Matrix *Utility::CalcMatrix(
LWF *lwf, Matrix *dst, const Matrix *src0, int src1Id)
{
if (src1Id == 0) {
dst->Set(src0);
} else if ((src1Id & Constant::MATRIX_FLAG) == 0) {
const Translate &translate = lwf->data->translates[src1Id];
dst->scaleX = src0->scaleX;
dst->skew0 = src0->skew0;
dst->translateX =
src0->scaleX * translate.translateX +
src0->skew0 * translate.translateY +
src0->translateX;
dst->skew1 = src0->skew1;
dst->scaleY = src0->scaleY;
dst->translateY =
src0->skew1 * translate.translateX +
src0->scaleY * translate.translateY +
src0->translateY;
} else {
int matrixId = src1Id & ~Constant::MATRIX_FLAG_MASK;
const Matrix &src1 = lwf->data->matrices[matrixId];
CalcMatrix(dst, src0, &src1);
}
return dst;
}
short SetTorqueUnits(Calibration *cal, char *NewUnits) {
if (cal==NULL) return 1;
if (TorqueConv(NewUnits)==0) return 2;
free(cal->cfg.TorqueUnits);
cal->cfg.TorqueUnits=ATI_strdup(NewUnits);
return CalcMatrix(cal);
} // SetTorqueUnits()
void ViewPole::OffsetTargetPos( const glm::vec3 &cameraOffset )
{
glm::mat4 currMat = CalcMatrix();
glm::fquat orientation = glm::quat_cast(currMat);
glm::fquat invOrient = glm::conjugate(orientation);
glm::vec3 worldOffset = invOrient * cameraOffset;
m_currView.targetPos += worldOffset;
}
void LiarObject::SetBaseMatrix(Liar::RenderMgr* rmg, bool calcInvest)
{
CalcMatrix(rmg, calcInvest);
Camera* camera = rmg->GetCamera();
m_shader->Use();
m_shader->SetMat4("model", m_matrix);
m_shader->SetMat4("projection", camera->GetPerspective());
m_shader->SetMat4("view", camera->GetViewMatrix());
}
void LWF::Update(const Matrix *matrix, const ColorTransform *colorTransform)
{
++updateCount;
const Matrix *m = CalcMatrix(matrix);
const ColorTransform *c = CalcColorTransform(colorTransform);
renderingIndex = 0;
renderingIndexOffsetted = 0;
rootMovie->Update(m, c);
renderingCount = renderingIndex;
isPropertyDirty = false;
}
//----------------------------------------------
// "public" functions
//----------------------------------------------
short SetToolTransform(Calibration *cal, float Vector[6],char *DistUnits,char *AngleUnits) {
short i;
if (cal==NULL) return 1;
if (DistConv(DistUnits)==0) return 2;
if (AngleConv(AngleUnits)==0) return 3;
for(i=0;i<6;i++)
cal->cfg.UserTransform.TT[i]=Vector[i];
free(cal->cfg.UserTransform.DistUnits);
cal->cfg.UserTransform.DistUnits=ATI_strdup(DistUnits);
free(cal->cfg.UserTransform.AngleUnits);
cal->cfg.UserTransform.AngleUnits=ATI_strdup(AngleUnits);
return CalcMatrix(cal);
} // SetToolTransform()
//----------------------------------------------
// "private" functions
//----------------------------------------------
void ResetDefaults(Calibration *cal) {
// Restores all configuration options to their default values
unsigned short i;
cal->cfg.ForceUnits=ATI_strdup(cal->ForceUnits); // set output units to calibration file defaults
cal->cfg.TorqueUnits=ATI_strdup(cal->TorqueUnits);
for (i=0;i<6;i++) // clear user Tool Transform
cal->cfg.UserTransform.TT[i]=0;
for (i=0;i < cal->rt.NumChannels-1;i++) { // clear bias vectors
cal->rt.bias_vector[i]=0;
cal->rt.TCbias_vector[i]=0;
}
cal->rt.bias_vector[cal->rt.NumChannels-1]=0; // thermistor reading of bias vector
cal->cfg.TempCompEnabled=cal->TempCompAvailable; // turn temp comp on by default, if available
CalcMatrix(cal); // compute working matrix and store in rt
} // ResetDefaults()
Matrix44 ModelUtils::CalcMatrix(float position[3], float rotation [4], float scale[3], RotationOrder rotationType)
{
auto matR = CalcRotationMatrix(rotation, rotationType);
return CalcMatrix(position, matR, scale);
}
