRotationAngles( const Eigen::Vector3d& p_vecRotationAnglesRadians )
{
//ds rotation matrices
/*Eigen::Matrix3d matRotationX( Eigen::Matrix3d::Identity( ) );
Eigen::Matrix3d matRotationY( Eigen::Matrix3d::Identity( ) );
Eigen::Matrix3d matRotationZ( Eigen::Matrix3d::Identity( ) );*/
//ds set X matrix
const double dCosPhi = std::cos( p_vecRotationAnglesRadians.x( ) );
const double dSinPhi = std::sin( p_vecRotationAnglesRadians.x( ) );
/*matRotationX(1,1) = dCosineX;
matRotationX(1,2) = -dSineX;
matRotationX(2,1) = dSineX;
matRotationX(2,2) = dCosineX;*/
//ds set Y matrix
const double dCosThe = std::cos( p_vecRotationAnglesRadians.y( ) );
const double dSinThe = std::sin( p_vecRotationAnglesRadians.y( ) );
/*matRotationY(0,0) = dCosineY;
matRotationY(0,2) = dSineY;
matRotationY(2,0) = -dSineY;
matRotationY(2,2) = dCosineY;*/
//ds set Z matrix
const double dCosPsi = std::cos( p_vecRotationAnglesRadians.z( ) );
const double dSinPsi = std::sin( p_vecRotationAnglesRadians.z( ) );
/*matRotationZ(0,0) = dCosineZ;
matRotationZ(0,1) = -dSineZ;
matRotationZ(1,0) = dSineZ;
matRotationZ(1,1) = dCosineZ;*/
//ds one-step computation
Eigen::Matrix3d matRotation( Eigen::Matrix3d::Identity( ) );
matRotation << dCosThe*dCosPsi, dCosPhi*dSinPsi+dSinPhi*dSinThe*dCosPsi, dSinPhi*dSinPsi-dCosPhi*dSinThe*dCosPsi,
-dCosThe*dSinPsi, dCosPhi*dCosPsi-dSinPhi*dSinThe*dSinPsi, dSinPhi*dCosPsi+dCosPhi*dSinThe*dSinPsi,
dSinThe, -dSinPhi*dCosThe, dCosPhi*dCosThe;
//return matRotationZ*matRotationY*matRotationX;
return matRotation;
}
